G 1

Positioning system
Smart Positioning Controller

SPC200
Author:
Editors:
Layout:
Typesetting:
S. Breuer
H.-J. Drung, M. Holder
Festo AG & Co., Dept. KI-TD
KI-TD
Printed on 100% recycled paper
Edition: 9904a
SPC200... 9904a
(Festo AG & Co., D-73726 Esslingen,

Federal Republic of Germany, 1999)
The copying, distribution and utilization of this document as well as the communication of its contents to
others without expressed authorization is prohibited.
Offenders will be held liable for the payment of damages. All rights reserved, in particular the right to carry
out patent, utility model or ornamental design registrations.
I
IBM
Registered trademark of
International Business
Machines Corporation
Microsoft
Windows
Registered trade mark of the

Microsoft Corporation
Temposonics Registered trade mark of

MTS Sensortechnologie GmbH & Co
Order No.: 170 246

Title:
Manual
Reference: P.BE-SPC200-GB
II
SPC200... 9904a
Contents
Designated use............................................................................................ VI
Target group .............................................................................................. VII
Important user instructions ........................................................................ VII
About this manual........................................................................................ IX
Product-specific terms and abbreviations .................................................. XI
1. System summary
1.1
1.1.1
1.1.2
1.2
1.3
1.4
1.5
1.6
1.7
Positioning systems with the SPC200 ...........................................1-4

The range of equipment for the SPC200.......................................1-7
Structure of the SPC200 ................................................................1-9
Connecting pneumatic axes.........................................................1-13
Structure of the axis interface string ............................................1-17
Operating modes of the SPC200.................................................1-21
Multi-axis applications with the SPC200 ......................................1-23
Commissioning and programming options...................................1-24
I/O address range of the SPC200 ...............................................1-28
2. Fitting
2.1
2.2
2.3
2.4
2.5
Inserting and removing modules ....................................................2-5

Mounting the basic unit ..................................................................2-9
Fitting the control panel................................................................2-12
Fitting the axis interface and I/O function module .......................2-14
Instructions on fitting the pneumatic axis.....................................2-19
3. Installation
3.1
3.2
3.2.1
3.2.2
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
General instructions on installation ................................................3-4

Instructions on pneumatic installation ............................................3-5
Pneumatic emergency stop circuit ...............................................3-15
Tubing for slide and yoke operation.............................................3-19
Installing the SPC200...................................................................3-21
Selecting the power unit...............................................................3-22
Connections of the power supply module....................................3-24
Connections of the diagnostic module .........................................3-30
Connections of I/O module SPC200-DIO-... ................................3-33
Connections of analogue input module type SPC200-2AI-U ......3-42
SPC200... 9904a
III
3.3.6
3.4
3.4.1
3.4.2
Connections on the subcontroller module type

SPC200-SCU-AIF........................................................................ 3-45
Installing the modules on the axis interface string...................... 3-47
Installing the axis interface SPC-AIF-... ...................................... 3-51
Installing I/O function module SPC-FIO-2E/2A-M8 ..................... 3-56
4. Commissioning
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
Procedure for commissioning ........................................................ 4-5

Connecting a single axis system for initial commissioning ........... 4-9
Commissioning via the control panel .......................................... 4-16
Saving the hardware configuration.............................................. 4-16
Commissioning pneumatic axes.................................................. 4-20
Instructions on commissioning multi-axis systems...................... 4-38
5. Controlling the SPC200

5.1
5.2
5.2.1
5.3
5.3.1
General instrutions on operation ................................................... 5-4

Start/stop mode ............................................................................. 5-9
Explanation of all I/O signals in start/stop mode......................... 5-11
Record select mode..................................................................... 5-17
Description of all I/O signals in record select mode ................... 5-22
6. Operation of the SPC200 via the

control panel
6.1
6.1.1
6.2.
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.4
6.5
6.6
6.7
6.8
IV
Layout and functions of the control panel ..................................... 6-4

Moving around the menu system .................................................. 6-8
Setting project-specific parameters ............................................. 6-14
Editing programs.......................................................................... 6-28
Adding a new program ................................................................ 6-29
Editing instructions....................................................................... 6-35
Instruction set on the control panel ............................................. 6-37
Editing an existing program......................................................... 6-40
Deleting a program ...................................................................... 6-42
Editing the position register ......................................................... 6-43
Controlling the program run......................................................... 6-47
Display of operands and system states ...................................... 6-49
Setting the closed loop control factors ........................................ 6-51
Test and diagnostic functions of the control panel ..................... 6-53
SPC200... 9904a
7. Description of the commands

7.1
7.1.1
7.2
7.2.1
General notes on programming .....................................................7-4

Coordinated and autonomous mode..............................................7-5
Notes on programming via the control panel.................................7-8
Explanation of the NC commands on the control panel ..............7-13
8. Diagnosis and error treatment

8.1
8.2
8.3
8.3.1
8.3.2
On-the-spot dagnosis .....................................................................8-4

Error messages on the control panel.............................................8-9
Eliminating errors on the system..................................................8-24
Errors when the system is switched on .......................................8-24
Errors in positioning......................................................................8-25
A. Optimizing the positioning behaviour

A.1
A.2
A.3
A.3.1
Basic information on control.......................................................... A-3

Description of the controller factors .............................................. A-6
Optimizing the positioning behaviour ............................................ A-9
How to deal with an instable compressed air supply ................. A-15
B. Technical appendix
B.1
B.2
B.2.1
B.2.2
B.2.3
B.2.4
Internal structure of the inputs and outputs .................................. B-3

Technical specifications................................................................. B-7
Technical specifications of the SPC200........................................ B-7
Technical specifications of axis interface type SPC-AIF-... ........ B-13
Technical specifications of I/O function module
type SPC-FIO-............................................................................. B-14
Technical specifications of control panel type SPC200-MMI-1 .. B-15
C. Index
C.1
Index.............................................................................................. C-3
SPC200... 9904a
Designated use
The SPC200 Smart Positioning Controller is designed
for fitting into a control cabinet. It serves as a positioning controller and closed loop controller for pneumatic
axes, as well as a positioning controller for stepping
motor axes. Basic modules and modules for the
SPC200 are described in this manual. Special extension modules are described in separate manuals.
The safety instructions must be observed at all times
and the various components and modules must be
used as intended. Please observe also the safety instructions listed in the operating instructions for the
pneumatic and electrical components used.
The SPC200 and the associated modules and cable
are only to be used as follows:
as designated
in original condition
without unauthorised modifications
in faultless technical condition.
The specified limit values for pressures, temperatures,
electrical data, torques, etc., must be observed when
additional commercially-available components such as
sensors and actuators are connected. Please comply
also with national and local safety laws and regulations.
VI
SPC200... 9904a
Target group
This manual is directed exclusively at technicians who
are trained in control and automation technology and
who have experience in installing, commissioning, programming and diagnosing positioning systems.
Important user instructions

Danger
categories
This manual contains instructions on the dangers which

may occur if the SPC200 system is not used correctly.
These instructions are always printed in italics, are
framed and also marked with a pictogram.
A distinction is made between the following:
WARNING
This means that serious injury to human beings
and/or damage to property can occur if this
instruction is not observed.
CAUTION
This means that injury to human beings and/or
damage to property can occur if this instruction is not
observed.
PLEASE NOTE
This means that damage to property can occur if this
instruction is not observed.
SPC200... 9904a
VII
Pictograms
Pictograms and symbols complement the danger warnings and draw attention to the nature and consequences of dangers.
The following pictograms are used:
Uncontrolled movements of loose tubing.
Unintentional movements of the connected actuators.
High electric voltage or undefined voltage states of the

electronic components which can affect connected circuits.
Electrostatically vulnerable components.

These will be damaged if you touch the contact surfaces.
Recommendations and tips are identified by the icon

shown here.
Text
markings
This mark indicates activities which can be carried

out in any order.
1. Figures indicate activities which must be carried out
in the given numerical order.
Hyphens indicate general items.
VIII
SPC200... 9904a
About this manual

This manual contains general, fundamental information
on the functions, assembly, installation and
commissioning of pneumatic axes in conjunction with
the SPC200. This manual refers to the Smart Positioning Controller SPC200 with operating system version
V 3.x.
Particular information relating to the commissioning,
programming and diagnosis of the SPC200 using the
WinPISA software is to be found in the WinPISA
manual.
Information on the pneumatic components will be found
in the Operating Instructions accompanying the product.
The following table provides an overview.
SPC200... 9904a
IX
Manuals for the SPC200 Smart Positioning Controller

Type
Title
Contents
System manual
SPC200
Smart Positioning Controller,
Manual
type P.BE-SPC200-..
Installation, commissioning and

diagnosis of pneumatic axes with the
SPC200; standard components and
modules
Software manual Software package WinPISA

type P.SW-WIN-PISA-...
Functions of the WinPISA

software package
Help system
Help system for WinPISA

(included in WinPISA)
Help system for WinPISA
Manuals
Field bus module

type P.BE-SPC200-...

diagnosis of the relevant field bus
module
Stepping motor module type

P.BE-SPC200-SMX-1-...

diagnosis when a stepping motor is
used
Electric positioning system

type P.BE-ATP-...
Further information on electric

positioning systems
Information on the pneuamtic components can be found

in the operating instructions for the relevant product.
SPC200... 9904a
Product-specific terms and abbreviations

The following product-specific terms and abbreviations
are used in this manual:
Term/
Abbreviation
Meaning
0-signal
0 V input or output signals
1-signal
24 V input or output signals
Axis data
Configuration information, describing the structure, properties and

components of the axis used.
Axis interface
The measuring system and the proportional directional control valve

are connected to the SPC200 via the axis interface.
Axis interface
string
The totality of the modules, connected in common to the axis interface

connection of the SPC200
Application data
Configuration information, describing the conditions of use determined

by the application.
CP cable
Special cable for connecting the various CP modules
Flag
Digital input
I/O module
Common term for the CP modules, which provide digital inputs and
outputs
I/Os
Digital inputs and outputs
Modules
Plug-in cards, which can be inserted into the SPC200 rack or field
device and which can be connected to the axis interface string.
PLC/IPC
Programmable logic controller/PC
Digital output
Register
String
The total number of modules connected together on the axis interface

string.
SPC200... 9904a
XI
XII
SPC200... 9904a
1. System summary
Chapter 1
System summary
SPC200... 9904a
1-1
1. System summary
Contents
1. System summary
1.1
1.1.1
1.1.2
1.2
1.3
1.4
1.5
1.6
1.7
1-2
Positioning systems with the SPC200........................................... 1-4

The range of equipment for the SPC200 ...................................... 1-7
Structure of the SPC200 ............................................................... 1-9
Connecting pneumatic axes ........................................................ 1-13
Structure of the axis interface string ........................................... 1-17
Operating modes of the SPC200 ................................................ 1-21
Multi-axis applications with the SPC200 ..................................... 1-23
Commissioning and programming options .................................. 1-24
I/O address range of the SPC200............................................... 1-28
SPC200... 9904a
1. System summary
Contents of
this chapter
This chapter gives a summary of the possibilities of extending positioning systems with the SPC200; it describes the devices which can be used with the
SPC200 as well as the structure of the SPC200. This
chapter also contains basic information on:
connecting pneumatic axes to the axis interface
string
the operating modes, commissioning and programming possibilities of the SPC200
the address range of the SPC200.
Further
information
Coupling to field bus systems is made possible by

special field bus modules. Detailed information on these
can be found in the manual for the relevant field bus
module.
Electric axes can be connected by means of special
modules. Detailed information on these can be found in
the manual for the relevant module.
SPC200... 9904a
1-3
1. System summary
1.1 Positioning systems with the SPC200

Festo can help you solve your positioning tasks with the
SPC200 Smart Positioning Controller. The SPC200 is a
universal, modular-structured controller which enables
pneumatic and electric axes to be coupled and connected to field bus systems.
2
3
4
5
1
2
3
4
Field bus connection (optional)

SPC200 Smart Positioning Controller
Control cabinet
Power controller
5
6
7
8
Stepping motor axis

Further field bus slaves
Pneumatic axis
Axis interface string (max. 2 axes)
Fig. 1/1: Extension possibilities for positioning systems with the SPC200
1-4
SPC200... 9904a
1. System summary
Depending on the equipment fitted on the controller, up

to four axes can be coupled. Pneumatic and electric
axes can be operated together. The components of the
pneumatic axes as well as external I/O modules, where
applicable, are connected to the SPC200 via maximum
two axis interface strings each with one cable.
3
4
1
2
First axis interface string

Second axis interface string (optional)
3
4
Axis interface
External I/O modules
Fig. 1/2: Connecting pneumatic axes and external I/O modules
SPC200... 9904a
1-5
1. System summary
The SPC200 can be operated either independently or

in conjunction with a higher-order PLC/IPC. To a limited
extent, it can also perform control functions. For this
purpose, I/O modules with digital inputs/outputs can be
integrated in the SPC200 or external I/O modules can
be connected to the axis interface string.
Coupling to a higher-order PLC/IPC can be made via
digital inputs/outputs or via special field bus modules
with integrated field bus interface (e.g. Interbus;
PROFIBUS-DP etc.).
1-6
SPC200... 9904a
1. System summary
1.1.1 The range of equipment for the SPC200

The range of equipment for the SPC 200 includes the
following components:
SPC200... 9904a
Components
Function
SPC200
type SPC200-...-...
The SPC200 is accomodated in a rack.

Appropriate modules can be installed in
the rack according to the requirements
of the positioning task.
Control panel
type SPC200-MMI-1
The control panel can be plugged

directly into the SPC200.
All functions can be operated through a
menu interface using the 6 keys on the
panel.
Axis interface
type SPC-AIF-...
The axis interface forms the connection

between the components on the
pneumatic axis and the SPC200.
It receives the values issued by the
measuring system, passes them to the
SPC200 and supplies the signal for
setting the proportional directional
control valve.
I/O function module

(optional) type
SPC-FIO-2E/2A-M8
Provides two inputs and two outputs on

the axis allowing direct connection of
sensors and actuators.
Additional functions e.g. gripping, lifting,
lowering and turning can be
implemented with these sensors and
actuatrs.
1-7
1. System summary
If required, the following CP I/O modules and CPV

valve terminals can be connected to the end of the axis
interface string.
1-8
CP module
(optional)
Function
CPV valve
terminals
type CPV...-...-...
Provides various valve functions for controlling

pneumatic actuators by means of valve plates.
Relay plates, pressure isolating plates and
blanking plates can be integrated.
I modules type
CP-E16...-M...
There are special designs for various

conecting variants. These provide inputs for
connecting sensors and enable e.g. cylinder
positions to be interrogated.
O modules type
CP-A08-M12
These provide universally usuable electrical

outputs for controlling low-current consuming
devices (valves, lights etc.).
SPC200... 9904a
1. System summary
1.1.2 Structure of the SPC200

The SPC200 is modular-structured and is accomodated
in a rack. The main processor and memory of the
SPC200 are on the rear printed circuit board in the
rack.
The combination of rack and rear printed circuit board
is called the basic unit. Basic units with 4 and 6 slots
are available for you to implement various extension
variants.
1
2
3
1
2
Rack (basic unit)

Modules
Rear pinted circuit board

(in the rack)
Fig. 1/3: The SPC200 Smart Positioning Controller

Appropriate modules can be installed in the basic unit
according to the requirements of the positioning task.
SPC200... 9904a
1-9
1. System summary
Basic
modules
With just the following modules, the SPC200 provides a

functioning controller for pneumatic axes.
1
2
3
Supply module type SPC200-PWR-AIF

Diagnostic module type SPC200-MMI-DIAG
I/O module type SPC200-DIO
Fig. 1/4: Basic modules of the SPC200
1-10
Module
Description
Supply module
Enables the power supply and the axis

interface designed as a field device to be
connected.
Diagnostic
module
Enables the control panel to be inserted and

a PC to be connected.
I/O module
Provides the I/Os necessary for controlling in

the various operating modes.
SPC200... 9904a
1. System summary
A system with the components shown above offers the

following scope of performance:
up to two pneumatic axes can be controlled
various types of measuring systems can be connected by means of different variants of the axis interface
independent operation or coordination with an external PLC/IPC via I/Os
programming and operation via a PC or a control
panel.
Extension
modules
SPC200... 9904a
The modules listed in the following table can be used

for extending the system:
1-11
1. System summary
Module
Description
Analogue input
module
With this module you can specify

analogue nominal position values. The
module has two analogue input channels
for this purpose. The permitted voltage
range is 0 - 10 V.
I/O module
This provides further freely-programmable

I/Os. The SPC200 supports maximum 4
I/O modules.
Subcontroller
module
Enables two further pneumatic axes and

further I/O modules to be connected. The
module provides the necessary power
output as well as a connection for a
further axis interface string.
Stepping motor
module
Enables a power controller for a stepping

motor to be connected.
Field bus module
Enables connection to the appropriate

field bus
Further modules in preparation.
1-12
SPC200... 9904a
1. System summary
1.2 Connecting pneumatic axes

The SPC200 controls the pneumatic axes and regulates their position. The measuring system and the proportional directional control valve are connected via the
axis interface which is placed directly on the drive.
The axis interface is connected to the SPC200 via only
one cable, the axis interface string. The following diagram shows the basic structure of a pneumatic axis with
the SPC200.
1
2
3
4
5
1
2
3
Measuring system
Axis interface type SPC-AIF-...
SPC200 Smart Positioning Controller
4
5
6
Proportional directional control valve

type MPYE-...
Service unit with 5 m filter
Cylinder
Fig. 1/5: Connecting pneumatic axes to the SPC200
SPC200... 9904a
1-13
1. System summary
Components
In order to install a pneumatic axis you will require the

following components:
the SPC200 axis controller
an axis interface type SPC-AIF-....
a proportional directional control valve type
MPYE-5-...-010B
a measuring system type MLO-POT-...-TLF or type
MME-MTS-...-TLF-AIF
(with cylinder type DGPI(L)-...-...-...-AIF this measuring system is integrated)
a cylinder with mechanical guidance
a service unit with 5 m filter
a 24 V power supply
optional components for pneumatic emergency shutdown
The SPC200 Smart Positioning Controller takes over
principally the following tasks:
specifying the reference positions by position control
comparing the reference and actual positions and position control by appropriate control of the proportional directional control valve (status control)
optimizing control by parameter modification
controlling peripherals using digital inputs and outputs and sequence control.
1-14
SPC200... 9904a
1. System summary
Method of operation
The diagram below shows the method of operation of a
positioning control circuit using an SPC200 Smart Positioning Controller.
2
1
4
5
3
1
2
3
Cylinder position = control value

Actual position (actual value)
Valve voltage (setting signal)
4
5
Axis interface string

Positioning control/SPC200 controller
Fig. 1/6: Position control circuit with pneumatic components

The axis interface, valve, cylinder and measuring system are connected together in such a way that they
form a closed-loop control circuit. The position of the
slide or the piston represents the control value in this
control circuit. This control is therefore also referred to
as a positioning control.
SPC200... 9904a
1-15
1. System summary
In the following the terms piston and slide are equivalent in meaning.
The measuring system constantly records the position
of the slide and passes this to the axis interface as an
electrical signal.
The measured values are passed from the axis interface to the SPC200 Smart Positioning Controller. This
compares the reference position with the actual position
and calculates therefrom the positioning signal for the
proportional directional control valve.
The proportional directional control valve controls the
slide by pressurizing one of the cylinder chambers and
exhausting the other. In the mid-position the flow is
blocked so that the slide typically remains at the current
position.
1-16
SPC200... 9904a
1. System summary
1.3
Structure of the axis interface string

The SPC200 is intended for fitting into a control
cabinet. Connection to the measuring system and to
the proportional directional control valve is made via the
axis interface which is connected to the SPC200 via the
axis interface string.
In the basic design, the SPC200 can take control of the
positioning of two pneumatic axes. Two axis interfaces
and two pneumatic axes can therefore be connected to
the axis interface string. The axis interface for the second axis is connected here to the axis interface of the
first axis.
Axis
designations
The axis designations are assigned automatically to the

axes. The first axis is addresssed as the X-axis, the
second axis as the Y-axis.
1
2
1
2
Axis interface of the X-axis

Axis interface of the Y-axis
Fig. 1/7: Assiging the axis designations (example 1)
SPC200... 9904a
1-17
1. System summary
Maximum two axis interface strings and therefore up to

4 pneumatic axes (X, Y, Z, U) are possible for each
SPC200. The second axis interface string is connected
via the subcontroller module type SPC200-SCU-AIF,
which controls the positioning of further axes. Modules
for connecting electric axes can also be installed.
The following applies when modules for connecting further pneumatic or electric axes are integrated:
Axis designations (X, Y, Z, U) are assigned
automatically to the installed modules in ascending
order without gaps from left to right.
On the axis interface string, the first axis is assigned
with the lower-value designation, the second axis
with the higher-value designation.
2
3
1
2

2
3
4
Axis interface of the Z-axis

Power controller for the U-axis
Fig. 1/8: Assigning the axis designations (examples 2 and 3)
1-18
SPC200... 9904a
1. System summary
Further modules with inputs and outputs can be connected to the axis interface string. The diagram below
shows the possible configurations on the axis interface
string using the example of a two-axis system.
2
3
4
5
1
2
3
Alternative possibilities
4
5
6
Module with outputs/valves

Module with inputs
Module with inputs and outputs
Fig. 1/9: Configurations on the axis interface string (examples)
SPC200... 9904a
1-19
1. System summary
6
2 3
The I/O function module ( ) or the module with outputs

( ) can be connected, if required, to the OUT connection of the axis interface ( or ). Modules with outputs ( ) have a connection for coupling to an input module ( ).
4
5
Input modules can also be connected directly to the

axis interface.
The individual modules are connected together by
means of the CP cable. The transfer of information between the modules and the SPC200, as well as the
provision of the operating and load voltages is made via
this cable. The identification of all the modules connected is made automatically by the SPC200.
1-20
SPC200... 9904a
1. System summary
1.4 Operating modes of the SPC200

The SPC200 offers different operating modes to suit the
various applications. The functions of the digital inputs
and outputs of the SPC200 depend on the operating
mode set. The following operating modes are available:
start/stop mode
record select mode
Start/stop
mode
In start/stop mode the SPC 200 can control simple positioning tasks both independently as well as with a
higher-order PLC/IPC. For this purpose, freely programmable inputs and outputs are available in this
operating mode.
Positioning programs can be started and stopped either
with the control panel, a control console or with a
higher-order PLC/IPC.
The command Programmed stop (M00) can be used for
loose coupling to a higher-order PLC/IPC. With this
command you can synchronize the program sequence
of the SPC200 with externally controlled processes.
SPC200... 9904a
1-21
1. System summary
Record
selection
mode
This operating mode supports close coupling of the

SPC200 with a higher-order PLC/IPC. The complete
program sequence is controlled here by the PLC/IPC.
This PLC/IPC passes on positioning tasks in the form
of record numbers to the SPC200 via digital I/Os.
If the I/O modules are used, NC records 0...31 of the
active program, which normally contain only positioning
tasks, can be retrieved via 5 digital inputs. The
PLC/IPC can therefore access up to 32 positions. The
maximum permitted number of NC records (1000 NC
records) can be accessed via field bus modules.
1-22
SPC200... 9904a
1. System summary
1.5 Multi-axis applications with the SPC200

The SPC200 axis controller offers the possibility of parallel program processing and supports the implementation of multi-axis applications. An SPC200 can control
up to 4 axes. It thereby supports the:
coordinated operating mode
autonomous operating mode
coordinated
mode
Parallel program processing is not usually used in the

coordinated operating mode. Only one program is
defined as the starting program. NC records with positioning tasks for all axes are programmed in this program.
If, for example, a positioning command refers to all the
axes, it is not completed until all the axes have reached
the target position. The movement sequence of all the
axes is thus synchronized.
Autonomous
mode
When multi-axis systems are implemented, the connected axes can be divided into two asynchronously
functioning independent work stations. This enables two
independent single or multi-axis systems to be implemented at low cost with one SPC200.
In autonomous mode, the two programs running parallel
each contain positioning tasks for a certain work station. In this way for example, a loading station and an
unloading station can be controlled with just one
SPC200.
SPC200... 9904a
1-23
1. System summary
1.6 Commissioning and programming options

The SPC200 can be commisssioned and programmed
by means of the:
operating panel type SPC200-MMI-1
WinPISA software package
You can commission and program single and multi-axis
systems by means of the control panel. WinPISA offers
an extended scope of functions and a very user-friendly
interface. The table below provides a brief overview.
Subject
Functions
Configuration
- Input of axis parameters

- Input of application parameters
- Input of controller parameters
Programming
Input of programs
Input of positions
Teach editor for positions
Project backup functions
Test functions for components

Program test in individual steps
Extended test functions
Program upload/download
Starting and stopping
programs
Commissioning
Service
Analysis and
optimizing
1-24
Control
panel
WinPISA
- Updating the SPC200 firmware

by download
- Readout of statistical diagnostic data
- Grafic display of position values

- Input of extended system data
SPC200... 9904a
1. System summary
Control panel
The plug-in control panel type SPC200-MMI-1 has a

two-line LCD display. Up to 16 characters can be displayed on each line. There are 6 operating keys with
which all functions can be accessed by means of
menus. The control panel can be placed directly on the
SPC200.
1
2
1
2
3
Display (LCD display with 2 x 16 characters)

Touch-sensitive keyboard
Interface to the SPC200 on the rear
Fig. 1/10: Operating panel type SPC200-MMI-1

The control panel offers all the functions necessary for
commissioning, programming, diagnosis and operation
directly on the SPC200. It also provides functions for
editing position registers and programs.
SPC200... 9904a
1-25
1. System summary
Positions or programs can be entered on the keyboard

with the aid of menus. When your positioning system is
fully installed, you can use the teach functions in order
to move easily to positions and transfer them to the
position register.
WinPISA
The WinPISA software package runs on Windows 3.1

or higher. It provides a user-friendly interface.
1
2
3
1
2
Tool bar
Project window
Program window
Fig. 1/11: WinPISA user interface
1-26
SPC200... 9904a
1. System summary
The WinPISA project window offers rapid access to all

project data. All project components, such as the position list, programs and configuration data are shown
graphically in the project window. One double-click is
sufficient to check or amend settings.
WinPISA provides the following functions:
graphically supported configuration of the current project
user-friendly editor for NC programming, based on
DIN 66025
load functions for programs, projects, etc.
graphical function for analysing the positioning behaviour
WinPISA supports single-axis and multi-axis applications with up to four axes.
SPC200... 9904a
1-27
1. System summary
1.7 I/O address range of the SPC200

A complete word (16 bits) for inputs and/or outputs is
available for each component and each I/O module, irrespective of the number of I/Os which are integrated.
Configuration of the SPC200
without field bus
module
First I/O module
Maximum address range
with field bus

module
-
I0.0 ... I0.9
1)
Q0.0 ... Q0.7 1)
I/O modules on first axis interface string
I1.0 ... I1.15
Q1.0 ... Q1.15
Second I/O module
I2.0 ... I2.9
Q2.0 ... Q2.7
I/O modules on second axis interface string
I3.0 ... I3.15
Q3.0 ... Q3.15
Third I/O module
Second I/O module
I4.0 ... I4.9
Q4.0 ... Q4.7
Fourth I/O module
Third I/O module
I5.0 ... I5.9
First I/O module
Field bus module
I10.0 ... I13.15
Q5.0 ... Q5.7

2)
Q10.0 ... Q13.152)
1) Address range not available if a field bus module is used

2) Address range not available without a field bus module
1-28
SPC200... 9904a
1. System summary
The diagram below shows an example.
I0.0 ... I0.9

Q0.0 ... Q0.7
I2.0 ... I2.9

Q2.0 ... Q2.7
I4.0 ... I4.9

Q4.0 ... Q4.7
Q1.0 ... Q1.11
I1.0 ... I1.15
Q3.0 ... Q3.15
I3.0 ... I3.15
These I/Os are reserved partly by pre-assigned functions

(control inputs and outputs)
Q= output
I = input
Fig. 1/12: Address assignment without field bus module (example)
SPC200... 9904a
1-29
1. System summary
1-30
SPC200... 9904a
2. Fitting
Chapter 2
Fitting
SPC200... 9904a
2-I
2. Fitting
Contents
2. Fitting
2.1
2.2
2.3
2.4
2.5
Inserting and removing modules ................................................... 2-5

Mounting the basic unit ................................................................. 2-9
Fitting the control panel ............................................................... 2-12
Fitting the axis interface and I/O function module ...................... 2-14
Instructions on fitting the pneumatic axis .................................... 2-19
2-2
SPC200... 9904a
2. Fitting
Contents of
this chapter
This chapter describes how to fit and remove SPC200

components as well as how to fit the following components:
the SPC200 basic unit
the control panel
the axis interface
the I/O function module
This chapter also contains instructions on how to fit the
pneumatic axis.
Further
information
General instructions on fitting electromechanical axes,

power controllers and sensors can be found in the manual for the electric positioning system type
P.BE-ATP-....
Detailed information can be found in the instructions enclosed with the products. Further information on the
electric axis can be found in the instructions for the
relevant module.
SPC200... 9904a
2-3
2. Fitting
WARNING
Before starting assembly work, switch off the following in the order specified:
1. the compressed air supply
2. the load and operating voltages on the SPC200
and if necessary, the load voltage supply on the
By doing this you will avoid:
Unintentional movements of the connected
actuators.
Uncontrolled movements of loose tubing.
Undefined switching states.
2-4
SPC200... 9904a
2. Fitting
2.1 Inserting and removing modules

CAUTION
Incorrect handling can cause damage to the
modules, therefore:
Do not touch the electrical contacts of the
components.
Pay due attention to handling specifications
for electrostatically vulnerable components.
Before inserting or removing modules you must
ensure that you are electrostatically discharged
to protect the modules against static discharges.
The SPC200-CPU-... rack serves as a housing for the
SPC200 modules. The SPC200 processor and memory
are mounted on the integrated backplane. The modules
plugged in are connected through this backplane.
The modules are fixed to the rack with a safety catch.
Consequently, no tools are required for insertion or
removal.
Slots
SPC200... 9904a
The slots are marked 1 to 4 or 6 from left to right. Slot

1 is reserved for the power supply module (type SPC200-PWR-AIF). Other modules can be inserted in slots
2 to 4 or 6 as desired. The individual identification of all
the fitted components is carried out automatically.
2-5
2. Fitting
Component
Type designation
Maximum
number
Power supply module
SPC200-PWR-AIF
Diagnostic module
SPC200-MMI-DIAG
Subcontroller module
SPC200-SCU-AIF
Field bus module
SPC200-COM-...
Reference value modules
SPC200-2AI-U
Stepping motor indexer modules
SPC200-SMX
I/O modules
SPC200-DIO
3 or 4
1)
1) Maximum 4 I/O modules if a field bus module is not installed.
Recommendation
When installing a subcontroller module or stepping
motor module, check whether the modules must be
installed in a certain sequence. For operation, axis
designations (X...U) are assigned automatically to
these modules in ascending order without gaps from
left to right (see chapter 1).
Fit the subcontroller module if possible in the slot to
the far right. The cable screening/shield can then be
connected without difficulty to the earth connection
on the right hand side.
If you are using a control panel, fit the stepping
motor module and field bus module, if applicable,
with at least one free slot between it/them and the
diagnostic module.
2-6
SPC200... 9904a
2. Fitting
WARNING
Actuators can be accidentally activated and the
SPC200 damaged, if modules are inserted or
removed with the power switched on.
Before installation or maintenance work switch off
the following power sources in the following order:
1. compressed air supply
2. the load supply and operating voltage supply of
the SPC200.
Installing
modules
The procedure for installing the modules in the rack is

as follows:
1. Switch off the compressed air supply and operating
voltage supply.
2. If necessary, unlock the safety catches and remove
any blanking plate.
3. Take hold of the front plate of the module and slide
it into the guide rail. Be careful not to tilt the module
when you are sliding it into the slot, and make sure
that none of the components on the board are
damaged.
4. Make sure that the pins on the connectors are
correctly aligned. Then with a light pressure of the
fingers push the module fully home. The safety
catches will then lock automatically (see Fig. 2/1).
SPC200... 9904a
2-7
2. Fitting
2
3
4
1
2
3
5
1
Direction for unlocking
Locks automatically
Safety catches
6
4
5
6
Front plate of module

Contact strip
Guide rail
Fig. 2/1: Installing modules

Removing
modules
The procedure for removing a module is as follows:

1. Switch off the compressed air supply and operating
voltage.
2. Unscrew and remove the connecting cable on the
front of the module.
3. Press both safety catches to unlock (see Fig. 2/1)
and carefully pull out the module.
4. Close any unoccupied slots with blanking plates.
2-8
SPC200... 9904a
2. Fitting
2.2 Mounting the basic unit

There are two methods of installing the SPC200 in a
switch cabinet:
Screwing it directly to the wall of the cabinet.
Fastening it to a top hat rail.
PLEASE NOTE
Fit the SPC200 or the hat rail so that there is
sufficent space for heat dissipation (at least 40 mm
above and below).
Screw method of installation

You will need:
a clear area of approx. 126 x 120 mm.
four holes for screw size M4 (for dimensions see Fig.
2/2).
1
94 mm
SPC200-CPU-4: 117 mm
SPC200-CPU-6: 158 mm
Fig. 2/2: Screw method of installation
SPC200... 9904a
2-9
2. Fitting
Fitting with hat rail

In order to mount the rack on a top hat rail you will
need installation set CPV10/14-VI-BG-NRH..
This set comprises 2 clips, 4 M4x10 bolts und 2 clamps
with springs (see figure 2/3).
The rack is mounted on the top hat rail as follows:
1. Make sure that the surface on which the rack is to
be located can bear the weight of the SPC200.
2. Fasten a top hat rail (mounting rail EN50022 35x7.5; width 35 mm, height 7.5 mm).
3. Secure the rail to the wall of the cabinet at min.
100 mm intervals.
4. Attach the 2 clips ( ) with the enclosed M4x10 bolts

( ) to the bracket of the rack (see diagram below).
Make sure that when the fastening bolts ( ) in the
clips are tightened they pass through the recess in
the rack.
5. Hook the rack on to the top hat rail. Secure the rack
with the clamps ( ) so that it does not tip over or
slip out.
2-10
SPC200... 9904a
2. Fitting
2
3
4
1
5
1
2
3
M4 x 10 bolt
Clip
Top hat rail
4
5
Clamp
Fastening bolts
Fig. 2/3: Rail mounting for the rack

The procedure for removing the rack is as follows:
1. Remove the clamps.
2. Withdraw the rack.
SPC200... 9904a
2-11
2. Fitting
2.3 Fitting the control panel

WARNING
If the control panel is plugged into or disconnected
from the SPC200 while the power supply is switched
on, actuators may be activated unintentionally and
both the SPC200 and the control panel may be
damaged.
Before undertaking installation and/or maintenance
work, switch off the following sources of power in the
sequence specified:
2. the load voltage and operating voltage supplies for
the SPC200.
Control panel type SPC200-MMI-1 can be plugged
directly onto the diagnostic module type SPC200-MMIDIAG of the SPC200 (see figure 2/4). Proceed with the
fitting as follows:
1. Switch off the compressed air supply.
2. Switch off the operating voltage and the load voltage
for the SPC200.
3. Carefully place the control panel onto the diagnostic
module type SPC200-MMI-DIAG of the SPC200.
Make sure that the plugs ( ) and sockets ( ) are
correctly aligned before you plug the control panel in
completely.
4. Make sure that the locking pins ( ) clip into place.
2-12
SPC200... 9904a
2. Fitting
2
3
1
2
3
Control panel (side view)

Locking pin
Plug on control panel
5
6
5
4
5
6
Diagnostic module
Recess for locking pins
Socket for control panel (X3)
Fig. 2/4: Control panel installation

Proceed as follows when dismantling:
1. Switch off the compressed air supply.
2. Switch off the operating voltage and the load voltage
for the SPC200.
3. Carefully remove the control panel from
diagnostic module type SPC200-MMI-DIAG.
SPC200... 9904a
the
2-13
2. Fitting
2.4 Fitting the axis interface and I/O function module

This section describes how to fit the I/O function
module SPC-FIO-... and the SPC-AIF-... axis interface.
Axis interface installation

The SPC-AIF-... axis interface, designed as a field unit,
can be attached either vertically or horizontally to a flat
surface using the angle brackets supplied. The following areas will be required for installation depending on
the method of fastening:
Method of fastening
Area required
Horizontal
approx. 66 mm x 70 mm
Vertical
approx. 66 mm x 30 mm
The dimensions for the four threaded holes for M4 size

bolts and the installation of the angle brackets are
shown in the following figure.
2-14
SPC200... 9904a
2. Fitting
16.9 mm
8.45 mm
66 mm
85.8 mm
34 mm
72 mm
81 mm
95 mm
1
2
3
3
3
30 mm
Fitting the angle bracket horizontally

Right-angle plug
Fitting the angle bracket vertically
Fig. 2/5: Installation of the SPC-AIF-... axis interface
Secure the axis interface with at least 3 bolts.
SPC200... 9904a
2-15
2. Fitting
Fitting the I/O function module

I/O Function modules are designed for mounting on a
flat surface or on a top hat rail.
Wall
mounting
A surface area of approx. 70 x 80 mm is required to

mount the module. The following diagram shows the
positions of the four holes for the M4 screws.
67 mm
INPUT/OUTPUT
PNP
POWER
40 mm
DIAG
OUTPUT
INPUT
SPC-FIO-2E/2A-M8 I/O function module
Fig. 2/6: Dimensions for installing I/O function module
2-16
SPC200... 9904a
2. Fitting
Installation
on mounting
rail
You will require the CP-TS-HS35 installation kit to install

the rack on a mounting rail. This kit consists of 2
fastenings, 2 M4x12 bolts and two backing washers.
The procedure for fitting the device is as follows:
1. Fit a top-hat rail (EN 50022 - 35x15 support rail;
width 35 mm, height 15 mm).
2. Secure the top-hat rail to the mounting surface at
least every 100 mm.
3. Snap the two fastenings onto the mounting rail
(see Fig. 2/7).
4. Secure the housing onto the fastening with the bolts
and backing washer supplied, as shown in the
following illustration.
5. Tighten the bolts firmly. This will clamp the fastening
and the housing firmly to the rail.
3
4
5
1
2
3
2
Fastening
Mounting rail
Housing
2
4
5
M4x12 bolt
Backing washer
Fig. 2/7: Fitting the SPC-FIO-2E/2A-M8

to a mounting rail
SPC200... 9904a
2-17
2. Fitting
The procedure for removing the device is as follows:

1. Loosen the bolts.
2. Remove the housing.
3. Lever the fastening out of the mounting rail using a
screwdriver.
1
2
Fastening
Screwdriver
Fig. 2/8: Dismantling the fastening
2-18
SPC200... 9904a
2. Fitting
2.5 Instructions on fitting the pneumatic axis

PLEASE NOTE
Install the cylinder, measuring system and valve in
accordance with the relevant operating instructions.
The following sections contain general rules which are
important for the safe operation of a pneumatic axis.
Install the proportional directional control valve as
close as possible to the cylinder. Short compressed
air lines ensure the dynamics of the system.
Place the proportional directional control valve at
right angles to the direction of motion if you wish to
mount it on moving components. This will ensure that
acceleration forces will have no effect on the valve
slide setting.
In an environment with strong electrical interference,
the proportional directional control valve should be insulated from the mounting surface.
Use high-flow silencers.
Measuring systems with control slides
If you wish to use a measuring system with slides
under harsh environmental conditions, mount it so
that the side with the control slides faces downwards.
The drip edge on either side will then prevent excessive soiling of the slide surfaces.
SPC200... 9904a
2-19
2. Fitting
Cylinders
CAUTION
Fit shock absorbers on the cylinder, even in the case
of a cylinder with adjustable cushioning (PPV). This
will prevent damage in the event of operating and
system failures.
CAUTION
Limit the range of travel using fixed end-stops if the
measuring system is shorter than the range of travel.
This will prevent damage to the measuring system in
the event of operating and system failures.
Important for positioning accuracy
Cylinder, guidance, measuring system and load must
be connected in the direction of travel almost rigidly,
well aligned and with very little play.
The play between drive, guide, mass and measuring
system must be smaller by a factor of 10 than the
required tolerance (max. 0.1 mm).
2-20
SPC200... 9904a
3. Installation
Chapter 3
Installation
SPC200... 9904a
3-1
3. Installation
Contents
3. Installation
3.1
3.2
3.2.1
3.2.2
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
3.4.1
3.4.2
3-2
General instructions on installation ............................................... 3-4

Instructions on pneumatic installation ........................................... 3-5
Pneumatic emergency stop circuit .............................................. 3-15
Tubing for slide and yoke operation............................................ 3-19
Installing the SPC200 .................................................................. 3-21
Selecting the power unit. ............................................................. 3-22
Connections of the power supply module ................................... 3-24
Connections of the diagnostic module ........................................ 3-30
Connections of I/O module SPC200-DIO-... ............................... 3-33
Connections of analogue input module type SPC200-2AI-U...... 3-42
Connections on the subcontroller module type
SPC200-SCU-AIF........................................................................ 3-45
Installing the modules on the axis interface string...................... 3-47
Installing the axis interface SPC-AIF-... ...................................... 3-51
Installing I/O function module SPC-FIO-2E/2A-M8 ..................... 3-56
SPC200... 9904a
3. Installation
Contents of
this chapter
This chapter describes how to fit the pneumatic axis

and how to fit the SPC200 basic unit with the following
components and modules:
the power supply module type SPC200-PWR-AIF
the diagnostic module type SPC200-MMI-DIAG
the I/O modules type SPC200-DIO
the reference value module type SPC200-2AI-U
the subcontroller module type SPC200-SCU-AIF
the axis interface type SPC-AIF-...
the I/O function module type SPC-FIO-E/2A-M8
In addtion, the chapter contains important rules on setting up an axis interface string.
Further
information
Instructions on installing the field bus modules and modules for coupling electric axes can be found in the manual for the relevant module.
Further information on electric positioning systems can
be found in the manual Electric positioning systems
type P.BE-ATP-... .
SPC200... 9904a
3-3
3. Installation
3.1 General instructions on installation

CAUTION
Use only the specially adapted components from
Festo for setting up and wiring the system. Only in
this way can you guarantee the correct functioning of
the system.
WARNING
Switch-off the following in the order specified before
carrying out installation and maintenance work:
2. the load and operating voltage supply to
the SPC200 and, if necessary, the load voltage
supply to the axis interface string.
In this way you will avoid:
undesired movements of the connected actuators
uncontrolled movement of loose tubing
undefined switching states.
3-4
SPC200... 9904a
3. Installation
3.2 Instructions on pneumatic installation

PLEASE NOTE
Observe the following instructions on pneumatic
installation. Only then can you guarantee faultless
operation.
7
4
1
3
1-8
Instructions on installation see following pages
Fig. 3/1: Summary of pneumatic installation
SPC200... 9904a
3-5
3. Installation
1 Compressed air
Use only dried, non-lubricated 5 m filtered compressed air at 4...8 bar, tolerance 1 bar. Please
observe the permitted pressure range of the components used.
A service unit with a 5 m filter is required for protecting
the proportional directional control valve against damage.
2 Service unit
Use a service unit consisting of a compressed air filter and a regulating valve (e.g. type LFR-...-D-... with
5 m filter element) as well as a safety start-up valve
(e.g. HEL-...-...):
without lubricator
with a 5 m filter
with sufficiently large standard flow corresponding to
the air requirements of the connected axis when positioning. Guide value: twice the standard rated flow
of the valve (MPYE).
Use a microfilter if you cannot avoid a small amount
of oil mist emerging from the compressed air source.
3-6
SPC200... 9904a
3. Installation
3 Compressed air tubing and connectors

If possible, use screw connectors from the QS or
QSM series. In the case of drives with 3/8" connection, CK screw connectors of type CK-3/8-PK-13 can
also be used.
Use only straight connectors. If angled connectors
cannot be avoided, use plug connectors from the
Festo Quick Star series.
Use connectors with as large a width as possible. If
the connections of the valve and the cylinder are not
the same size, select the largest possible width for
the smaller size.
Depending on the screw connectors, always use the
largest possible tubing diameter.
Do not use restrictors.
Lay the cables so that they do not obstruct the positioning range.
Use only clean compressed air tubing and screw
connectors.
Keep the tubing as short as possible.
Details on the permitted temperature and pressure
ranges of tubing and connectors can be found in the
Pneumatics Catalogue.
Variations in pressure of max. 1 bar are permitted for
good positioning behaviour during operation at the proportional directional control valve. A measuring point
can be provided directly before the proportional directional control valve for checking the stability of the supply pressure.
SPC200... 9904a
3-7
3. Installation
4 Compressed air reservoir

Install a compressed air reservoir (e.g. type VZS-...B) between the service unit and the proportional directional control valve if the positioning behaviour
does not meet with your requirements and if you
ascertain variations in pressure of over 1 bar at the
measuring point during operation.
In this way you will minimise variations in pressure during operation. You may be able to overcome slight excesses in the permitted pressure by using a supply line
with a larger cross section.
Reservoir volumes
The volume of the reservoir depends on the cylinder
volume of the drive used and should be at least twice
as large as the volume of the cylinder used.
VP = 2 * VZ
VP=
VZ=
LZ=
r =
3-8
Buffer volume;
Cylinder volume (VZ = r 2 * * LZ)
Cylinder stroke length
Cylinder diameter / 2
SPC200... 9904a
3. Installation
5 Proportional directional control valve

Recommendation: Use only suitable cylinder-valve
combinations. The diagram below shows permitted proportional directional control valves for cylinders of type
DGP...-... and DGO-....
1
2
1
2
3
3
Proportional directional control valve type MPYE-5-...-010B
Cylinder diameter
Cylinder length
Fig. 3/2: Suitable valve/cylinder combination
SPC200... 9904a
3-9
3. Installation
Install the proportional directional control valve as

close as possible to the cylinder. Short compressed
air tubing will ensure proper system dynamics.
In environments with strong electrical interference, insulate the proportional directional control valve from
the mounting surface.
Mounting on moving components:
Mount the proportional directional control valve at
right angles to the direction of movement. Acceleration forces will then have no effect on the valve slide
setting.
1
2
3
Mounting at right angles to the direction of movement

Not permitted
Proportional directional control valve MPYE-...
Fig. 3/3: Mounting on moving parts

Instructions on connecting the tubing with slide and
yoke operation can be found in section 3.2.2. Instructions on the pneumatic emergency stop circuit can be
found in section 3.2.1.
Use silencers with high nominal flow rate
(e.g. U-1/8).
3-10
SPC200... 9904a
3. Installation
Reducing high exhaust noises

Install larger silencers with the aid of tubing or conduct the exhaust air into a small air reservoir and
vent this with a large silencer. Ensure that there is a
sufficient flow rate through the connectors and the
tubing (in the case of the PUN-8 tubing length max.
1 m).
3
1
2
Ducted exhaust air

Compressed air reservoir
Silencer
Fig. 3/4: Ducted exhaust air
6 Cylinder
Use only permitted cylinders of type DGP...-... or DGO... with suitable guide. Other cylinders may only be
used after agreement with Festo.
Use maximum 80% of the cylinder length as the working stroke. In the case of cylinders with adjustable
cushioning (...-PPV), the working stroke must not project into the range of the PPV as this would prevent
good positioning. Details on the cushioning length can
be found in the Pneumatics Catalogue.
Carefully loosen completely the adjusting screws for
the internal end position cushioning.
SPC200... 9904a
3-11
3. Installation
CAUTION
Limit the range of movement with end stops so that
the measuring system covers the whole positioning
range. In this way you will protect the measuring
system from damage.
1
2
3
1
2
Cylinder length
Working stroke (80%), outside of PPV
End stop
3/5: Permitted working stroke

In the case of DGP(L) cylinders, use a double-sided
air supply for cylinders longer than 600 mm, in order
to ensure good positioning behaviour.
Lubricate the cylinder guides in accordance with the
maintenance intervals indicated in the operating instructions for the cylinder or for the guide.
Requirements in respect of play
The cylinder, guide, measuring system and load must
be almost rigidly fixed in the direction of movement,
be relatively free of play and correctly aligned with
each other.
If required, select an adequately large energy supply
in order to minimise the effect of bending forces on
the positioning behaviour.
3-12
SPC200... 9904a
3. Installation
7 Mass load
The pneumatic axis must be operated with a permitted
mass load for good positioning behaviour. The mass
load represents the total mass including the weight of
the piston and slide to be moved. It comprises the tool
load and the current work load.
The permitted mass load depends on:
the cylinder diameter used,
the fitting position,
the operating pressure.
You can determine the permitted mass load with the aid
of the following table:
SPC200... 9904a
Fitting
position
Maximum mass load
Minimum mass load
horizontal
( = 0)
mmax
0.1 * mmax
vertical
( = 90)
0.33 * mmax
0.1 * mmax
diagonal
(0 < < 90)
(1-2/3 sin ) * mmax
0.1 * mmax
= Fitting position in []
mmax
= d2 * Psys
d
=
Psys =
mmax =
* 0.008
Cylinder diameter [mm]
Supply pressure [bar]
maximum mass load for horizontal
fitting position [kg]
3-13
3. Installation
Make sure that:

the tool load is geater than or equal to the determined minimum mass load. During positioning without work load the mass load will not therefore be
lower than the minimum value (recommendation). If
necessary, use an appropriate basic load.
the work load together with the tool load does not
exceed the determined maximum mass load.
modifications to the mass during operation are taken
into account with command M37.
8 Measuring system
Use only measuring systems of type MLO-POT-...TLF or MME-MTS-...-AIF or cylinders with integrated
measuring system type DGPI(L)-...-AIF.
If you wish to mount a linear potentiometer with slide
under difficult ambient conditions (dusty environment), mount it so that the side with the actuating
slide faces downwards. The double-sided drip edge
will then prevent excessive soiling of the sliding surface.
Fit the linear potentiometer so that it is electrically
insulated from the mounting surface. Use the clamping brackets provided.
PLEASE NOTE
The positioning accuracy which can be achieved depends on the type of measuring system used.
3-14
SPC200... 9904a
3. Installation
3.2.1 Pneumatic emergency stop circuit

In order to put the system into a safe state in the event
of a breakdown, a pneumatic emergency stop circuit is
required. Choose one of the following methods,
depending on the constructional and operational
characteristics of your system:
Cylinder at zero pressure during emergency stop
Piston clamped during emergency stop
Piston moves throttled to the left or right end position
during emergency stop.
SPC200... 9904a
3-15
3. Installation
Emergency stop with shut-off valve

To switch the operating pressure on and off a shut-off
valve can be fitted between the maintenance unit and
the proportional directional control valve.
Shut-off valve for emergency stop
Fig. 3/6: Switching off the operating pressure
3-16
SPC200... 9904a
3. Installation
Universal emergency stop circuit
Fig. 3/7: Universal emergency stop circuit
SPC200... 9904a
3-17
3. Installation
The emergency stop circuit shown in Fig. 3/7 enables

all possible emergency stop variants. The behaviour of
the cylinder depends on whether you close connection
3 of shut-off valves 1.2 and 1.3, or connect compressed
air or a flow control valve with a silencer.
Behaviour of
cylinder
Connection 3 of valve 1.2
Connection 3 of valve 1.3
Cylinder pressureless
Connect flow control valve with

silencer 1)

silencer 1)
Piston clamped
Close with plug
Close with plug
Right end position
Connect compressed air

silencer
Left end position

silencer
Connect compressed air
1) Flow control valves reduce the impact force if an EMERGNCY STOP valve does not
function correctly.
3-18
SPC200... 9904a
3. Installation
3.2.2 Tubing for slide and yoke operation

Some linear units are suitable for either slide or yoke
operation. Note that the linear unit must be fitted with
tubing in accordance with the method of operation of
your system. When compressed air is applied via port 4
of the proportional directional control valve, the slide
must move in the direction of the measuring system
zero point (electrical connection of the potentiometer). If
compressed air is applied via port 2, the slide must
move away from the measuring system zero point.
PLEASE NOTE
The tubing must also be correct if you are using
cylinders with unilateral air connection.
Slide
operation
If the valve is mounted parallel to the measuring system

and the tubing is not to be crossed, the electrical connections of the two devices must be on the same side.
1
Electrical connection
Fig. 3/8: Tubing in slide operation
SPC200... 9904a
3-19
3. Installation
Yoke
operation
If, in yoke operation, the measuring system slide is connected with the slide of the linear unit, the electrical
connections of both devices must be on the same side
as with slide operation (compare figs. 3.8 and 3.9).
1
1
Electrical connection
Fig. 3/9: Tubing in yoke operation with measuring

system
3-20
SPC200... 9904a
3. Installation
3.3 Installing the SPC200

WARNING
Switch of the following in the order specified before
carrying out installation and maintenance work:
2. the load voltage supply for the field devices
and proportional directional control valves
(plug X2, pin 1).
the load voltage supply for the outputs
(plug X6/X8, pin 8)
if necessary, the load voltage supply for the
the operating voltage supply for the internal
electronics for the SPC200 and field devices
(plug X2, pin 2).
In this way you will avoid:
undesired movements of the connected actuators
uncontrolled movement of loose tubing
PLEASE NOTE
Mark the cables connected to the SPC200. In this
way you can avoid confusion with similar plugs
during conversion work.
SPC200... 9904a
3-21
3. Installation
3.3.1 Selecting the power unit.

WARNING
Use only power units which guarantee reliable
isolation of the operating voltages as per IEC
742/EN 60742/VDE 0551 with at least 4 kV isolation
resistance (protected extra low voltage, PELV).
Switch power packs are permitted if they guarantee
reliable isolation in accordance with EN 60950/VDE
0805.
By using PELV power units, protection against electric
shock (protection against direct and indirect contact) in
accordance with EN 60204-1/IEC 204 is guaranteed on
Festo valve terminals. Safety transformers with the adjacent designation must be used for supplying PELV
networks. The valve terminals must be earthed in order
to ensure their function (e.g. EMC).
Recommendation:
Use a closed loop power unit.
Select a power unit which has sufficient output for
further extensions.
The current consumption depends on the number
and type of components connected. When selecting
the power unit, check that it has sufficient output.
Calculate the total current consumption according to
the following table.
3-22
SPC200... 9904a
3. Installation
Current consumption at pin 1 of module SPC200-PWR-AIF

Current consumption of basic load of the electronic
components
Load current consumption of simultaneously activated outputs on module SPC200-DIO1)
500 mA
+ _____ A
Sum of load current consumption of all proportional

+ _____ A
directional control valves (appprox. 1.2 A je MPYE-...)
Load current consumption of all simultaneously activated CPV valve coils on the axis
interface string 1) 2)
+ _____ A
Load current consumption of all simultaneously activated outputs on the axis interface string 1) 3)
+ _____ A
Sum of current consumption at pin 1
= _____ A
______ A
Current consumption at pin 2 of module SPC200-PWR-AIF

Current consumption of internal electronics
of the SPC200
- SPC200-CPU-4
(400 mA)
- SPC200-CPU-6
(600 mA)
+ _____ A
Current consumption of all sensors connected to modules SPC200-DIO (see manufacturer specifications)
+ _____ A
Current consumption of all modules which are supplied with current via the axis interface strings (logic
voltage)
+ _____ A
Sum of current consumption at pin 2
= _____ A
Total current consumption
+______ A
=______ A
1) Separate power supply possible or necessary

2) Current consumption depends on valve type (see Technical Specifications for valves)
3) Internal consumption at logic 1 see Technical Specifications for modules
SPC200... 9904a
3-23
3. Installation
3.3.2 Connections of the power supply module

On the front of power supply module type SPC200PWR-AIF you will find the following connecting and display elements:
1
2
3
4
5
1
2
3
4
5
Power supply module type SPC200-PWR-AIF

Combicon screw terminal for axis interface string (X1)
ERROR-LED for error display (red)
POWER-LED for power supply green)
3-pin Combicon screw terminal for power supply (X2)
Fig. 3/10: Connecting and display elements of the

power supply module
3-24
SPC200... 9904a
3. Installation
Operating voltage connection (X2)

The following components are supplied with + 24 V DC
via the operating voltage connection (X2):
the load voltage supply for field devices and the proportional directional control valve, with emergency
stop circuit; pin 1: + 24 V DC, tolerance -5 %/+25 %
the internal electronics of the SPC200, of the connected modules and measuring systems;
pin 2: + 24 V DC, tolerance -5 %/+25 %
PLEASE NOTE
In the case of the power supply and load voltages,
the tolerance of - 5 % to + 25 % must be observed
for both current circuits.
PLEASE NOTE
Check your EMERGENCY STOP circuit to see
which measures are necessary to place your
machine/system in a safe state in the event of an
EMERGENCY STOP (e.g. switching off the load
voltage, pressure).
Check the 24 V operating voltage of the outputs while your system is operating. Note that the operating
voltage of the outputs must lie within the permitted
tolerances even during full operation.
SPC200... 9904a
3-25
3. Installation
The diagram below shows the pin assignment of the

operating voltage connection on the power supply module.
1
2
3
4
Connection cross section area max. 1.5 mm2
1
2
3
4
24 L: 24 V load supply (can be switched off separately)

24 V: 24 V supply for internal electronics
0V
Earth/ground connection (M4 thread)
Fig. 3/11: Operating voltage connection (X2)

Earth/ground
connection
The SPC200 has earth connections on the left and right

hand sides of the rack.
PLEASE NOTE
Connect one of the earth cables of the SPC200 with
low impedance (short cable with large crosssectional area) to the earth potential.
In this way you can avoid faults caused by electromagnetic interference.
3-26
SPC200... 9904a
3. Installation
Example of connection
The following illustration shows the connections to pin 1
and pin 2 of a common 24 V supply. Note that
the tolerance limits for the load supply and circuit
supply must not exceed 24 V DC -5 % +25 %;
in the case of the load supply, the voltage tolerances
for the components connected to the axis interface
string must also be observed.
0 V 24 V
24 L
24 V
0V
Load supply (can be switched off separately)
Fig. 3/12: Example Connecting a common

24 V power supply
SPC200... 9904a
3-27
3. Installation
Plug for axis interface string (X1)

CAUTION
Use the special cable from Festo (type KSPC-AIF-...)
for connecting the axis interface.
Note the maximum permitted cable lengths on the
axis interface string (see section 3.4).
In this way you will avoid faults in the SPC200 and in
the modules connected to the axis interface string.
The bus signals, the operating voltage and the load
voltage for the connected field devices are provided via
the 5-pin plug of the power supply module.
3-28
SPC200... 9904a
3. Installation
The KSPC-AIF-... connecting cable is supplied ready

fitted with a 5-pin screw terminal..
CAUTION
The axis interface connection does not have
protection against incorrect polarity. Make sure that
the contacts are correctly assigned if, for example
you connect the screw terminal yourself after
shortening the cable.
1
2
3
4
5
6
Pin assignment and wire colours of cable type KSPC-AIF-...
1
2
3
CAN-LOW (brown)
CAN-HIGH (white)
24 V (yellow)
4
5
6
0 V (green)
24 V load voltage (grey)
Earth connection
Fig. 3/13: Pin assignment of the plug for the first

axis interface string (X1)
Connect the cable screening to the earth connection
( ).
SPC200... 9904a
3-29
3. Installation
3.3.3 Connections of the diagnostic module

You will require a diagnostic module type SPC200-MMIDIAG for commissioning, programming and diagnosing.
This diagnostic module offers the following serial interfaces:
a connection for control panel type SPC-MMI-1;
a connection for a PC. This serial interface is designed as a 9-pin Submin-D plug and complies with
standard RS-232.
The serial interface is operated with the following settings:
Baud rate: 9.6 ... 115.2 kBaud
Data bits: 8 bits
Parity: even
1 stop bit
No handshake
To connect a PC you will require:
a screened connecting cable (e.g. Festo diagnostic
cable type KDI-PPA-3-BU9)
a PC with serial interface (RS-232) and with WinPISA programming and commissioning software type
P.SW-WIN-PISA-.....
3-30
SPC200... 9904a
3. Installation
PLEASE NOTE
If you wish to use a different connecting cable, note
the following pin assignment. Use a screened cable
and connect the screening to the plug housing.
You will then avoid faults in data transmission.
5
3
2
2
3
5
Pin 2: Received data (RxD)

Pin 3: Transmitted data (TxD)
Pin 5: Signal ground (SGND)
Fig. 3/13: Pin assignment of serial interface (X4)

Connect the diagnostic cable as follows:
the 9-pin plug to the 9-pin socket on the diagnostic
module
25-pin or 9-pin socket on the serial interface of your
PC.
SPC200... 9904a
3-31
3. Installation
The control panel type SPC200-MMI-1 can be placed

directly on the upper interface when the power supply is
switched off.
CAUTION
The control panel may be damaged if it is placed on
the interface when the power supply is switched on.
Make sure that the power supply is switched off
before the control panel is connected.
Fig. 3/15: Pin assignment of MMI socket (X3)
3-32
SPC200... 9904a
3. Installation
3.3.4 Connections of I/O module SPC200-DIO-...

You will require an I/O module type SPC200-DIO-.... for
controlling the SPC200 via digital I/Os. This I/O module
has 10 digital inputs and 8 digital outputs for the following functions:
providing digital I/Os for controlling the SPC200 (only
if no field bus module is fitted)
providing freely programmable digital I/Os for controlling peripherals.
PLEASE NOTE
Maximum 3 I/O modules are permitted to operate
on the field bus. Without a field bus module, 4 I/O
modules can be fitted into a rack.
The logical functions of the digital inputs/outputs depend on the operating mode selected. Freely programmable I/Os are only available in start/stop mode.
Control via digital I/Os or I/O modules is only possible if
no field bus module is installed. Identification of inserted
modules takes place automatically, starting with the
power supply module from left to right. The following
diagrams show the assignment of plug X5/X7 and plug
X6/X8 (inputs).
SPC200... 9904a
3-33
3. Installation
Inputs
1
2
3
"
1
2
3
"
24 V sensor supply (non floating)

0 V (non floating)
0: input 0
...
9: input 9
Fig. 3/16: Assignment of plug X5/X7 (inputs)
24 V
0V
0
1
2
...
24 V 25 %
0V
1
2
3
1
2
Three-wire sensor
Two-wire sensor
Contact
Fig. 3/17: Example of circuitry (PNP inputs)
3-34
SPC200... 9904a
3. Installation
Outputs
1
8
9
0
1
2
8
9
0
0: output 0
...
7: output 7
24 V external supply for outputs
Fig. 3/18: Pin assignment of plug X6/X8 (outputs)
0
1
2
...
2 1
4
24 V
DC
0V
1
2
Example 1
Example 2
3
4
AC
Not permitted
Load voltage
Fig. 3/19: Example of circuitry (outputs X6/X8)

How to supply the load voltage for plugs X2 and X6/X8
via one power unit is shown in Fig. 4/1.
SPC200... 9904a
3-35
3. Installation
Addressing
The assignment of the I/O address range depends on
the configuration of the SPC200. If a field bus module
is fitted, the address range 0.0 ... 0.9 will remain unassigned. The assignment of I/O addresses for configuration with and without a field bus module is shown in the
following table.
Configuration without
field bus module
First I/O module
Configuration with
field bus module
-

I0.0 ... I0.9
1)
Q0.0 ... Q0.7 1)
I/O module on first axis interface string
I1.0 ... I1.15
Q1.0 ... Q1.15
Second I/O module
I2.0 ... I2.9
Q2.0 ... Q2.7
I/O module on second axis interface string
I3.0 ... I3.15
Q3.0 ... Q3.15
Third I/O module
Second I/O module
I4.0 ... I4.9
Q4.0 ... Q4.7
Fourth I/O module
Third I/O module
I5.0 ... I5.9
First I/O module
Field bus module
I10.0 ... I13.15
Q5.0 ... Q5.7

2)
Q10.0 ... Q13.152)
1) Address range not available if a field bus module is used

2) Address range not available without field bus module
If no field bus module is installed, certain I/Os are preassigned on the first identified I/O module, depending
on the operating mode.
3-36
SPC200... 9904a
3. Installation
Basic rules
If several I/O modules are fitted in a rack, you should
observe the following:
The I/O module inserted on the left, nearest to the
power supply module, is the first I/O module. Further
I/O modules are counted from left to right.
If no field bus module is fitted, the first I/O module
provides five freely programable inputs and three
freely programmable outputs and the I/Os for controlling the SPC200 (I0.0 ... I0.9 and Q0.0 ... Q0.7). The
I/Os of further I/O modules are freely programmable.
If a field bus module is fitted, the address ranges
(I0.0 ... I0.9 and Q0.0 ... Q0.7) are not available. The
first I/O module then occupies the addresses I2.0 ...
I2.9 and Q2.0 ... Q2.7. Their I/Os are therefore also
freely programmable.
Explanations of the I/O control signals in the relevant
operating mode can be found in chapter 5.
SPC200... 9904a
3-37
3. Installation
Pin assignment of front plug X5 for the first I/O module

for operation without a field bus module
If no field bus module is fitted, the first I/O module will
provide the following control inputs:
Inputs with control function
Pin no.
Designa- Address2)
tion1)
24 V
2
3
Start/stop mode
Record selection mode
0V
0 V (non floating)
I0.0
REC_BIT 1
I0.1
REC_BIT 2
I0.2
I0.3
REC_BIT 8
I0.4
REC_BIT 16
I0.5
SYNC_IB
CLK_B
I0.6
SYNC_IA
CLK_A
10
I0.7
STOP
STOP
11
I0.8
START/RESET3)
RESET3)
12
I0.9
ENABLE
ENABLE
freely programmable
REC_BIT 4
1) Designation on the module

2) Addresses of the first installed I/O module with configuration without field bus module
(I = input)
3) RESET (Program reset) in conjunction with 0-signal at STOP input
3-38
SPC200... 9904a
3. Installation
Pin assignment of front plug X6 for the first I/O module

for operation without a field bus module
If no field bus module is fitted, the first I/O module will
provide the following control outputs:
Outputs with control function
Pin no.
Designation1)
Address2)
Q0.0
Start/stop mode
Record selection
mode3)
-
freely programmable.
Q0.1
Q0.2
Q0.3
MC_B
RC_B
Q0.4
MC_A
RC_A
Q0.5
SYNC_OB
ACK_B
Q0.6
SYNC_OA
ACK_A
Q0.7
READY
READY
24 V
10
0V

2) Addresses of the first installed I/O module with configuration without field bus module
(Q = output)
3) No freely programmable I/Os are supported in this operating mode
SPC200... 9904a
3-39
3. Installation
General pin assignments for I/O modules without special control functions
The word number (here x) depends on the configuration of the SPC200.
Configuration
Without
field bus module
With
field bus module
Word
number x
Second I/O module
First I/O module
Third I/O module
Second I/O module
Fourth I/O module
Third I/O module
Inputs without control function

Address2)
Start/stop mode
Record selection mode3)
Pin no.
Designation1)
24 V
0V
0 V (non floating)
Ix.0
Ix.1
Ix.2
Ix.3
Ix.4
Ix.5
freely programmable
Ix.6
10
Ix.7
11
Ix.8
12
Ix.9

2) The word number (here x) depends on the configuration
3) Freely programmable I/Os are not supported in this operating mode
3-40
SPC200... 9904a
3. Installation
General pin assignments for I/O modules without special control functions
The word number (here x) depends on the configuration of the SPC200.
Configuration
Without
field bus module
With
field bus module
Word
number x
Second I/O module
First I/O module
Third I/O module
Second I/O module
Fourth I/O module
Third I/O module
Outputs without control function

Pin no.
Designation1)
Address2)
Start/stop mode
Record selection mode3)
Qx.0
Qx.1
Qx.2
Qx.3
Qx.4
Qx.5
freely programmable
Qx.6
Qx.7
24 V
10
0V

2) The word number (here x) depends on the configuration (Q = output)
3) No freely programmable I/Os are supported in this operating mode
SPC200... 9904a
3-41
3. Installation
3.3.5 Connections of analogue input module type SPC200-2AI-U

Two such modules can be fitted into the basic unit
SPC200-CPU-6. Each module has two differential inputs. The first module (on the left) provides differential
inputs 1 and 2, the second module provides differential
inputs 3 and 4. This module enables positions to be
specified in the form of a voltage (0 ... 10 V).
Differential inputs 1,2 and 3,4
9
1
2
3
4
REF: 10 V reference voltage (output)

GND
A1+: signal (+)
A1-: signal (-)
5
6
7
8
9
REF: 10 V reference voltage (output)

GND
A2+: signal (+)
A2-: signal (-)
Earth connection
Fig. 3/20: Reference input value module type SPC200-2AI-U (X9)

The analogue inputs can be assigned to any axes and
activated by appropriate commands in the positioning
program. Several reference input values are supported
by this program (e.g. continuous position monitoring, individual positioning etc.).
3-42
SPC200... 9904a
3. Installation
The voltage range is 0-10 V. With the aid of the analogue reference value input, you can determine by program any range for positioning within the possible positioning range of the axis. The voltage value and the
position have the following relationship to each other:
Voltage
Description
0V
...
...
10 V
Smallest position value

...
...
Largest position value
Connecting analogue sensors

WARNING
Improper installation can lead to operating faults and
e.g. cause undesired movements of the actuators.
Please observe the installation instructions below:
Use a screened cable twisted in pairs for the
analogue reference value specification.
Do not place cables in the vicinity of or parallel to
cables with high interference levels. If necessary, use
separate cable channels or bundles or even use separate cables.
Always connect the screening for analogue signal
cables on one side to the earth conductor (pin 9).
Recommendation: Use short signal cables wherever
possible. The maximum length of the cable should not
exceed 4 m.
SPC200... 9904a
3-43
3. Installation
Circuitry for connecting a differential signal
SPC200-2AI-U
1
2
1
2
A1- [A2-]
A1+ [A2+]
3
4
Signal (-)
Signal (+)
Screening/shield
Earth conductor
Fig. 3/21: Connecting a differential signal

Circuitry for connecting a potentiometer
2
1
SPC200-2AI-U
REF
R
A1+ [A2+]
A1- [A2-]
GND
1
2
Potentiometer
Screening/shield
Earth conductor
Fig. 3/22: Connecting a potentiometer
3-44
SPC200... 9904a
3. Installation
3.3.6 Connections on the subcontroller module type

SPC200-SCU-AIF
In its basic design, the SPC200 can control the positioning of two pneumatic axes. With the subcontroller
module, maximum four pneumatic axes can be operated with just one SPC200. The subcontroller module
provides a connection for a second axis interface string
and controls the positioning of the connected axes.
Maximum two pneumatic axes are permitted for each
CAUTION
Use the special cable from Festo (type KSPC-AIF-...)
for connecting the axis interface.
Please observe the maximum permitted cable
lengths on the axis interface string (see section 3.4).
In this way you will avoid malfunctioning of both the
SPC200 and the modules connected to the axis interface string.
The bus signals, the operating voltage and the load
voltage for the connected field devices are supplied via
the 5-pin plug on the power supply module. The connecting cable type KSPC-AIF-... is supplied ready to
use and fitted with a 5-pin screw terminal.
CAUTION
The axis interface connection is not protected
against incorrect polarity. Make sure that the connections are correct, if, e.g. you fit the screw terminal
yourself after shortening the cable.
SPC200... 9904a
3-45
3. Installation
7
1
2
3
4
5
6
Pin assignment and core colours of cable type KSPC-AIF-...
1
2
3
4
CAN-LOW (brown)
CAN-HIGH (white)
24 V (yellow)
0 V (green)
5
6
7
24 V load voltage (grey)

Groove with inserted
coding pin
Earth connection
Fig. 3/23: Pin assignment of the plug for the second

axis interface string (X10)
Connect the cable screening to the earth connection
( ).
PLEASE NOTE
In order to avoid confusion between connections X10
and X1, assign different codes to the connections. Insert the coding pins supplied into different grooves in
the connector strips. Remove the appropriate plastic
lugs from the relevant plugs.
3-46
SPC200... 9904a
3. Installation
3.4 Installing the modules on the axis interface string

WARNING
Cables with high levels of interference can cause
electromagnetic faults. Do not, therefore, place the
following in the vicinity of such cables:
- CP cable
- measuring system cable
- proportional directional control valve cable.
PLEASE NOTE
Connect the earth/ground connection of the modules
with low impedance (short cable with large diameter)
to the earth potential.
In this way, you will avoid interference caused by electromagnetic influences.
SPC200... 9904a
3-47
3. Installation
Basic rules
You must observe the following basic rules when the

modules are installed on the axis interface string:
1) Maximum length of string
The maximum permitted string length is 30 m.
2) External load voltage supply
If the following modules are used, the external load
voltage supply module type SPC-AIF-SUP-24V must
be installed directly before the relevant module:
- I/O function module (type SPC-FIO-2E/2A)
- with 2-axis systems: CP valve terminal
(type CPV...)
A load-dependent drop in voltage occurs at the axis
interface. With incorrect installations this can lead to a
drop in the load voltage below the permitted tolerance.
3) Configuration on the axis interface string
At first, maximum two axis interfaces are connected
to the SPC200. If required, the I/O function module
or at first a CP module with outputs and then a CP
module with inputs can be connected to the last axis
interface.
4) Terminating resistor
If a CP I/O module, a CP valve terminal or an axis
interface is at the end of the axis interface string, the
plug with integrated terminating resistor type KABSM9-R100 must be installed in the outgoing CP cable
(e.g. connection OUT) of this module.
3-48
SPC200... 9904a
3. Installation
Special accessories are available for CP input modules.

A terminating resistor is already fitted into the I/O function module.
5) Maximum permitted cable lengths
If the following cable lengths are exceeded, the external
load voltage supply must be installed in front of the
relevant module. Instead of a CP valve terminal, a CP
output module type CP-AO8-M12 can also be installed.
SPC200
SPC200
SPC-AIF-...
SPC-AIF-...
SPC-AIF-SUP-24V
CPV-...-VI-FB-...
2)
SPC-FIO-2E/2A
CP-E16-M...
1
2
max. 8 m
max. 8 m
1)
max. 2 m
1)
1) Without external load voltage supply

2) Without external load voltage supply only type CPV10-VI-FB-6
or type CPV14-VI-FB-6 is permitted
Fig. 3/24: Maximum permitted cable lengths on the axis

interface string (single-axis systems)
SPC200... 9904a
3-49
3. Installation
SPC200
SPC200
SPC200
1
SPC-AIF-...
1
SPC-AIF-...
SPC-AIF-...
1
SPC-AIF-...
3
SPC-AIF-...
1
SPC-AIF-...
SPC-AIF-SUP-24V
SPC-AIF-SUP-24V
SPC-AIF-SUP-24V
SPC-FIO-2E/2A
CPV-...-VI-FB-...
CPV-...-VI-FB-...
2
CP-E16-M...
1
2
max. 8 m
max. 8 m
1)
2
CP-E16-M...
max. 5 m 1)
1) Without external load voltage supply
Fig. 3/25: Maximum permitted cable lengths on the axis interface string
(two-axis systems)
3-50
SPC200... 9904a
3. Installation
3.4.1 Installing the axis interface SPC-AIF-...

WARNING
Interference due to electromagnetic sources is liable
to cause sudden compensatory movements of the
axis. Follow the installation procedure below in order
to prevent this electromagnetic interference.
Connect the earth connection of the axis interface
with low impedance (short cable with large diameter)
to the earth potential.
Do not lay any axis interface cables, CP cables,
measuring system cables or proportional directional
control valve cables near or parallel to cables with
high interference levels.
Use only original cables. Attach the plug with the
help of the union nut, so as to avoid any unintentional slackening caused by oscillation etc.
Seal any unused connectors with the protective caps
provided. Only then is the IP 65 type of protection
ensured.
PLEASE NOTE
Maximum two axis interfaces may be connected to
an axis interface string. Interface types for different
measuring systems may be mixed here.
SPC200... 9904a
3-51
3. Installation
The axis interface forms the connection between the

components on the axis and the SPC200. It loads the
values supplied by the measuring system and passes
these on to the SPC200. It also transmits the received
positioning values in analogue form to the proportional
directional control valve.
The diagram below shows the connections on the axis
interface.
1
5
1
2
3
4
7
Earth connection
Connection for axis interface string incoming (IN)
POWER LED (green)
Connection for axis interface string, outgoing
(OUT), for further field devices or terminating
resistor type KABS-M9-R100
6
LED (red)
5 ERRORconnection for
6 Valve
MPYE-5-...-010-B
system
7 Measuring
connection
Fig. 3/26: Connections on the axis interface
3-52
SPC200... 9904a
3. Installation
Connecting the axis interface to the SPC200

WARNING
Observe the maximum permitted cable lengths
between the individual modules on the axis interface
string and the SPC200 (see section 3.4).
Use only the original cables mentioned below for
connecting the axis interface.
Cable type
Description
KSPC-AIF-1-WD-...
Connecting cable for the first axis
KVI-CP-2-...*)
Connecting cable for the second axis

or for I/O modules;
KVI-CP-1-...
*) can be used as drag chain
Connect the axis interface for the first axis to the

5-pin screw terminal of the power supply module by
means of the plug marked IN.
If required, connect the axis interface for the second
axis or for modules with inputs/outputs to the OUT
socket.
If the axis interface is at the end of the axis interface
string, you must install the terminating resistor type
KABS-M9-R100 on the OUT connection.
Fasten the plugs/sockets with the aid of union nuts to
avoid unintentional loosening, e.g. due to vibration.
SPC200... 9904a
3-53
3. Installation
Connecting the measuring system

The axis interface is designed for one of the following
measuring systems:
Axis interface
Measuring system type
SPC-AIF-POT
Analogue system
linear potentiometer type MLO-POT-...-TLF
SPC-AIF-MTS
Digital systems
Temposonic type MME-MTS-...-TLF-AIF
or integrated system
type DGPI(L)-...-...-...-AIF
The measuring system cable is connected to the axis

interface. It has a fixed cable length of approx. 0.30 m.
PLEASE NOTE
Use only the original cable. Do not lengthen the
cable. By keeping the cable short, you can avoid
faults due to electromagnetic interference.
3-54
SPC200... 9904a
3. Installation
Connecting the proportional directional

control valve
The valve connection provides the electrical power supply for the valve and supplies the control voltage for
positioning the valve slide.
PLEASE NOTE
Use only the original cable type KMPYE-...
5 67
4
3 2 1
Pin assignment and core colours of cable
KMPYE-...
2
3
4
5
6
7
1
0V
0V
Nominal value V(s)
GND
Not connected
24 V supply for valve
24 V supply for valve
not connected
(brown)
(green)
(yellow)
(grey)
(pink)
(white)
(blue)
(red)
Socket for valve

(MPYE) on cable
KMPYE-...
2
3
4
n.c.
1
n.c.
Fig. 3/27: Valve connection
SPC200... 9904a
3-55
3. Installation
3.4.2 Installing I/O function module SPC-FIO-2E/2A-M8

WARNING
Interference due to electromagnetic sources is liable
to cause sudden compensatory movements of the
axis. Follow the installation procedure below in order
to prevent this electromagnetic interference.
Connect the earth connection of the I/O function
module with low impedance (short cable with large
diameter) to the earth potential.
Use only the type KVI-CP-2-.... cable supplied with
the unit to connect up the I/O function module. Secure the plug with the union nut to prevent the plug
being accidentally loosened, e.g. as a result of being
shaken.
PLEASE NOTE
When connecting the I/O function module you will
need an SPC-EXT-PWR load voltage supply.
Note the maximum permitted cable lengths for the
Use cable type M8-GSGD-... for connecting sensors
and actuators and plugs with union nuts of thread size
M8x1. Close off any unused connections with the protective caps supplied with the module. This is the minimum required to comply with IP65.
3-56
SPC200... 9904a
3. Installation
The I/O function module can be connected as the last

module on the axis interface string. The necessary terminating resistor is already fitted.
The I/O function module provides 2 inputs and 2 outputs for connecting sensors and actuators directly to
the axis. Additional functions such as gripping, lifting,
lowering and turning can be implemented with these
sensors and actuators.
The diagram below shows the display and connecting
elements of the I/O function module.
1
2
3
4
5
6
3
4
5
Label for PNP inputs

Groove for labels (ISB6x10)
Actuator connections (outputs)
Status LED per output (yellow)
Status LED per input (green)
Sensor connections (inputs)
!
7
8
9
0
!
Connection for axis interface string

Status LED (green)
Protective cap
Earth connection
Type plate
Fig. 3/28: Connections on I/O function module SPC-FIO-2E/2A-M8
SPC200... 9904a
3-57
3. Installation
Pin assignment
The following diagrams show the pin assignment of the
sensor and actuator connections of the I/O function
module.
3 4 6
INPUT/OUTPUT
PNP
POWER
DIAG
1
2
3
OUTPUT
INPUT
Pin 1: output Qx.0

Pin 2: not connected
Pin 3: 0 V
4
5
6
Pin 1: output Qx.1

Pin 2: not connected
Pin 3: 0 V
1) module on AIF string 1: x=1; module on AIF string 2: x=3
Fig. 3/29: Pin assignment of the outputs
1
2
Example 1
Example 2
Not permitted
Fig. 3/30: Example of circuitry for outputs (PNP)
3-58
SPC200... 9904a
3. Installation
INPUT/OUTPUT
PNP
POWER
DIAG
1
2
3
OUTPUT
INPUT
3
4
5
6
Pin 1: 24 V
Pin 2: input Ix.0
Pin 3: 0 V
1 6
Pin 1: 24 V
Pin 2: input Ix.1
Pin 3: 0 V
1) module on AIF string 1: x=1; module on AIF string 2: x=3
Fig. 3/31: Pin assignment of inputs
1
1
2
2
Three-wire sensor (positive switching)
Two-wire sensor (positive switching)
3
3
Contact
Fig. 3/32: Example of circuitry for inputs (PNP)
SPC200... 9904a
3-59
3. Installation
3-60
SPC200... 9904a
4. Commissioning
Chapter 4
Commissioning
SPC200... 9904a
4-1
4. Commissioning
Contents
4. Commissioning
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
4-2
Procedure for commissioning ........................................................ 4-5

Connecting a single axis system for initial commissioning ........... 4-9
Commissioning via the control panel .......................................... 4-16
Saving the hardware configuration.............................................. 4-16
Commissioning pneumatic axes.................................................. 4-20
Instructions on commissioning multi-axis systems...................... 4-38
SPC200... 9904a
4. Commissioning
Contents of
this chapter
This chapter deals with the commissioning of a pneumatic axis together with the SPC200 by means of control panel type SPC200-MMI-1.
Commissioning is described using, as an example, a
single axis system with control via an I/O module. The
basic method of procedure, as well as the explanation
of the I/O control signals, is also relevant for systems
equipped with a field bus module.
Further
information
You should be familiar with the operating functions of

the control panel before using it to carry out commissioning. Detailed information on this can be found in
chapter 6.
The WinPISA manual contains information on commissioning with WinPISA. Information on commissioning
the field bus or electric axes can be found in the manual for the relevant extension module.
SPC200... 9904a
4-3
4. Commissioning
WARNING
Before installation and maintenance work switch off
the following in the order specified:
2. the load and operating voltages on the SPC200
and, if necessary, the load voltage on the axis
interface string.
undesirable movements of connected actuators.
uncontrollable movements of loose tubing.
CAUTION
The SPC200 is factory set to certain axis and application parameters. Before supplying compressed air,
these settings must be adjusted to suit your application and the axes which you are using.
undesirable movements of connected actuators.
4-4
SPC200... 9904a
4. Commissioning
4.1 Procedure for commissioning

Install the components, as described in Chapter 2. In
assembling and installing the pneumatic components,
observe the installation recommendations in Chapter 3.
In doing so, make provision for a pneumatic emergency
stop circuit which will leave your equipment in a safe
condition in the event of faults.
Before switching on the compressed air or, where applicable, the power controller for electric axes, you must
feed information on the prevailing conditions of use and
the type of components in your positioning system to
the SPC200. You should make the necessary settings
with:
the control panel
the WinPISA software package
If you use the control panel for commissioning, you
must first familiarise yourself with the control panel
functions. You will find information on this in Chapter 6.
SPC200... 9904a
4-5
4. Commissioning
Commissioning steps
In order to commission axes, you must first create and
save the desired hardware configuration. The individual
axes and the complete system can then be commissioned.
You must carry out the following steps when commissioning with the control panel:
1. Create the desired hardware configuration.
2. Save the hardware configuraton as the reference
configuration (see section 4.3.1).
3. Commission the connected axes (section 4.3.2).
4. Commission the complete system.
When the hardware configuration had been saved, the
individual axes can be configured and commissioned.
The following list shows the steps which are necessary
for commissioning penueumatic axes.
4-6
SPC200... 9904a
4. Commissioning
Commissioning penueumatic axes

The following list contains a summary of the activities
required for commissioning penueumatic axes when the
hardware configuration has been saved.
1. Set project-specific parameters.
Set all axis, application and configuration parameters (see section 4.3.2, step 1).
2. Check tubing (optional).
Cappy out a movement test with the aid of the control panel or with WinPISA (see section 4.3.2, step
2).
3. Carry out static and, if applicable, dynamic identification travel. During identification travel, system characteristics such as friction, hysteresis, ability to accelerate and brake are ascertained and saved (see
section 4.3.2, step 3).
4. If necessary, calibrate the measuring system (only
for potentiometer with WinPISA). Calibration
equalizes tolerances between the ascertained position and the actual postion as a result of technical
factors in the system (see section 4.3.2, step 4).
5. Move the axis manually (optional). In this way you
can check the functioning of the controller as well as
the effectiveness of the set software end positions
(see section 4.3.2, step 5).
SPC200... 9904a
4-7
4. Commissioning
6. Enter the test program (see section 4.3.2, step 6).

7. Set the operating mode and starting programs (see
section 4.3.2, step 7).
8. Test the programs in single-step mode or in continuous mode. Observe here the positioning behaviour of the axis (see section 4.3.2, step 7).
Commissioning the complete system

When all the axes are ready for operation, you can
start commissioning the complete positioning system.
The steps required depend on the equipment fitted in
the positioning system.
The next section deals with the commissioning of a
pneumatic axis using the example of a single-axis system without a field bus module.
4-8
SPC200... 9904a
4. Commissioning
4.2 Connecting a single axis system for initial commissioning

With some commissioning steps, the control signals
ENABLE, START and STOP are required for controlling
the axes.
If a fieldbus module is installed

WinPISA provides a test mode. In this test mode, you
can manipulate all the inputs and outputs without these
actually being switched.
The status of the READY output and of the ACK outputs (ACK_A, ACK_B, only in record select mode) used
by the system, is continually updated by the operating
system and cannot therefore be influenced.
If a fieldbus module is not installed
If a fieldbus module is not installed, the control signals
will be triggered via the first installed I/O module. The
following connection diagram shows the circuitry required in this case.
SPC200... 9904a
4-9
4. Commissioning
1
2
3
24 V
I0.9
I0.8
I0.7
RELEASE
START/
RESET1)
STOP
24 V
1
2
Designation on plug X5
Input address
3
4
Function
Load supply (can be switched of separately)
1) RESET (Program reset) in conjunction with 0-signal at STOP input
Fig. 4/1: Connection diagram for initial commissioning
4-10
SPC200... 9904a
4. Commissioning
CAUTION
Leave the compressed air supply switched off.
The SPC200 is factory set to certain axis and
application parameters. Before you apply compressed air you must adjust these settings to your
application and to the axes which you are using.
undesired movements of the connected actuators.
Wire up the components as shown in Fig. 4.1. For the
sake of clarity, not all earthing measures are shown.
PLEASE NOTE
Incorrect or missing earth connections can cause
breakdowns. You should therefore always carry out
the earthing measures described in Section 3.3.1.
SPC200... 9904a
4-11
4. Commissioning
Explanation of the I/O signals

Enable
input
The closed loop controller is enabled using the enable

input. If this input is at 0 V, then the closed loop controller is switched off. No further movement tasks are then
accepted. With the supply pressure switched off, the
axes can be moved manually.
If the enable input is again set to 24 V, the current positions become reference positions (controlled stop).
PLEASE NOTE
The valve slide adopts the mechanical centre position if there is no load supply (emergency shut-off).
Because of the asymmetrical voltage-pressure
characteristic of the proportional
directional control valve, the cylinder slide may
slowly move to an end position when the supply
pressure is switched on.
0 V on the enable input causes:
the controller to be switched off and the valve control
voltage to be reduced to an electrical medium value
(Offset).
No further movement orders will then be accepted.
the READY output on the SPC200 will be reset (see
Fig. 4/2).
4-12
SPC200... 9904a
4. Commissioning
3
1
2
1
0
1
0
1
2
3
ENABLE input on the SPC200

READY output on the SPC200
Reaction time max. 10 ms
Reaction time of the SPC200

- without stepping motor module: max. 10 ms
- with stepping motor module: max. 2 sec.
1 = 1-signal = 24 V; 0 = 0-signal = 0 V
Fig. 4/2: Time diagram of enable signal

This status is cancelled when there is a 1-signal at the
ENABLE input. The READY output is then set
automatically. If the output supplies a 1-signal, the program sequence can be started or continued.
Stop input
Processing of the current NC record can be stopped

using the Stop input. A positioning process in progress
will be interrupted. The current positions will become
reference positions (controlled stop).
The stop status is cleared by:
1. applying 24 V to this input.
2. re-starting the run, e.g. with a rising pulse edge at
the start input.
SPC200... 9904a
4-13
4. Commissioning
READY
output
This output supplies a 1-signal, if the system is ready

for operation. 0 V at this output indicates that there is a
system or positioning error, or the enable is missing.
Switch on power supply

WARNING
Leave the compressed air supply switched off. If the
compressed air is on, the connected actuators can
execute sudden equalising movements when the
power supply is switched on.
Make sure that no one can reach into the range of
movement of the moving object and that no
protruding objects are in the way.
Switch on the power supply to the SPC200 and the
load supply.
After applying the supply voltage, the SPC200 will automatically carry out an internal test. If the control panel
is plugged in, it will, in the event of an error, display the
current error number (see Section 8.2). When the
power supply is switched on the first time, the following
error code may be shown:
ERROR
NO. 00004001
In this case, neither the actual configuration of the

SPC200 nor the configuration on the axis interface
string are the same as the saved reference configuration. Proceed as described in section 4.3.1 under Save
hardware configuration.
4-14
SPC200... 9904a
4. Commissioning
If there is no error, the POWER LED will light and the

control panel will show the initial display.
1 2
3
SPC200 Vnnn XY
SELECT WITH <>
Esc
1
2
3
Enter
Operating version of the SPC200 (nnn = version number)

Currently configured axes (here X and Y axes)
Note: Use the <- -> keys to make your selection.
Fig. 4/3: Initial display of the control panel

The SPC200 is then ready for commissioning, which
you can carry out with the control panel or with the
WinPISA software package.
SPC200... 9904a
4-15
4. Commissioning
4.3 Commissioning via the control panel

If you wish to carry out commissioning with the control
panel, you should first make yourself familiar with the
functions of the control panel. For this, leave the compressed air supply switched off. Section 6.1.1 provides
an overview of the menu system on the control panel.
Then proceed as follows:
4.3.1 Saving the hardware configuration

When the SPC200 is switched on, it assigns the axis
identification to the connected axes one after the other.
If modifications are made later to the axis configuration,
the axis identifications will be reassigned. In this case,
all the user data entered, such as parameters, programs and the position list, will become invalid.
CAUTION
In this case, all data entered will be reset as at delivery or deleted when the hardware configuration is
saved. Always create first the correct hardware configuration. Save the hardware configuration before entering data and programs.
With WinPISA you can read out programs and configuration data from the SPC200 and save them in an
archive, if required.
4-16
SPC200... 9904a
4. Commissioning
The SPC200 makes a comparison during the start-up

phase to see if the current hardware configuration is the
same as the saved reference configuration. The modules installed as well as the string assignment are
checked here.
A fixed I/O address range is assigned to every I/O module on the axis interface string. An axis identifier is
assigned to every axis interface and every stepping
motor indexing module or the axis connected to this
module.
Save
configuration
To prepare for commissioning you must create and

save the desired hardware configuration.
The SPC200 is prepared at the factory for automatically
saving the current hardware configuration during the
first starting phase. If you have connected the modules
to the axis interface string correctly before switching on
the first time, it will not be necessary to save the hardware configuration manually.
SPC200... 9904a
4-17
4. Commissioning
If the actual configuration deviates from the saved reference configuration, proceed as follows:
1. Check that all modules are fitted, that all the modules on the axis interface string are correctly connected and that the CP cable is secured correctly
with the union nut. Make sure that the power unit
has sufficient output.
2. Now switch on the operating voltage. The status
LEDs on the modules will then light up. If the current
hardware configuration is not the same as the configuration saved, an appropriate error message will
appear (error code 0000 4001).
3. Check that all the status LEDs light up. These indicate that the modules have been recognized correctly.
If required, you can ascertain the actual configuration
recognized during the starting phase by entering the
command ACTUAL CONFIG. in the menu CONFIG.
SYSTEM (see section 6.2).
4. If the actual configuration recognized is not what you
wish, switch off the power supply and create the
desired configuration.
5. If the actual configuration recognized is what you
desire, press any key to ackknowledge the error
message. The basic setting will then be shown
again.
4-18
SPC200... 9904a
4. Commissioning
6. Select the command SET CONFIGUR. in the menu

CONFIG. SYSTEM and press the Enter key.
SET CONFIGUR
SAVE CONFIGUR
7. Press the Enter key in order to save the actual configuration as the reference configuration.
8. If modifications have been made to the axis configuration, the following message will be shown.
RESTORE FACTORY
SETTINGS ?
PLEASE NOTE
This message indicates that all the data will be reset
to the delivery status. All data and programs entered
will therefore be lost.
9. Press the ESC key in order to discontinue. Or press
the keys Enter in order to delete all the data in the
SPC200 and to save the hardware configuration.
When the actual hardware configuration is saved, the
actual configuration will become the reference configuration. The control panel will then again show the basic
setting.
SPC200... 9904a
4-19
4. Commissioning
4.3.2 Commissioning pneumatic axes

When you have created and saved the desired hardware configuration, you can commission pneumatic
axes as follows:
Step 1
Setting project-specific parameters

Enter all project-specific parameters. These include:
Project-specific parameters
Menu on control panel
Axis parameters
AXIS PARAM.
Application parameters
APPLIC. PARAM.
System configuration data
CONFIG. SYSTEM
Leave the supply pressure switched off and proceed as

described in Section 6.2 "Setting project-specific
parameters".
When the SPC200 is commissioned the first time,
there must be a rising edge at the Enable input for
controller enable after the project-specific parameters
have been set. The controller is then enabled with a
1-signal, providing there is no system error.
4-20
SPC200... 9904a
4. Commissioning
Step 2
Checking the axis tubing (optional)

Check the tubing of the axes. In addition to a visual
check (see Section 3.2.2) or a check with the aid of
WinPISA you can also use the control panel. For this,
the command MOVEMENT TEST is available in the
TEST/DIAG. menu.
During the movement test you can alter the valve control voltage. With the supply pressure switched off, the
reaction of the valve spool can be observed in the viewing window of the valve and in this way the operability
of the valve can be checked.
Control signals required:
1-signal at ENABLE, STOP and READY.
CAUTION
During the movement test the closed loop controller
is switched off. Consequently the software end positions set by the application parameters are
ineffective.
Carry out the movement test with the supply pressure switched on if possible without work load and
tool load and with a low supply pressure of not more
than 3 bar.
damage to the axis in the event of operating errors.
SPC200... 9904a
4-21
4. Commissioning
Proceed with the movement test as follows:

1. If necessary, remove the work load and tool load.
The mass with which movement is made should be
as low as possible, in order to keep the acceleration
forces low.
2. Set a pressure of a max. 3 bar and switch on the
supply pressure.
3. Select the submenu AXIS in the menu TEST/DIAG.
and press the Enter key.
TEST/DIAG. AXIS
X:
4. The cursor is positioned at the axis identifier. Select

the desired axis with the keys . (here X) and
press the Enter key. The first command in the submenu AXIS will then be shown.
TEST/DIAG. AXIS
JOG AXIS
>
5. Now select the command MOVEMENT TEST with

the keys .
TEST/DIAG. AXIS
MOVEMENT TEST >
4-22
SPC200... 9904a
4. Commissioning
6. Then press the Enter key. After this, the valve test is
switched on. This will set the valve voltage to 5
volts. The current valve voltage will be shown immediately after the axis symbol.
MOVEMENT TEST
X:05.00 +0.01
7. The valve voltage can be raised or lowered in 0.01

volt steps. Insert the desired sign with the keys.
Control voltage
Direction of movement
> 5 volts
negative (towards the cylinder basepoint)
< 5 volts
positive
In order to overcome the static friction, the control voltage must be raised or lowered appropriately. The valve
voltage will then be raised or lowered in steps by 0.01
volt. If you press the ESC key, the control voltage will
be reset to 5.0 volts.
8. Hold the ENTER key pressed down until the slide
starts to move. Press the ESC key in order to stop
the slide.
Check the direction of movement of the slide during the
movement test (see under 7). Correct the tubing connections if the slide does not move in the appropriate
direction (see also section 3.2.2). By pressing the ESC
key several times, you can return to the initial display.
SPC200... 9904a
4-23
4. Commissioning
Step 3
Carrying out identification travel

PLEASE NOTE
The positioning behaviour will probably be bad without identification travel. If the axis parameters, the fitting position and the supply pressure are modified,
the latter by more than 1 bar, the data ascertained
during identification will be lost. In these cases, therefore, new identification travel is necessary.
During identification travel, characteristic values of the
system are ascertained and saved. Before identification
travel can be carried out, the positioning system must
be ready for operation.
4-24
SPC200... 9904a
4. Commissioning
A distinction is made here between two types of system

identification:
Types
Description
Static
identification
In static identification, parameters which

affect the behaviour of the system at the
beginning and end of a movement are
determined. These include static friction of
the cylinder and the valve properties in the
region of the mid position (valve
hysteresis).
Dynamic
identification
- with work load
- without work load
In dynamic identification, the maximum

attainable speed as well as the
acceleration and decelaration capacity of
the drive system are determined. To use
axes which are to travel at maximum
speed (NC command G00), this
identification must first be carried out. If
considerable modification to the mass
occurs during operation, it should be
carried out both with and without work load.
In order to guarantee good positioning, always carry out

the static and at least one dynamic identification.
Dynamic idnetification is also a requirement for the NC
command G00.
If your compressed air supply does not reliably fulfil the
requirements (tolerance of 1 bar in operation), please
refer to the instructions in section A.3.1.
SPC200... 9904a
4-25
4. Commissioning
It is necessary to carry out the static identification during initial commissioning and when components have
been exchanged. The dynamic identification is necessary for initial commissioning, when components have
been exchanged as well as when the drive configuration has been modified (fitting position, tubing, or supply
pressure).
CAUTION
Incorrect axis and parameters can lead to collision
during identification movements. This applies especially to the axis length, the fitting offset and the software end positions.
WARNING
In the course of the dynamic identification an axis of
the system will be set in motion at the highest acceleration and speed. Make sure that:
- the complete positioning range of the axis is free
- the correct axis and application parameters are set.
4-26
SPC200... 9904a
4. Commissioning
Carry out the identification run as follows:

1. Ensure that the tubing for the positioning system is
laid correctly (see Step 2, movement test).
2. Set the compressed air supply to the pressure
desired for operation.
Standard setting = 6 bar.
TEST/DIAG. AXIS
X:

the desired axis with the keys (here X) and
press the Enter key. The first command in the submenu AXIS will then be shown.
TEST/DIAG. AXIS
JOG AXIS
>
5. Now select the command IDENTIFICATION with the

keys .
TEST/DIAG. AXIS
IDENITFICATION >
SPC200... 9904a
4-27
4. Commissioning
6. Press the Enter key to select the command.

IDENTIFICATION
X: STATIC?
7. Use the keys to select the identification travel

you wish to carry out. The terms have the following
meanings:
Identification
Meaning
STATIC
Static identification
DYNAMIC1
Dynamic identification with work load*)
DYNAMIC2
Dynamic identification without work load*)
*) Work load must be removed or added
8. Press the Enter key in order to start identification

travel.
The identification run may take several minutes. During
identification, progress will be displayed as a percentage. After a successful identification run the message
OK will be displayed, e.g.:
IDENTIFICATION
X: DYNAMIC1 OK
By pressing the ESC key several times, you can return

to the initial display.
If identification fails
Check the set-up, the installation as well as the axis
and application parameters of the relevant axis. Then
carry out identification again.
4-28
SPC200... 9904a
4. Commissioning
Step 4
Calibrating the measuring system

(optional with WinPISA)
Calibration smooths out system-related tolerances
which may arise in determining the current position. In
this way the electrically-determined position values are
matched to the actual measurements.
Carry out the calibration when you want to ensure or
improve the absolute positioning accuracy.
SPC200... 9904a
4-29
4. Commissioning
Step 5
Moving the axis with the control panel (optional)

You can move the axis manually with the command
JOG AXIS in the menu TEST/DIAG. Proceed as follows:
TEST/DIAG. AXIS
X:

the desired axis with the keys (here X) and
press the Enter key. The command LOG AXIS in
the submenu AXIS will then be shown.
TEST/DIAG. AXIS
JOG AXIS
>
3. Press the Enter key to select the command. The selected axis and the current positioning mode will
then be shown.
JOG AXIS
X: CONT
4-30
SPC200... 9904a
4. Commissioning
4. Select the desired movement mode with . The

meaning of the modes is as follows:
Movement mode
Meaning
CONT
Move continuously
STEP
Move in steps twice the set

positioning tolerance
JOG AXIS
X: STEP
5. Press the enter key to activate the movement mode

e.g.
JOG AXIS STEP
X:+0100.00
+
6. Set the desired direction of movement with .

7. With movement mode STEP:
Press the enter key to move one step.
With movement mode CONT:
Hold enter key pressed down whilst movement is
carried out.
SPC200... 9904a
4-31
4. Commissioning
Possible
problems
Cause
Remedy
Remarks
Slide moves into

an end position
The control direction is

not the same as the
direction of movement
of the slide.
Swap the connecting

tubing on the
proportional directional
control valve.
See also
section 3.2.2
Measuring system or
measuring system
cable defective.
Replace measuring
system or measuring
system cable*).
First check
with
MOVEMENT
TEST
The slide
oscillates around
a position
The axis or application

parameters are
incorrect.
Correct parameters.
See section 6.2
The control panel

shows an error
number
See section 8.2
Rectify error
See section 8.2
The slide does

not move
Valve cable is defective
Check cable *)
See also
section 3.2.2
No supply pressure
Switch on compressed
air or check tubing.
See also
section 3.1
The closed loop

controller is switched
off because there is
no ENABLE signal.
Apply 1-signal to the

ENABLE input
See also
section 4.2
System has stopped.
Apply 1-signal to the

STOP input (I0.7).
See also
section 4.2
Proportional directional
control valve is
defective.
Replace the
proportional directional
control valve.
First check
with
MOVEMENT
TEST
*) Check and replace if necessary (see also chapter 8).
4-32
SPC200... 9904a
4. Commissioning
Step 6
Entering the test program

In order to avoid unnecessary error messages during
the starting phase, programs 0 and 1 have already
been created at the factory. They each contain NC record N000 with the command M30 (Program end).
N000 M30
Select, therefore, the command MODIFY PROGRAM if
you wish to use program number 0 or 1 for your test
program.
Enter a short test program, e.g.:
N000 G02 ... X+100
N001 G02 ... X+150
N002 M30
FX50
FX90
Adapt the position specifications (X+100, Y+150) to

your requirements, where necessary.
Instructions on programming with the control panel can
be found in section 6.3.
SPC200... 9904a
4-33
4. Commissioning
Step 7
Testing the program

With the command SINGLE STEP in the menu
TEST/DIAG. you can test programs stored in the
start/stop mode in single steps (see section 6.8).
This operating mode is set at the factory.
Set the start/stop mode as follows:
1. Select the command OPERATING MODE in the
menu CONFIG. SYSTEM
CONFIG. SYSTEM
OPERATING MODE >
2. Press the Enter key to select the command. The

current operating mode will then be shown, e.g.:
OPERATING MODE
RECORD SELECT
3. Select the operating mode START/STOP and press

the Enter key. The operating mode then becomes
effective.
OPERATING MODE
START/STOP

4-34
SPC200... 9904a
4. Commissioning
Test the program in individual steps as follows:

1. Select the submenu SYSTEM in the menu
TEST/DIAG. and press the Enter key. The command SINGLE STEP will then be shown in the submenu SYSTEM (SYS.).
TEST/DIAG. SYS.
SINGLE STEP >

SINGLE STEP
P00
3. Use the cursor keys to set the program number of

the test program and press the Enter key. The
record number of the first NC record will then be
shown.
SINGLE STEP
P00 N000
4. Press the Enter key to start the NC record. The NC

record will then be processed. The current record
number will be shown in the bottom line.
SPC200... 9904a
4-35
4. Commissioning
5. Repeat point 4 if you wish to start the NC record

shown.
4-36
SPC200... 9904a
4. Commissioning
Determining the starting program

In order to test a program in "normal" mode, you must
determine it as a starting program (see menu CONFIG.
SYSTEM, command DEFINE TASKS). You can start a
program defined as a starting program with the START
input or with the command START SYSTEM in the
menu SYSTEM CONTROL.
Program 0 is defined as the starting program at the
factory.
PLEASE NOTE
When defining starting programs observe the instructions in section 7.1.
In order to improve the positioning characteristics, you
can optimize the controller parameters after the commissioning (see Appendix A).
SPC200... 9904a
4-37
4. Commissioning
4.3.3 Instructions on commissioning multi-axis systems

First commission each axis individually as described in
this chapter.
Please note when using two starting programs that both
parallel running programs together have the output
READY and the inputs ENABLE, STOP and START/
RESET.
Instructions on coordinated and autonomous modes of
two axes can be found in section 7.1.1.
4-38
SPC200... 9904a
Chapter 5
Controlling the SPC200
SPC200... 9904a
5-I
Contents
5.1
5.2
5.2.1
5.3
5.3.1
5-2
General instrutions on operation ................................................... 5-4

Start/stop mode ............................................................................. 5-9
Explanation of all I/O signals in start/stop mode......................... 5-11
Record select mode..................................................................... 5-17
Description of all I/O signals in record select mode ................... 5-22
SPC200... 9904a
Contents of
this chapter
The SPC200 offers the two following operating modes

for processing the saved NC programs:
start/stop mode
record select mode
The functions of the digital inputs and outputs as well
as those of the permitted NC commands depend on the
operating mode set. This chapter explains how to control the SPC200 in the operating modes mentioned.
Examples of I/O circuitry are shown for controlling the
SPC200 via an I/O module. All the I/O control signals
as well as their time behaviour are described.
Further
information
Information on the coordinated and autonomous operation of axes with an SPC200 can be found in chapter 7.
Special instructions on operation with the field bus or
the operation of electric axes can be found in the manual for the relevant extension module.
SPC200... 9904a
5-3
5.1 General instrutions on operation

Operating modes of the SPC200
Start/stop
In the start/stop operating mode the SPC200 is capable

of controlling positioning tasks automatically. Any synchronisation necessary with externally controlled processes will be supported by the "Programmed stop"
(command M00).
Record
select
The record select operating mode supports the close

coupling of the SPC200 with a host PLC/IPC. If control
is via an I/O module, 32 NC records of the fixed starting
programs can be accessed via 5 digital inputs. In this
operating mode only positioning commands, positioning
conditions and commands for setting the quality class
are supported.
In both operating modes the SPC200 can process two
programs running in parallel. Coordinated and autonomous operation of two work stations with one SPC200
is then possible.
Setting the
operating
mode
5-4
Enter the desired operating mode and the desired starting program on the control panel using the CONFIG.
SYSTEM menu.
SPC200... 9904a
Switch on
Switch on POWER LED

Switch on ERROR-LED
Initialising and
self-test (max. 10 s)
Yes
error?
ERROR LED
lights or
flashes 1
No
Set Starting program
ERROR LED goes out
System
enable?
(I0.9)
No
Yes
READY output is set
Closed loop controller is switched on
Current position =
Reference position (controlled stop)
SPC200 is ready for

operation
Dependent on error (see chapter on diagnosis)
Fig. 5/1: SPC200 switch-on procedure
SPC200... 9904a
5-5
If there is a 1-signal at the ENABLE input, the lack of

load voltage will cause an error message. Switch on the
load voltage before setting ENABLE to a 1-signal.
When the power supply is switched on, the SPC200
carries out initialising and self test. If there is no fault,
the set operating mode will be activated and the starting programs will be made available. If there is then a
1-signal at the ENABLE input:
the controller will be enabled. The actual position
becomes the reference position (controlled stop).
the READY output will be set
This can take a certain amount of time, depending on
the equipment fitted on the system (max. 10 seconds).
If there is a 1-signal at the STOP input and the READY
output supplies a 1-signal, the program can be processed or the positioning process started.
5-6
SPC200... 9904a
24V
0V
2
ENABLE
1
0
1
READY
STOP
0
1
START/CLK
1
2
Load voltage should be applied (typ. > 1 Sek.)

Reaction time of the SPC200:
- without stepping motor module: max. 10 ms
- with stepping motor module: max. 2 sec.
Debouncing time t 10 ms
Fig. 5/2: Time behaviour of I/O signals when processing is started

Operating mode
Program run or positioning process

Start
Continue after STOP signal
Start/stop mode
START signal via control

panel or using START input
START signal via control

panel or using START input
Record select mode
CLK input
If there is 0 V at the STOP input, a RESET can be

triggered by a positive edge on the START input. This
presets the starting programs for the next start. All
presettings then become valid again.
SPC200... 9904a
5-7
Acknowledging a fault
If a fault occurs whilst the program is being processed,
the READY output will be reset automatically. When the
error has been eliminated, the error massage can be
acknowledged by a START signal. If there are several
errors at the same time, you must quit each individual
error.
1
ERROR
0
1
ENABLE
0
4
READY
STOP
0
1
0
3
START/CLK
0
4
1
2
3
4
Time required depends on equipment on system and error (max 10 s)

2) Quit error; if there are several errors at the same time, you must quit
each individual error
3) Start program or NC record
Debouncing time t 10 ms
Fig. 5/3: Time behaviour when a fault is acknowledged

If there is no further fault, the READY output will supply
a 1-signal again. The program can then be processed
further or the next NC record can be started.
5-8
SPC200... 9904a
5.2 Start/stop mode

In the start/stop mode the SPC200 is capable of controlling positioning tasks on its own. For this purpose,
this operating mode provides the following even when
only one I/O module is used:
five freely programmable inputs
three freely programmable outputs
all NC commands.
With each further I/O module, a further ten freely programmable inputs and eight freely programmable outputs are available. For special I/O functions directly on
the axis, I/Os can be made available by means of modules on the axis interface string.
In start/stop mode program runs can be controlled both
via the control panel and via digital I/Os. For loose
coupling with a host PLC/IPC the "Programmed stop"
command (M00) is available. With this command the
SPC200 program run can be synchronised e.g. with
externally controlled processes.
The following illustration shows the I/O wiring for the
case where it is desired to trigger the control functions
Start, Stop and Enable via an external console. Instead
of a console, a host PLC/IPC can be used for control.
SPC200... 9904a
5-9
1
2
3
9
I0.9
ENABLE
24 V
I0.8
I0.7
STOP
24 V
START/
RESET1)
24 V
0V
Q0.3
Q0.7
MC_A
READY
24 V
0V
1
2
3
4
Designation on the X5 plug

Input address (I = input)
Function
5
6
7
Designation on the X6 plug

Output address (Q = output)
Function
1) RESET (program reset) in conjunction with 0-signal at STOP input
Fig. 5/4: Example of an I/O wiring for the start/stop operating mode
with operation via console
5-10
SPC200... 9904a
5.2.1 Explanation of all I/O signals in start/stop mode

The pin assignment and I/O addreses of the I/O modules can be found in section 3.3.3 "Field bus addresses" in the manual for the field bus module.
Inputs
Function
Description
SYNC_IB
Synchronization input for program B

(lieke SYNC_IA, but for program B)
SYNC_IA
Synchronization input for program A

This input supports synchronization of the SPC200 with external
devices (e.g. PLC/IPC). With a Programmed stop (command M00),
the SPC200 waits for a falling edge at this input before it processes
the next NC record (see Fig. 5.5).
STOP
Stop program
An 0-signal at this input causes:
- the program and the axes to be stopped
- the current position to become the reference position
(controlled stop)
If there is an 0-signal, a program reset can be triggered by a rising
edge at the START input (see under START input).
The program will be continued by:
1. a 1-signal at this input
2. a new start signal (start on the control panel or a rising edge at
the START input).
SPC200... 9904a
5-11
Inputs
Function
Description
START/
RESET
Start/continue programs
A positive edge on this input will cause the program run to be started or
continued.
Requirements:
- 1-signal on the STOP input
- 1-signal on the ENABLE input
Reset the program (RESET)
If there is 1-signal on the ENABLE input and 0-signal on the STOP input, a
RESET can be triggered by a positive edge on the START input. This causes
the following:
- the NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass load
factor 100 %) as well as the positioning quality class set in the
application parameters become valid
- the analogue channel is switched off (M12)
- all freely programmable outputs and the SYNC outputs are reset
- the set starting programs are made available
- any errors are acknowledged.
All flags (F), registers (R) and position registers (@) remain unmodified.
ENABLE
Closed loop controller enable

0-signal on this input causes:
- the valve control voltage and the closed loop controller of
all axes to be switched off
- the output READY and MC_A/B to be reset.
- If you are using a stepping motor:
the ENABLE signal for the power controller will be reset.
No further tasks will then be accepted. If a 1 signal is again applied to this
input:
- the outputs READY and MC_A/B will be set again
- the valve control voltage and the closed loop controllers of
all axes will be switched on
- the current position will become the reference position (controlled stop)
the reference travel must be carried out again.
At the next START signal the program run will continue.
5-12
SPC200... 9904a
Outputs
Function
Description
MC_B
(motion
complete)
MC output for program B

(as MC_A, but for program B)
MC_A
(motion
complete)
MC output for program A

24 V at this output shows that a positioning command from program A is
completed. When the positioning task is completed, a further MC signal
will be output, even if the axis is no longer at the programmed reference
position (e.g. due to failure of compressed air supply, unstable control etc.).
0 V indicates that a positioning process was carried out.
Evaluating the MC signal by PLC.
With directly consecutive positioning commands, the MC-signal is perhaps
too short for evaluation by the PLC. The signal can be lengthened
between the positioning commands with the NC command G04.
SYNC_OB
Synchronisation output for program B

(as SYNC_OA, but for program B)
SYNC_OA
Synchronisation output for program A

If a 1-signal is applied to the SYNC_IA input in a programmed stop
(command M00), a 1-signal at this output indicates the readiness to
execute the next NC record.
With a negative edge on the SYNC_IA input the output SYNC_OA is reset
and the next NC record processed (see Fig. 5.5).
READY
System ready for operation

This output supplies 1-signal, if the system is ready to operate.
0 V at this output indicates that there is a system or position error or that
there is no ENABLE signal.
SPC200... 9904a
5-13
Programmed stop
The programmed stop (command M00) supports the
synchronisation of the SPC200 with externally controlled processes. For this the SPC200 provides separate
control I/Os for programs A and B.
The corresponding program will be halted by a programmed stop (command M00). If there is a 1 signal at
the corresponding SYNC input (SYNC_IA or SYNC_IB),
the SPC200 will signals the stop status of the program
by setting the corresponding SYNC output (SYNC_OA
or SYNC_OB). Externally controlled processes can then
be run.
G00/G01/G02
M00
1
G00/G01/G02
M00
1
SYNC_IA/IB
SYNC_OA/OB 0
MC_A/B
1
0
1
2
3
Externally controlled process

Programmed stop
Program run
Fig. 5/5: Timing in the programmed stop
5-14
SPC200... 9904a
With a negative edge on the SYNC input the SYNC

output is reset and the program run continues. The continuation of the program run is represented in Fig. 5.5
with the aid of the MC signal.
PLEASE NOTE
The MC output (MC_A/B) is only reset if a positioning command is being processed (G00, G01, G02
and M10).
SPC200... 9904a
5-15
Summary of start/stop mode

In the start/stop operating mode the SPC200 provides
freely programmable inputs and outputs. With the programmed stop (command M00) two programs running
in parallel independently of one another, e.g. through a
PLC/IPC, can be synchronised with other processes.
5-16
Requirements
- Program in program memory

- Axis application and system parameters
set correctly
- Start/stop operating mode set
- 1-signal on the ENABLE and STOP input
set to 24 V
Operation via the

control panel
Control functions
- Start, Stop, Reset using menu
SYSTEM CONTROL on the control panel
Operation using
I/O
Control functions
- Start on positive edge on the
START input
- Stop on an 0-signal on the STOP input
- Continue program on a 1-signal on the
STOP input and positive edge on the
START input
- Program reset on an 0-signal on the
STOP input and positive edge on the
START input
SPC200... 9904a
5.3 Record select mode

Record
select mode
In the record select mode the SPC200 is controlled by

a host PLC/IPC. The controlling PLC/IPC passes on
positioning commands to the SPC200 in the form of binary coded record numbers through digital I/Os. The
SPC200 then executes the desired NC record and
awaits the next positioning task. In the case of control
via an I/O module, NC records 0...31 of the starting
programs can be accessed by the controlling PLC/IPC.
Since the running of the NC program is controlled by a
host PLC/IPC, NC commands, which serve for
sequencing, are inoperative in this mode of operation.
SPC200... 9904a
5-17
Only purely positioning commands, positioning

conditions and commands for setting the quality class
are supported. These are:
NC
command
Descripiton
G00
Move to position at highest possible speed
G01
Move to position at specified speed
G02
Move smoothly to position at specified speed
G08
Acceleration for approach ramp
G09
Acceleration for brake ramp
G60
Precision stop
G61
Quality class
G62
Fast stop
G74
Reference travel
G90
Absolute measurement (pre-setting at program start)
G91
Relative measurement
The following illustration shows an example of I/O

wiring for the record select mode.
5-18
SPC200... 9904a
I0.9
I0.8
ENABLE
RESET
1)
24 V
0/4
5/6
I0.7
I0.0/I0.4
I0.5/I0.6
STOP
24 V
REC_BIT...
CLK_A/B
4
5
6
1
2
3
4
5
24 V
0V
3/4
5/6
Q0.3/Q0.4
Q0.5/Q0.6
Q0.7
24 V
0V
RC_A/B
ACK_A/B
READY
Input address (I = input)
Function
Output address (Q = output)
6
7
8
9
0
Function
Outputs of the PLC/IPC
PLC/IPC
Inputs of the PLC/IPC
1) RESET (program reset) in conjunction with 0-signal at STOP input
Fig. 5/6: Example of an I/O wiring for the record select mode
with two starting programs
SPC200... 9904a
5-19
In the Record select mode, positioning tasks in the form

of binary coded NC record numbers can be sent to the
SPC200 via the inputs REC_BIT... . The record numbers will be accepted for the corresponding program on
a positive edge at the CLK input and acknowledged
with the ACK signal.
The following illustration shows the signal sequence for
communicating the relevant I/O signals when issuing a
movement task.
1
REC_BIT...
1
0
CLK_A/B
1
0
ACK_A/B
1
0
RC_A/B
1
0
1
2
3
4
Debounce time t 10 ms
Status of the individual input signal depends on the record number required
Positioning procedure
From this moment the PLC/IPC waits for the 1-signal at ouput RC_A/B
Fig. 5/7: Timing chart of the I/O signals in record select mode
5-20
SPC200... 9904a
NC record numbers
The desired NC record number, in which the movement
order is stored, is specified through five inputs in binary
coded format. The following NC records can then be
accessed:
Type of control
Accessible NC
record numbers
I/O module (5 inputs: 25 = 32)
0...31
Field bus module (10 inputs)
0 ... 999
1)
1) Maximum permitted number of NC records
The NC records are stored in the SPC200 always beginning with NC record 0 and step size 1. If possible,
use the same numbering in WinPISA, e.g. with the aid
of the numbering function.
The inputs REC_BIT... have the following meaning:
REC_BIT5 REC_BIT4 REC_BIT3 REC_BIT2 REC_BIT1
2
Input signals
Designation
Value
NC record number
3
...
1
1111100111
1)
30
31
999
1)
1) Control via field bus module
SPC200... 9904a
5-21
5.3.1 Description of all I/O signals in record select mode

The connection assignment and I/O addresses of the
I/O modules can be found in section 3.3.3 Field bus
addresses in the manual for the field bus module.
Inputs
Function
Description
REC_BIT1
Bit 1 for record number ( 20 )
REC_BIT2
REC_BIT3
REC_BIT4
REC_BIT5
REC_BIT6
...
REC_BIT10

1)
CLK_B
Start positioning command from program B

(as CLK_A, but for program B)
CLK_A
Start positioning order from program A

If there is a rising edge at this input, the NC record number at the inputs
RECBIT... will be accepted by the SPC200 for program A and
processed. This will be indicated by the signal ACK_A (see Fig. 5.7).
If there is a rising edge at this input, the NC record number at the inputs
RECBIT... will be accepted by the SPC200 for program A and
processed. This will be indicated by the signal ACK_A (see Fig. 5.7).
STOP
Stop positioning command

0-signal at this input causes:
- the axes to be stopped.
- the current position to become the reference position
(controlled stop).
The positioning order will be resumed by:
- applying 1-signal to this input
- repeated start of positioning task via the appropriate CLK
input (CLK_A/CLK_B).
It is not possible to continue a positioning procedure after a stop signal
in this operating mode. If you use NC command G91, a move must be
made to an absolute position (G90) after every stop.
1) REC_BIT6...10 only with control via field bus module
5-22
SPC200... 9904a
Inputs
Function
Description
RESET
Reset the program (RESET)

If there is 1-signal on the ENABLE input and 0-signal on the STOP input, a
RESET (program reset) can be triggered by rising edge at the RESET
input. This causes the following:
- the NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass
load factor 100%) as well as the positioning quality class set
in the application parameters become valid
- the analogue channel is switched off (M12)
- all ACK outputs are reset
- the set starting programs are made available
- any errors are acknowledged.
ENABLE
Closed loop controller enable

An 0-signal at this input causes:
all axes to be switched off
- the READY and RC_A/B outputs to be reset.
the ENABLE signal for the power controller will be reset.
No further tasks will then be accepted.
If a 1-signal is again applied to this input:
- the outputs READY and RC_A/B will again be set
all axes will be switched on
- the current position will become the reference position
(controlled stop)
the reference travel must be carried out again.
With the next CLK signal, the positioning task at the inputs REC_BIT... will
be processed.
SPC200... 9904a
5-23
Outputs
Function
Description
RC_B
(record complete)
NC record from program B concluded

(as RC_A, but for program B)
RC_A
(record complete)
NC record from program A concluded

A 1-signal on this output indicates that a positioning task from program
A has been completed. When the NC record has been processed,
another MC signal will also be output if the axis is no longer at the
programmed reference position (e. g. because of failure of compressed
air supply, unstable control, etc.).
An 0-signal indicates that an NC record is being processed.
ACK_B
(acknowledge)
Order acknowledged for program B

(as ACK_A, but for program B)
ACK_A
(acknowledge)
Task accepted for program A

The acceptance of the positioning task from program A is confirmed
through this output. An 0-signal at this output indicates that the NC
record number for program A has been accepted (see Fig. 5.7).
READY
System ready for operation

This output supplies a 1-signal if the system is ready for operation. 0 V
at this output indicates that there is a system or positioning error or the
system enable is lacking.
PLEASE NOTE
It is not possible to continue a positioning procedure
after a stop signal in this operating mode. If you use
NC command G91, a move must be made to an absolute position (G90) after every stop.
5-24
SPC200... 9904a
Summary of record select mode

The record select mode supports close coupling of the
SPC200 with a higher-order PLC/IPC.
SPC200... 9904a
Requirements
- Program in program memory

- System parameters entered in
configuration
- Record select mode set
- 1-signal at ENABLE and STOP input
Operation via
control panel
Control function
- Stop, reset via menu SYSTEM
CONTROL on control panel
Control through
I/O
Control functions
- Select NC record via the REC_BIT...
inputs.
- Selected NC record start via CLK input
- Stop via STOP input
- Program reset by an 0-signal at STOP
input and rising edge at the START input
5-25
Programing example for record select mode

Inputs
I0.4...I0.01)
I11.12...I11.82)
NC records of starting program
00000
N000
G00
X100.00
Y100.00
00001
N001
G00
X130.00
Y100.00
00010
N002
G01
X50.00
...
01000
01001
N008
G90
X100.00
Y110.00
N009
G91
X10.00
Y20.00
G00
X200.00
Y200.00
G02
X150.00
Y150.00
...
10000
...
...
11111
FX50
...
N016
...
N031
1) Control via I/O module

2) Control via field bus module
Sequence control is carried out exclusively by a higherorder PLC/IPC. With a positive edge at the CLK input,
the signals at the inputs I0.0...I0.4 are transferred as
NC record numbers, acknowledged by the ACK signal
and the NC record is processed.
Only positioning commands (G00, G01 and G02), positioning conditions (G08, G09, G90 and G91) and commands for setting the quality class (G60, G61, G62) are
supported.
5-26
SPC200... 9904a
6. Operation of the SPC200 via the control panel
Chapter 6
Operation of the SPC200 via the
control panel
SPC200... 9904a
6-1
Contents
6.1
6.1.1
6.2.
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.4
6.5
6.6
6.7
6.8
6-2
Layout and functions of the control panel ..................................... 6-4

Moving around the menu system .................................................. 6-8
Setting project-specific parameters ............................................. 6-14
Editing programs.......................................................................... 6-28
Adding a new program ................................................................ 6-29
Editing instructions....................................................................... 6-35
Instruction set on the control panel ............................................. 6-37
Editing an existing program......................................................... 6-40
Deleting a program ...................................................................... 6-42
Editing the position register ......................................................... 6-43
Controlling the program run......................................................... 6-47
Display of operands and system states ...................................... 6-49
Setting the closed loop control factors ........................................ 6-51
Test and diagnostic functions of the control panel ..................... 6-53
SPC200... 9904a
Contents of
this chapter
This chapter deals with the menu and operating functions of the control panel type SPC200-MMI-... .
All the parameters and operating functions of pneumatic
axes are described in detail and general system operating functions are also described.
Control panel functions for special extension modules
such as the stepping motor indexer module and the
field bus module are simply listed without any description.
Further
information
Control panel functions for the stepping motor indexer

module and the field bus module can be found in the
manual for the relevant product.
WinPISA offers the same operating functions and parameters as the control panel. Information on this can be
found in the manual for WinPISA.
SPC200... 9904a
6-3
6.1 Layout and functions of the control panel

The SPC200-MMI plug-in control panel allows you to
carry out commissioning, programming and diagnosis
directly on the SPC200. It offers a simple menu structure and a universal keymap. The following illustration
shows the elements of the control panel.
1
2
Two-line LCD display

ESC key
3
4
ENTER key
CURSOR key
Fig. 6/1: Elements of the control panel
6-4
SPC200... 9904a
The two-line LCD display shows all texts in English.

Each line displays a maximum of 16 characters. The
touch-sensitive keyboard consists of 6 keys. With these
keys you can carry out all of the menu-driven functions
and settings.
Key
Description
- Switches back to the next higher level menu
- Rejects the current input (breaks off input)
- Deletes the current NC record when the cursor in
the editor is on the identifier for NC record
number (N)
- Confirms the present menu selection
- Adopts the setting made and/or the control function
into the SPC200
- Inserts a copy of the current NC record when the
cursor in the editor is on the identifier for NC record
number (N)
- Selects the next menu command or parameter
- Positions cursor to right or left
- Change setting at current cursor position
* Increase or reduce the numerical value
* Select axis (set axis symbol)
* Select NC command or diagnostic function
SPC200... 9904a
6-5
Switching-on procedure
After switching on the power supply the SPC200
automatically performs an internal test. During the brief
test phase, the control panel displays the software version number of the control panel (here Vn.n).
MMI SPC200 Vn.n
INITIAL TEST
After completing internal testing the SPC200 is ready to

process user input from the control panel. If an error is
discovered, the control panel displays the current error
number (see Section 8.2). If there is no error, the initial
display is shown.
6-6
SPC200... 9904a
In the initial display the control panel shows the

following message:
SPC200 Vnnn X
SELECT WITH <>
Esc
1
2
3
1)
Enter
Operating system version of the SPC200 (nnn = Version number1))

Currently configured axis (here X-axis)
Prompt line: Make your menu selection with .
The point after the main version marker is not shown due to
lack of space; nnn indicates n.nn
Fig. 6/2: Initial display on the control panel

Repeated pressing of the ESC key will always lead to
the initial display. A special procedure is necessary for
exiting the program editor (see section 6.3.1).
From the initial display, the control panel provides eight
menus to select from. The following illustration provides
an overview of the menu structure and the menu commands on the control panel:
SPC200... 9904a
6-7
6.1.1 Moving around the menu system

2
SPC200 Vnnn X
SELECT WITH <>
SYSTEM
CONTROL
DISPLAY
EDIT
PROGRAM
CONFIG.
SYSTEM
START SYSTEM
STOP SYSTEM
RESET SYSTEM
RESET PROGRAMS
RESET ERROR
RESET DATA
NEW PROGRAM
MODIFY PROGRAM
DELETE PROGRAM
MODIFY POSREG.
TEACH IN
TASK STATE
REFERENCE POS.
CURRENT POS.
POS. DIFFERENCE
DIGITAL INPUT
FIELDBUS INPUT
DIGITAL OUTPUT
FIELDBUS OUTPUT
MEMORY FLAG
REGISTER
ERROR
STEPMOTOR INPUT
1
2
Initial display
Moving around in the menu system
ACTUAL CONFIG.
SET CONFIGUR.
OPERATING MODE
DEFINE TASKS
FIELDBUS
3
4
See next page AXIS PARAM

See next page TEST/DIAG.
Fig. 6/3a: Menu structure on the control panel

(Continued on following page)
6-8
SPC200... 9904a
AXIS
PARAM.
X,Y,Z,U
APPLIC.
PARAM.
1)
CYL. TYPE2)
CYL. LENGTH
CYL. DIAMETER2)
SENSORMEASUREM.2)
X,Y,Z,U
Pneum.
axis
2)
TOOL LOAD
WORK LOAD
PRESSURE
FITTING POS.
FITTING OFFS.
POS. BASEPOINT
LOWER END POS.
UPPER END POS.
POS. TOLERANCE
QUALITY CLASS
MAX. SPEED
MAX. ACCELER.
CONTROL.
PARAM.
1)
Electr.
axis
X,Y,Z,U
TEST/DIAG.
1)
GAIN FACTOR2)
DAMPING FACTOR2)
FILTER FACTOR2)
POS. TIMEOUT2)
3)
RESOLUTION
START/STOP FREQ
POS. BASEPOINT
LOWER END POS.
UPPER END POS.
REF. POSITION
REF. SPEED FAC.
MAX. SPEED
MAX. ACCELER.
MODE OF REFER.
MICRO/HALF STEP
SYSTEM
AXIS
X,Y,Z,U
1)
SINGLE STEP
INPUT TEST
FB. INPUT TEST
OUTPUT TEST
FB. OUTPUT TEST
FLAG TEST
REGISTER TEST
JOG AXIS
MOVEMENT TEST2)
IDENTIFICATION2)
EXIT FROM LIMIT3)
REFER. TRAVEL3)
1) Select axis identifiers X, Y, Z or U

2) Parameter or function only available with pneumatic axis
3) Parameter or function only available with electric axis
1
2
Previous page CONFIG.SYSTEM

Moving around in the menu system
see previous page SYSTEM

CONTROL
Fig. 6/3b: Menu structure on the control panel (Continuation)
SPC200... 9904a
6-9
The menus on the control panel

Menu
Description
SPC200 READY
SYSTEM CONTROL >
System control:
Control functions Start, Stop, Reset
SPC200 READY
DISPLAY
Display:
Operands, System status
SPC200 READY
EDIT PROGRAM
>
>
Edit programs:
Display and editing of programs and
position register, Teach
SPC200 READY
CONFIG. SYSTEM >
Configure system:
Determine operating mode and
starting programs,
Dispay and accept the hardware
configuration
SPC200 READY
AXIS PARAM.
>
Axis parameters:
Display and set (e.g. cylinder length)
SPC200 READY
APLIC. PARAM.
>
Application parameters:
Display and set (e.g. Project basepoint)
SPC200 READY
REGUL. PARAM.
>
Controller parameters:
Display and set
SPC200 READY
TEST/DIAG.
>
Testing and diagnosis:

Program test, Movement test, etc.
By pressing the or keys you can call up the

individual menus from the initial display one after the
other. The name of the menu is shown in the lower line.
In addition, the upper line shows the text from the initial
display (SPC200...). This informs you that you are in
the first level.
6-10
SPC200... 9904a
In selecting, the upper line will serve to orient you. It

shows, e.g. the menu in which you are located. The
lower line offers the selections which are possible in the
current menu. The availability of the selection is indicated by the > symbol.
When a selection has been made by pressing the Enter
key, the text in the display scrolls up.
1
2
3
4
1
2
3
4
5
SPC200 READY
AXIS PARAM. >
AXIS PARAM.
X:
AXIS PARAM.
CYL. TYPE
>
Display from the initial display (first level)

AXIS PARAM. menu can be opened with the Enter key
AXIS PARAM. menu is opened
Axis identifier, select with .
First parameter of selected axis
Fig. 6/4: Functions of the display lines
SPC200... 9904a
6-11
The upper line then shows the previous selection for

guidance. The lower line again shows the current
possible selection or the input field in the lowest level.
In the case of menus which contain axis-specific parameters or operating functions, the axis identifier of the
first axis (X) will be shown when the menu is opened.
With multi-axis systems, the desired axis can be selected with the keys . and the Enter key. All the following parameters and operating functions refer to the
axis selected.
If, for example, an electric axis is selected, parameters
or control functions for electric axes will be shown.
Summary: moving in the menu system

Purpose
Press
Confirm current selection and, if applicable,

switch to one level below
Different selection in same menu level
Select axis identifier
Discontinue selection and switch to one level
above
6-12
SPC200... 9904a
In selecting a menu command or parameter proceed as

follows:
1. Press the ESC key repeatedly until the initial display
is shown. The first line of the display then shows the
text SPC200 followed by the version number of the
operating system.
2. Press the or key repeatedly, until the desired
menu is displayed in the lower line.
3. Press the Enter key. This will open the menu and
display the first parameter or the first control function
of the menu.
4. If an axis identifier is offered for selection, select it
with the keys and then press the Enter key.
5. If a parameter or an operating function is displayed,
you can page through the menu with the keys or
, until the desired parameter or command is
shown in the bottom line.
6. Press the Enter key to select the command or parameter.
How adjustments are made, how programming is carried out or how control functions are triggered are
shown in the following section.
SPC200... 9904a
6-13
6.2. Setting project-specific parameters

WARNING
Incorrectly set parameters can lead to uncontrolled
behaviour of the connected axes during operation.
The SPC200 must be aware of the conditions of use
governing your project and the type of components
used in your positioning system. The necessary settings
should be made in the following menus:
Menu
SPC200 READY
AXIS PARAM.
6-14
Description
>
Axis parameter;
Data on the axes to be used
SPC200 READY
APPLIC. PARAM. >
Application parameter;
Data on the conditions of use
SPC200 READY
CONFIG. SYSTEM >
System configuration;
Operating mode, starting programs,
hardware configuration
SPC200... 9904a
Procedure
If you have selected a parameter in a menu by pressing the Enter key (see Section 6.1.1), the text in the
display will scroll up.
1
2
AXIS PARAM.
X:
AXIS PARAM.
CYL. TYPE
>
CYL. TYPE
X: 1
4
5
1
2
3
4
5
AXIS PARAM. menu is opened

Axis identifier can be selected, select with
Parameter "cylinder type" can be selected
Axis identifier (here X for X axis)
Current setting of the X axis (here cylinder type 1)
Fig. 6/5: Functions of the display lines

The upper line then shows the previous selection (here
AXIS PARAM.) for guidance. When entering axis-specific parameters, you can then select the desired axis.
In this case the cursor is positioned on the axis identifier.
SPC200... 9904a
6-15
The appropriate axis must be connected to the SPC200

and the current hardware configuration must be saved.
With the keys and , you can select the axis, the
parameters of which you wish to modify. When the axis
has been selected, the current parameter setting will be
shown in the bottom line.
In order to alter a parameter, position the cursor with
the keys on the desired number of the parameter
indicated. The number can now be altered with the
keys. If a parameter value is altered, the character ?
will be shown in the lower line.
6-16
SPC200... 9904a
CYL. TYPE
X: 1
CYL. TYPE
X: 2
?
2
CYL. TYPE
X: 2
1
2
3
Character flashes (here underscored) = current cursor position

Character for altering value
New value was accepted (? no longer shown)
Fig. 6/6: Set parameter value

The symbol ? indicates that the intended setting is accepted into the SPC200 only when the Enter key is
pressed. After pressing the Enter key, the ? is deleted.
This indicates that the setting was accepted.
The following sections describe the significance of the
individual parameters, which you must match to your
project.
SPC200... 9904a
6-17
Axis parameters
AXIS PARAM
menu
The axis parameters are configuration parameters

which describe the configuration, the properties and the
components of the axis being used. The axis parameters form the basis for parameter ranges of the application parameters (e.g. possible axis movement
speed).
Axis parameters for pneumatic axes:
When the axis parameters have been modified, new
identification travel may be necessary.
AXIS PARAM menu (axis parameters)

Pneumatic axis
CYL. TYPE
X:0
Cylinder type (design)

Enter the type for the cylinder used.
0 = Cylinder with piston rod
1 = Cylinder without piston rod
2 = Rotary actuator
CYL. LENGTH
X:+0050.00
Cylinder length
Length of cylinder (see Identification plate).
CYL. DIAMETER
X:+0012.00
Cylinder diameter
Diameter of cylinder (see Identification plate)
SENSOR LENGTH
X:+0050.00
Measuring system length

50...3200 [mm]
Length of the measuring system used (see Identification plate)
VALVE TYPE
X:0
Valve type (see Identification plate)

0 = MPYE-5-M5-010B
1 = MPYE-5-1/8-LF-010B
2 = MPYE-5-1/8-HF-010B
3 = MPYE-5-1/4-010B
4 = MPYE-5-3/8-010B
6-18
0...2
50...3200 [mm]
12...320 [mm]
0...4
SPC200... 9904a
Axis parameters for electric axes:

AXIS PARAM menu (axis parameters)
Electric axis
CYL. LENGTH
Y:+0050.00
Cylinder length
1)
50...3200 [mm]
1) Explanations see manual for stepping motor indexer module type P.BE-SMX-1-...
Application parameters
APPLIC.
PARAM
menu
The application parameters are configuration information, which describe the conditions of use assigned by
the application.
Application parameters for pneumatic axes
The application parameters are an important basis for
the internally ascertained controller parameters. If the
fitting position or the supply pressure have been modified, the latter by more than 1 bar, new identification
travel may be necessary.
APPLIC. PARAM menu (Application parameters)

Pneumatic axis
TOOL LOAD
X:+0000.00
Tool load
0.1...2000 [kg]
In the pneumatic axis the tool load describes the total weight of
the following constituents:
- weight of slide and piston
- weight of the fastening plate
- tool weight
The maximum permissible tool load depends upon the type of
cylinder used.
WORK LOAD
X:+0001.00
Work load
0...2000 [kg]
Maximum weight of the object to be transported.
Recommendation: Use the NC command M37, if you wish to
work with different loads.
SPC200... 9904a
6-19
APPLIC. PARAM menu (application parameters)

Pneumatic axis
PRESSURE
X:+0000.00
Supply pressure
3...10 bar
Indicates the available supply pressure.
For good positioning behaviour:
- during movement in front of the proportional directional control
valve pressure deviations of max. 1 bar
- minimum supply pressure 4 bar.
Please observe the permitted pressure range of the
components used (e.g. DGP...-... max. 8 bar).
FITTING POS.
X:+00
Fitting position
- 90...+ 90
The fitting position indicates the angle in which cylinder and
measuring system are fitted:
- 0 horizontal
+ 90 vertically upwards (zero of measuring system at bottom)
- 90 vertically downwards (zero of measuring system at top)
Reference
points
With the following four parameters you can enter the

reference points for your positioning system.
Take care that the software end positions and the project basepoint refer to the cylinder basepoint. If you
alter the mounting offset, the SPC200 will check
whether the resultant new reference point is still within
the range of the measuring system. If this is not the
case, an appropriate error message will be displayed.
6-20
SPC200... 9904a
1
2
1
2
3
Measuring system basepoint

Cylinder basepoint
Position basepoint (Project zero point)
4
5
Lower software end position

Upper software end position
Fig. 6/7: Reference points

Pneumatic axis
FITTING OFFS.
X:+0000.00
Fitting offset
-1600...+1600 [mm]
Offset between basepoint of measuring system and cylinder
basepoint.
The mounting offset is positive, if the cylinder basepoint lies
within the range of the measuring system. The mounting offset is
negative, if the cylinder basepoint lies outside the range of the
measuring system.
POS. BASEPOINT
X:+0000.00
Position basepoint (Project zero point)

0...+3200 [mm]
Indicates the point on the axis to which the positions contained in
the position registers and programs relate. The project basepoint
relates to the cylinder basepoint.
SPC200... 9904a
6-21

Pneumatic axis
LOWER END POS.
X:+0000.00
Lower software end position

0.0...3200 [mm]
End position on the side of the measuring system base point
which is monitored by the SPC200 operating system (software)
and should not be exceeded. If both software end positions are
set at 0, their function is suppressed. The lower software end
position relates to the cylinder basepoint and represents the
lower limit of the defined range of movement.
UPPER END POS.

X:+0000.00
Upper software end position

0.0...3200 [mm]
End position on the opposite side to the measuring system base
point which is monitored by the SPC200 operating system
(software) and should not be exceeded. If both software end
positions are set at 0, their function is suppressed.
The upper software end position relates to the cylinder basepoint
and represents the upper limit of the defined range of movement.
POS. TOLERANCE
X:+0000.00
Positioning tolerance
0.1..10.00 [mm]
This parameter indicates the repeat accuracy with which a
positioning process should be carried out.
6-22
SPC200... 9904a

Pneumatic axis
QUALITY CLASS
X:1
Quality class
1...6
Describes the conditions under which a movement command
should be considered as terminated or when the MC (Motion
Complete) signal should be issued. Where:
1 = Fast stop without damping time
2 = Fast stop with damping time
3 = Precision stop without damping time
4 = Precision stop with damping time
5 = Precision stop with terminal speed control
6 = Precision stop with damping time and terminal speed
control
The setting established here acts as a default setting on program
start-up. It can be changed in the program with the commands
G61 and G60.
MAX. SPEED
+0000.00
Maximum speed
0.1...10.0 [m/s]
Maximum speed for the movement with the commands G01 and
G02. The speed factor given by the movement commands G01
and G02 refer to the maximum speed defined here.
MAX. ACCELER.
+0000.00
Maximum acceleration
0.1...100.0 [m/s2]
Maximum acceleration for the movements with the commands
G01 and G02. In the movement program a reduced acceleration
based on the maximum acceleration defined here can be set with
the commands G08 and G09.
SPC200... 9904a
6-23
Application parameters for electric axes:

Electric axis
RESOLUTION
Y:+0010.000
Resolution1)
0.100...9999.999 [1/mm]
START/STOP FR.
Y:+0500.00
Start-stop frequency1)
1 .. 9999 [Hz]
POS. BASEPOINT
Y:+0000.00
Project basepoint1)
0.0 .. 3200.0 [mm]
LOWER END POS.

Y:+0010.00
Lower software end position1)
0.0 .. 3200.0 [mm]
UPPER END POS.

Y:+0090.00
Upper software end position1)
0.0 .. 3200.0 [mm]
REF. POSITION
Y:+0010.00
Reference position1)
0.0 .. 3200.0 [mm]
REF. SPEED
Y:+0001.00
Reference speed factor1)
0.01 .. 1.00
MAX. SPEED
Y:+0000.10
Maximum speed1)
0.1 .. 10.0 [m/s]
MAX. ACCELER.
Y:+0000.50
Maximum acceleration1)
0,1 .. 100,0 [m/s2]
MODE OF REFER.
Y:0
Mode of reference1)
1 .. 4
MICRO/HALF STEP
Y:0
Micro/half step1)
0 or 1
1) Explanations see manual for stepping motor indexer module
6-24
SPC200... 9904a
System configuration
CONFIG.
SYSTEM
menu
Enter the desired type of operation and the starting programs for your system in the CONFIG. SYSTEM menu.
Description of the individual parameters
CONFIG. SYSTEM menu (configure system)

ACTUAL CONFIGUR.
1. AIF
SPC200... 9904a
Display current configuration

Shows the hardware configuration ascertained during starting
phase.
n. AIF
;1...2 axis interface string (n = 1...2)
n. SM
;1...3 stepping motor (n = 1...3)
If stepping motor indexer modules are fitted, the selection
"n.SM" will show which axis identifer is assigned to the first,
second or third stepping motor indexer module.
The selection "n.AIF" will show which axis identifiers have
been assigned in the starting phase and which modules have
been recognized on the relevant string. The recognized module
types (CP modules) are listed as follows:
I = input module
O = module with outputs or valves
I/O = I/O function module
The entry "-" means that no module has been recognized.
Example
1.AIF AXIS: XY
CP-MOD: -, -, I/O
Explanation
Two axis interfaces were recognized on the first axis interface
string in the starting phase. The axis identifiers X and Y were
assigned to these interfaces. An I/O function
module was also recognized on the axis interface string.
6-25
CONFIG. SYSTEM menu (configure system)

SET CONFIGUR.
SAVE CONFIGUR.
Save actual configuration as the set configuration

Please observe the instructions on procedure in section 4.3.1
When the system is started, the SPC200 compares the actual
hardware configuration with the saved set configuration.
The modules fitted and the string assignment are checked here.
With this command, the actual hardware configuration (modules
fitted) and the actual string assignment can be saved as the set
configuration. If the axis configuration has been modified, the
data already entered is no longer valid and will be reset to the
status as at delivery or deleted.
OPERATING MODE
START/STOP
Operating mode
START/STOP
= Start/stop mode
RECORD SELECT
= Record select mode
The operating mode defines how the sequencing of the SPC200
should work. You will find explanations of the operating modes in
Chapter 5.
DEFINE TASKS
TA:P00
Define task program

Tn = Task number
TA, TB
Pn = Program number
- -/0...99
P- - for "no starting program selected"
If the cursor is positioned at P, you can switch between P00 and
P- - for task B.
One SPC200 can control two work stations. In this it supports the
coordinated and autonomous operation of both axes. In the case
of coordinated operation the option of parallel program
processing is not used. Only one starting program is defined
(one active task). This controls both work stations. In
autonomous operation, two starting programs (two active tasks)
are defined. Each starting program controls another work station.
Further information on coordinated and autonomous operation
can be found in Chapter 7.1.1.
6-26
SPC200... 9904a
Summary: Setting parameters

Purpose
Press:
- Confirm current parameter selection

- adopt previous setting
- Position cursor on axis identifier or
parameter value or digit
- Modify setting at current cursor position
(increase/reduce digit value)
- Cancel input
- Return to next higher menu level
Proceed as follows:
1. Select the parameter which you wish to modify (see
Section 6.1.1).
2. Press the Enter key to confirm selection. The current
parameter value for the first configured axis will be
shown in the lower line. The cursor is positioned on
the axis identifier.
3. With multi-position values:
Position the cursor with the or keys on the
digit of the parameter value, which you wish to
modify.
4. Enter the value with the keys.
5. Repeat items 4 and 5 if you wish to modify other
digits.
6. Press the Enter key. The value will then be transferred to the SPC200.
SPC200... 9904a
6-27
6.3 Editing programs

The control panel provides you with an Editor, which
can be used to edit both the position register and NC
programs. If your positioning system is fully configured,
you can teach the position register with the aid of the
Teach functions.
You will find all menu commands for editing NC programs and position registers in the EDIT PROGRAMS
menu.
EDIT PROGRAM menu (for editing programs)
EDIT PROGRAM
NEW PROGRAM
Add new program

>
EDIT PROGRAM
MODIFY PROGRAM >
Modify program
EDIT PROGRAM
DELETE PROGRAM >
Delete program
EDIT PROGRAM
MODIFY POSRG
Modify position register

>
EDIT PROGRAM
TEACH IN
>
Teach mode
(Teach position register)
These commands are explained in the following

sections.
6-28
SPC200... 9904a
6.3.1 Adding a new program

1. In the initial display press the or key repeatedly, until the EDIT PROGRAM menu is displayed.
SPC200 READY
EDIT PROGRAM
>
2. Press the Enter key to open the EDIT PROGRAM

menu. The first command (New Program) will then
be displayed in the lower line.
EDIT PROGRAM
NEW PROGRAM
>

NEW PROGRAM
PROGRAM NO: 00?
4. Programs 0 and 1 have already been created at the

factory. Use the cursor keys to set the desired number of a new program, e.g.:
NEW PROGRAM
PROGRAM NO:
03?
5. Press the Enter key to create the program. After creating the program, you can edit the first NC record.
SPC200... 9904a
6-29
To display an NC record both lines of the display are

used. This is treated as a single line of 32 characters.
Please note that in programming multi-axis systems, for
reasons of space, only the parameters for the currently
selected axis are displayed.
The procedure in editing an NC record is explained
below using the command G00 (Move to position at
highest possible speed) as an example. The appendix
contains a summary of all available NC commands.
There is a detailed description of the NC commands
together with example programs in Chapter 7.
Example: NC record with G00

After a program has been created, the number of the
program created will be displayed in the first 3 columns
(here P03). After this is the NC record number N000.
P03:N000 *
X+0000.00
The cursor stands at identifier N.

1. Press button to position the cursor at the first NC
word of the current NC record (here * for positioning
with saved values).
The desired NC command can be selected with the
keys.
6-30
SPC200... 9904a
2. Press the key to change to G00.

P03:N000 G00 *
X+0000.00
3. Press the key when you have selected the

desired command.
P03:N000 G00 *
X+0000.00
4. Using the keys you can then select further NC

words or parameters, if appropriate. Press the
key, when the setting has been made. In this
example the next parameter for the command G00
will then appear in the second line.
P03:N000 G00
X+0000.00
5. The cursor is positioned on the axis identifier. Select

the desired axis with the keys and press the
key.
P03:N000 G00
X+0000.00
SPC200... 9904a
6-31
6. When the cursor is positioned next to the axis code

you can use the keys to toggle between:
Position value (X+0000.00 or X-0000.00)
Register value (X@00).
Axis not relevant (X*)
Significance: The positioning command has no effect
with the corresponding axis.
7. If you have made your selection, you can, if required, enter the position and/or register value with
the cursor keys. To do this proceed as usual digitby-digit:
Set cursor to digit positions using and ,
Increase or reduce the value of the digit using .
P03:N000 G00
X+0123.45
8. If you also wish to enter a position for the second

axis in the current NC record, position the cursor
again on the axis identifier using the key. Then
toggle to the desired axis and enter the position
and/or cursor value for this axis using the cursor
keys, e.g.:
P03:N000 G00
Y+0100.00
6-32
SPC200... 9904a
The NC record entered in this example appears in WinPISA as follows:

N0000 G00 X+123.45 Y100.00
To display the NC record on the control panel, place the
cursor on the axis identifier and toggle between the
configured axes.
P03:N000 G00
X+0123.45
P03:N000 G00
Y+0100.00
9. To conclude entry of the NC record, make sure that

the cursor is positioned at an NC command,
parameter or operand. Then press the Enter key.
The cursor will be positioned at identifier N and the
NC record saved intermediately in the SPC200.
If the cursor is positioned at the identifier for NC record
number (N), a copy of the current NC record will be
inserted when the Enter key is pressed.
10. Select the next NC record with (here N001).
Edit the NC record as described.
SPC200... 9904a
6-33
Always conclude programs with NC command M30

(Program end with repeat) or M02 (Subprogram end),
e.g.:
P03:N005 M30
Exiting the program editor

1. First make sure that the cursor is positioned at an
NC command, parameter or operand. Then press
the Enter key to conclude the entry of the current
NC record. The cursor will then be positioned at
identifier N and the NC record saved intermediately
in the SPC200.
P03:N005 M30
2. Press key to position the cursor at the NC command again.

P03:N005 M30
3. Now press the ESC key. The NC editor will then

be exited.
The program will not be transferred from the intermediate memory (RAM memory) to the program memory
(flash memory) until the NC editor is exited. If there is a
power failure before the NC editor is exited, the modifications made will be lost.
6-34
SPC200... 9904a
6.3.2 Editing instructions

If there is a power failure before the NC editor is exited,
the modifications made will be lost. When entering extensive programs, exit the editor now and again in order
to save intermediately.
When programming, pay attention to correct syntax and
only use existing operands. Both lines of the display are
used to display an NC record. Please note that in programming multi-axis systems, for reasons of space,
only the parameter for the currently selected axis is displayed.
In moving the cursor, the lines are to be considered as
one line of 32 characters. The individual NC words
and/or parameters are selected one after the other with
the and keys. The cursor moves to the left or
right correspondingly.
Inserting,
deleting
lines
If the NC program already contains several lines, NC

records can be inserted and deleted and the program
can be scrolled. For this, the cursor must be in NC record number field (e.g. N001). You can then:
scroll through the program using the keys
insert a copy of the current NC record by pressing
the Enter key.
delete the current NC record by pressing the ESC
key. The deletion process can be acknowledged with
Enter or recalled with ESC.
SPC200... 9904a
6-35
Edit
lines
The characters and/or NC words to be modified are

selected with the and keys. The characters
and/or NC words are changed with the keys.
If the cursor is located on an NC word, an NC word
will be selected using .
If the cursor is on a digit, the value of the digit will be
raised or lowered using .
If the cursor is on the axis identifier, one of the available axes will be selected with .
In the case of positioning commands, one of the following signs to the immediate right of the axis
identifier can be selected:
Sign
Meaning
positive position value (z.B. X+0100.00)
negative position value (z.B. X-0100.00)
@
*
number of the position register (e.g. X@10)

axis not relevant (e.g. Y*; Y-axis not relevant)
If the * sign is selected, the command programmed in

the current line is not relevant for the current axis, e.g.:
P03:N001 G00 G90
Y*
Concluding
entry
6-36
In order to conclude the entry of an NC record or program, the cursor must be positioned at an NC command, parameter or operand. The NC record is concluded with the Enter key. Program entry is concluded
with the ESC key.
SPC200... 9904a
6.3.3 Instruction set on the control panel

First NC word
NC
command
Description
Positioning with the stored values.

The most recently programmed position
command (G00,G01 or G02) remains active.
G00
Move to position at the highest possible speed
G01
G02

Move to position at start/stop frequency
G04
Dwell time in 100 th. of second
G08
Acceleration for approach ramp in % steps of

the defined maximum acceleration
G09
Acceleration for brake ramp in % steps of

the defined maximum acceleration
G25
Operating mode supported

Start/stop
Record
selection
Position-dependent record indexing
G26
Reserved for later expansions
G27
G28
Load position value into position register
G29
Add position value and position register
G60
Precision stop
G61
Set quality class
G62
Fast stop
G74
Start reference travel
M00
Programmed stop
M02
End of subroutine
= Command is supported; - = Command is not supported in record selection mode
SPC200... 9904a
6-37
First NC word (continued)

NC
command
Description
M10
Activate analogue reference value input

Start/stop
M37
Set mass percentage
M38
Load actual value into position register
M39
Call subroutine
M11
Offset for analogue reference value input
M12
Deactivate analogue reference value input
M13
Set analogue positioning mode
M14
Assign analogue input
M30
End program with repeat
E05
Unconditional jump
#S
Set single-bit operand
#R
Reset single-bit operand
#T
Test single-bit operand for 1-signal
#TN
#LR
Load register with value
#AR
Add value to register
#TR
Test / compare register
Record
selection
-
= Command is supported; - = Command not supported in this mode
6-38
SPC200... 9904a
Second NC word
NC
command
Description
Use last positioning mode (G90,G91).

The last positioning mode used (relative or
absolute method) remains active.
G90
Absolute measurement
(default setting at start of program)
G91

Start/stop
Record
selection
= Command is supported; - = Command is not supported in record selection mode

There is a detailed description of the NC commands
together with example programs in Chapter 7.
SPC200... 9904a
6-39
6.3.4 Editing an existing program

SPC200 READY
EDIT PROGRAM
>

EDIT PROGRAM
NEW PROGRAM
>
3. Select the command MODIFY PROGRAM using the

or keys.
EDIT
MODIFY PROGRAM >
4. Press the Enter key to select the MODIFY PROGRAM command.

NEW PROGRAM
PROGRAM NO: 00?
5. Insert the desired program number using the cursor

keys, e.g. Program No. 03:
NEW PROGRAM
PROGRAM NO:
03?
6. Press the Enter key to edit the program.
6-40
SPC200... 9904a
After a program has been selected the number of the

program will be displayed in the first 3 positions (here
P03). After this, the first NC record of the program will
be displayed, e.g.:
P03:N000 G00 *
X+0100.00
The cursor stands on the current NC record number

(here N000). Using the keys you can scroll through
all NC records in the program.
Please note that in programming multi-axis systems, for
reasons of space, only the parameter for the currently
selected axis is displayed.
Notes on editing are to be found in Section 6.3.2.
SPC200... 9904a
6-41
6.3.5 Deleting a program

SPC200 READY
EDIT PROGRAM
2. Press the Enter key to open the EDIT PROGRAMS

EDIT PROGRAM
NEW PROGRAM
3. Select the DELETE PROGRAM command with the

or keys and press the Enter key.
DELETE PROGRAM
PROGRAM NO: 00?
4. Insert the desired program number using the cursor

keys, e.g. Program No. 03:
DELETE PROGRAM
PROGRAM NO: 03?
5. Press the Enter key to delete the program.

The program will then be deleted.
6-42
SPC200... 9904a
6.4 Editing the position register

In programming, as an alternative to direct input of position values (e.g. X100), you can also specify positions
by position register. Then you only need to specify the
desired number of the position register (e.g. X@01) in
the program.
With programming in WinPISA, the position registers
are pre-assigned with the values of the position list (see
WinPISA manual).
The desired position values are filled into the position
register using the following commands in the EDIT
PROGRAM menu.
EDIT PROGRAM menu (for editing programs)
EDIT PROGRAM
MODIFY POSREG. >
Modify the position register

(Edit position register)
EDIT PROGRAM
TEACH IN
Teach mode
(Teach position register)
>
Modify position register

SPC200... 9904a
6-43
3. Select the MODIFY POSRG command with the

or keys and press the Enter key.
MODIFY POSREG.
X:@00
4. Using the cursor keys, enter the desired axis code

and the register number, e.g. X:@03, and press the
Enter key. The current value of the register will then
be shown.
MODIFY POSREG.
X:@03: +0123.00
The value -9999.99 is reserved as code for unused position register.

5. You can modify the value with the cursor keys.
Press the Enter key to save the change.
6. If you wish to alter another position register, press
the ESC key and repeat Items 4 and 5.
6-44
SPC200... 9904a
Teaching positions
WARNING
In this function, one or more system axes will be set
in motion. Take care that no one can reach into the
path of the moving object while compressed air is
applied.
The following requirements must be fulfilled for the
teach mode:
the positioning system must be set up completely,
wired and supplied with voltage and compressed air;
the axis and application parameters must be set correctly;
the inputs ENABLE (I0.9) and STOP (I0.7) must be
supplied with 24 V.
1. Press key or in the initial display repeatedly
until the EDIT PROGRAM MENU is shown.
2. Press the ENTER key to open the EDIT PROGRAM
MENU. The first command (NEW PROGRAM) will
then be shown in the bottom line.
3. Select the command TEACH IN with the keys
and and press the Enter key.
TEACH IN
X:@00 CONT
SPC200... 9904a
6-45
4. Set the desired axis code, the register number and

the positioning mode with the cursor keys.
The following modes are possible:
Positioning mode
Description
CONT
Move continuously
STEP
Move in steps twice the set positioning

tolerance
5. Press the Enter key to confirm the selected positioning mode. The current position will then be shown in
the bottom line.
TEACH:@03 CONT
X:+0123.00 +
6. You can now set the positioning direction with the

keys (+ = in positive direction: - = in negative
direction). To move the slide, set the desired direction and proceed as follows:
Positioning mode
Description
CONT
Hold Enter key pressed down until the

slide is to stop.
STEP
Press Enter key to move the

appropriate step.
7. In order to save the current position, select the command SAVE with the keys and press the Enter
key.
6-46
SPC200... 9904a
6.5 Controlling the program run

WARNING
Take care that no one can reach into the path of the
moving object and that no objects lie in this path.
Requirements
In order to be able to control program runs with the

control panel, the following requirements must be met:
the positioning system is fully installed, wired up and
supplied with voltage and compressed air
the parameters in the menus AXIS PARAM,
APPLIC.PARAM and CONFIG. SYSTEM are correctly set
24 V is available at the ENABLE (I0.9) and STOP
(I0.7) inputs
there is at least one program in the memory.
Programs can be started, stopped and reset with the
following commands in the SYSTEM CONTROL memory.
SPC200... 9904a
6-47
SYSTEM CONTROL menu

SYSTEM CONTROL
START SYSTEM ?
Start system
(only supported in start/stop mode)
The programs created are started or continued with this
command.
Requirement:
- 1-signal at STOP input
- 1-signal at ENABLE input
When the system is started, the display will show the
command STOP SYSTEM, so that an unintentional start can
be cancelled immediately.
SYSTEM CONTROL
STOP SYSTEM ?
Stop system
The program and the axes are both stopped with this
command. The current position becomes the nominal position
(closed-loop controlled stop).
SYSTEM CONTROL
RESET SYSTEM ?
Reset system
The SPC200 is reset to the status it was in after it was
switched on. A program reset and hardware recognition is
carried out here and the axis interface string is reinitialized.
This procedure can take a certain amount of time, depending
on the system configuration used.
SYSTEM CONTROL
RESET PROGRAMS ?
Reset programs
Here the:
- NC record pointer is reset to 0
- the pre-settings G90 and G02 (speed, acceleration and mass
load factor 100%) as well as the positioning quality class set
in the application parameters become valid
- the analogue channel will be switched off (M12)
- all freely programmable outputs and the SYNC outputs will
be reset
- the set starting programs are made ready
- any errors will be acknowledged.
SYSTEM CONTROL
RESET ERROR ?
Reset error
The error code is reset to 0 with this command.
SYSTEM CONTROL
RESET DATA
?
Reset all data to the status as at delivery.

With this command, all data will be reset to the status as at
delivery. All user data will then be lost.
6-48
SPC200... 9904a
6.6 Display of operands and system states

For program control, it is possible to have a permanent
display of the operands and system states. The commands for this are in the Display menu. The following
operands and system states can be displayed, providing the appropriate modules are fitted.
DISPLAY menu
SPC200... 9904a
TASK STATE
TA:P00 N000 S00
Task state
Tn = Task (A or B)
Pn = Current program number
Nn = NC record number
Snm = Program/record status
n = Record status,
m = Program status
*) 0 = inactive; 1 active
REFERENCE POS.
X:+0000.00 mm
Reference position
X, Y, Z, U = axis identifier
CURRENT POS.
X:+0000.00 mm
Current position
X, Y; Z, U = axis identifier
POS. DIFFERENCE
X:+0000.00 mm
Position difference
X, Y, Z, U = axis identifier
DIGITAL INPUT
I0.00:0
Status display for digital inputs

I = Input
I0.0...I3.15
FIELDBUS INPUT
I10.00:0
Status display for field bus inputs

I = Input
I10.0...I13.15
DIGITAL OUTPUT
Q0.00:0
Status display for digital outputs

Q = Output
I0.0...I3.15
FIELDBUS OUTPUT
Q10.00:0
Status display for field bus outputs

Q = Output
I10.0...I13.15
A...B
0...99
0...999
00...11*)
6-49
DISPLAY menu
MEMORY FLAG
F00:0
Status display for memory flag

F = Flag
F00...F63
REGISTER
R00:+0000
Status display for register

R = Register
ERROR
No.00000000
Error number
(see section 8.2)
STEP MOTOR
INPUT
Y: LIM+ = 1
Status display for sensors on the

electric axis.
If the cursor is positioned at LIM+, you
can switch between:
- LIM + (positive limit switch)
- LIM - (negative limit switch)
- REF (reference switch)
- SRDY (ready signal of the power
controller)
The status of each input is shown by
"0" or "1". If a stepping motor indexer
module is not installed, the message
"NO STEP MOTOR" will appear.
R00...R99
When checking the sensors, note the different designs

of sensors:
LIM +, LIM limit switch: normally closed contact
REF
reference switch: normally open contact.
6-50
SPC200... 9904a
6.7 Setting the closed loop control factors

Menu
CONTROL.
PARAM
The controller parameters are calculated by the

SPC200 from various basic factors. The controller
factors are standardized to 1.0. By means of these factors you can manually influence the calculated controller parameters.
A detailed description of the controller parameters as
well as instructions on optimizing the positioning behaviour can be found in Appendix A.
Control factors for pneumatic axes:
CONTROL. PARAM. menu (Controller parameters)

Pneumatic axis
GAIN FACTOR
X:+0001.00
DAMPING FACTOR
X:+0001.00
SPC200... 9904a
Gain factor
0.1 ... 10.0
With the gain factor you can influence the sensitivity with which
the positioning controller reacts to the modifications to the
"measured variables" (position, speed, acceleration)
Damping factor
0.1 ... 10.0
Damping is a measure of the transition behaviour of the system
from the actual to the nominal status, especially with fast
modifications of reference values. The system should normally
guarantee low-swing behaviour with reference value specification
and no-swing movement to the destination position.
6-51
CONTROL. PARAM. menu (Controller parameters)
FILTER FACTOR
X:+0001.00
POS. TIMEOUT
X:01.00
6-52
Signal filter factor

0.1 ... 10.0
Speed and acceleration are derived from the positioning signal
and filtered to improve the signal quality. If bad signal quality
exists in practice, e.g. due to electrical interference, the filtering
of the signal can be influenced by the signal filter factor. If the
filtering is too strong, it may destabilize the positioning.
Positioning timeout
0.0 ... 99.99 s
This monitors to see whether the positioning procedures are
carried out quickly enough. The SPC200 issues an MC error if:
- the drive does not start to move within the specified positioning
timeout entered after receiving a positioning command;
- the drive exceeds the maximum permitted positioning time
(sum of the internally calculated positioning time and the
positioning timeout).
If there is an NC error, the drive will be stopped. The current
position becomes the reference position. The error can be quitted
with a new positioning command.
Select the positioning timeout so that the positioning movements
can definitely be concluded within the selected time (e.g. 0.5 to
1.0 seconds). You can switch off the monitoring of the positioning
time with the value 0.0.
SPC200... 9904a
6.8 Test and diagnostic functions of the control panel

A ready-to-operate system is required for some of the
commands in this menu. The following conditions must
be fulfilled:
the positioning system must be completely set up,
wired and supplied with voltage and compressed air
the axis and application parameters must be set correctly
The inputs ENABLE and STOP must supply a
1-signal.
After opening the menu, you can test either the:
system functions (SYSTEM) or
the axis functions (AXIS)
SPC200... 9904a
6-53
TEST/DIAG. menu (test and diagnostics)

Submenu SYSTEM
SINGLE STEP
P00
Program test in single step

P00 ... P99
(only supported in start/stop mode)
With this function you can test an existing program in single step
mode.
Proceed as follows:
1. Set the program number.
2. Press the Enter key to confirm the selection.
3. Press the Enter key to start the NC record.
4. Repeat point 3 to start the next NC record.
INPUT TEST
I0.00:0
Test inputs1)
I = input
I0.00 ... I3.15
With this command you can check the functioning of the inputs of
the system. The input signal entered suppresses the actual
signal present and is taken into account for the sequence control
(e.g. start/stop) as well as for the program run. The actual input
signal present is then finally valid again.
FB INPUT TEST
I10.00:0
Test field bus inputs

I = input
OUTPUT TEST
Q0.00:0
Test outputs1)
Q = output
Q0.00...Q3.15
The READY output (Q0.7) and the ACK outputs used by the
system (Q0.5 and Q0.6) are continually updated by the operating
system and cannot, therefore, be influenced.
FB OUTPUT TEST
Q10.00:0
Test field bus outputs

Q = output
FLAG TEST
F00:0
Test flags1)
F = flag
F00...F63
REGISTER TEST
R00:0
Test registers1)
R = register
R00...R99
1)
I10.00...I13.15
1)
QI10.00...Q13.15
1) With this command the status of the appropriate operand can be modified.
6-54
SPC200... 9904a

Submenu AXIS: pneumatic axis
JOG AXIS
X: CONT
Jog axis
CONT
STEP
: move continuously
: move step-by-step twice the
set positioning tolerance
Proceed as follows:
1. Select the desired axis (X or Y)
2. Select the positioning mode (CONT, STEP).
3. Press the Enter key to confirm the selection.
4. Select the positioning direction (+ or -).
5. With positioning mode STEP:
- Press the Enter key to move one step.
With positioning mode CONT:
- Press and hold down the Enter key until positioning
is complete.
MOVEMENT TEST
X:05.00 V
Movement test
00.00 ... 10.00 V
With this command you can check whether the proportional
directional control valve is correctly connected to the axis.
Instructions on this procedure can be found in section 4.3.
IDENTIFICATION
X:STATIC
Identification
STATIC
:static identification
DYNAMIC1
:dynamic identification with work load
DYNAMIC2
:dynamic identification without work load
(the work load set in the application parameters is valid)
Instructions on this procedure can be found in section 4.3.
SPC200... 9904a
6-55

Submenu AXIS: electric axis
JOG AXIS
X: +0000.00
Move axis
1)
EXIT FROM LIMIT

X:+0000.00
?
Emergency travel
REFER. TRAVEL
X:+0000.00
?
Reference travel
1)
1)
1) Explanations and instructions on how to carry out these activities can be found in the
manual for the stepping motor indexer module type P.BE-SPC200-SMX-1-... .
6-56
SPC200... 9904a
Chapter 7
Description of the commands
SPC200... 9904a
7-1
Contents
7.1
7.1.1
7.2
7.2.1
7-2
General notes on programming..................................................... 7-4

Coordinated and autonomous mode ............................................. 7-5
Notes on programming via the control panel ................................ 7-8
Explanation of the NC commands on the control panel ............. 7-13
SPC200... 9904a
Contents of
this chapter
This chapter contains basic information on programming the SPC200 by means of the control panel. Both
the coordinated mode and the autonomous mode of
operation are explained, as well as all the NC commands.
Further
information
Before programming with the control panel, you should

be familiar with the way in which the control panel functions. Please refer to chapter 6 for a description of how
you can create and edit NC programs with the control
panel.
WinPISA offers user-friendly editing functions. Information on this can be found in the WinPISA manual.
SPC200... 9904a
7-3
7.1 General notes on programming

The following must be taken into account in preparing
NC programs:
the operating mode, in which the SPC200 is used.
All NC commands are supported in start/stop mode.
In record select mode only motion commands (G00,
G01, G02 and G74) motion conditions (G08, G09,
G90 and G91) and commands for setting the quality
class (G60, G61, G62) are supported.
the number of starting programs.
If a single axis system or a multi-axis system is controlled with one SPC200, only one starting program is
usually defined. If two independent work stations are
controlled, a separate starting program must be
defined for each work station (autonomous operation
of two work stations).
Parallel program processing

The SPC200 has a parallel program processing capability to provide a cost-effective way of implementing two
work stations. For this purpose, two programs, which
can be run in parallel as Task A and Task B, must be
defined as starting programs.
Each task, and thus each starting program and
subroutine may only contain commands for the relevant
assigned work station.
7-4
SPC200... 9904a
7.1.1 Coordinated and autonomous mode

Coordinated
mode
Parallel program processing is not usually used in the

coordinated control of two axes. Only one program is
defined as the starting program. The motion commands
for all the axes are programmed in this program.
If a motion command relates to all the axes, it is only
terminated when all the axes have reached the target
position. The movement of all the axes is thus
synchronised. A second starting program can be used
for supervisory functions.
1
2
N00010
N00020
N00030
N00040
N00050
N00060
N00070
...
G62 X Y
G00 X100 Y150
#TNI0.0 30
G01 X100 FX10
G00 X300 Y100
G00 X500 Y200
G01 Y400 FY20
6
X
3
1
2
3
4 5
Task A
Starting program for task A
Subroutines
4
5
6
Motion command for the X axis

Motion command for the Y axis
Workstation A (two coordinated axes)
Fig. 7/1: Coordinated mode for two axes (example of two-axis system)
SPC200... 9904a
7-5
Autonomous
mode
In autonomous mode two separate work stations are

controlled with one SPC200. Two different programs
which operate independently of one another (parallel)
are defined as starting programs for this special case.
The two parallel running programs have the output
READY in common and the inputs ENABLE, STOP and
START/RESET.
1
N00010
N00020
N00030
N00040
N00050
N00060
N00070
...
G62 X
G00 X100
#TNI0.0 30
G01 X100 FX10
G00 X300
G00 X500
G00 X500
5
N00010
N00020
N00030
N00040
N00050
N00060

G62 Y
G00 Y150
G01 Y300 FY10
#TNI0.1 40
G00 Y100
G04 500
9
X
0
Y
4
1
2
3
4
5
Task A
Starting program for task A
Subroutine for task A
Motion command for the X axis
Task B
8
6
7
8
9
0
7
Starting program for task B
Subroutine for task B
Motion command for the Y axis
Workstation A (X axis)
Workstation B (Y axis)
Fig. 7/2: Autonomous operation of two work stations (example)
7-6
SPC200... 9904a
In autonomous mode the programs for the two work

stations run independently. Each work station can be
controlled independently of the other via the freely programmable I/Os (start/stop mode) or the command I/Os
(record select mode).
Note in using parallel program processing in autonomous mode:
Starting programs may not be called up as subroutines.
Subroutines which contain motion commands may
only be used by one starting program.
Each task and all programs used may each only
contain motion commands for the relevant work
station, e.g.:
Task A only commands for the X axis
Task B only commands for the Y axis
SPC200... 9904a
7-7
7.2 Notes on programming via the control panel

The SPC200 can employ up to 100 motion programs
with an overall maximum of 2000 NC records. Each
program can be called as a subroutine. 4 nested subroutine calls are possible for this purpose.
One program can consist of up to 1000 NC records
(000...999). Each NC record is given a record number.
Record numbers begin with the letter N (for NC record
number).
When programming with the control panel the records
are numbered in strict numerical order, beginning with
N000. The NC programs are based on DIN 66025. The
following symbols are employed in programming:
Symbol
Description
Identifier for record numbers (N000...N999)
Positioning conditions
Auxiliary functions
Jump functions
Call subroutine
X, Y, Z, U
Axis identifiers: X axis, Y axis, etc.
Speed
- Identifier for position register

- Identifier for symbolic position*)
Single and multiple-bit operations
Start of comment, valid to end of line*)
*) only in programming with WinPISA
7-8
SPC200... 9904a
Addressing
The assignment of the I/O address range depends on
the configuration of the SPC200. If a field bus module
is fitted, the address range 0.0 ... 0.9 will remain unassigned. The assignment of the I/O addresses for configurations with and without the field bus module are
shown in the following table.
Configuration without
field bus module
First I/O module
Configuration with
field bus module
-
1)

I0.0 ... I0.9
1)
Q0.0 ... Q0.7 1)
I1.0 ... I1.15
Q1.0 ... Q1.15
Second I/O module
I2.0 ... I2.9
Q2.0 ... Q2.7
I3.0 ... I3.15
Q3.0 ... Q3.15
Third I/O module
Second I/O module
I4.0 ... I4.9
Q4.0 ... Q4.7
Fourth I/O module
Third I/O module
I5.0 ... I5.9
2)
First I/O module
Field bus module
I10.0 ... I13.15
Q5.0 ... Q5.7

2)
Q10.0 ... Q13.152)
1) Address range not available if a field bus module is fitted

2) Address range not available if a field bus module is not fitted
Control inputs and outputs are reserved for preassigned functions (see chapter 5).
SPC200... 9904a
7-9
Operand
Description
Flag
1)
Register
Position
register
@
Address range
1)
Description
F0 .. F63
0/1
R0 .. R99
-32767...+32767
Number
100 position register per axis
1)
Value range
@00...@99
Value range
-9999.98...+9999.992)
1) These operands are saved in the event of a power failure (remanent)

2) Value -9999.99 is reserved as code for unused position registers
Explanations of syntax
To explain the syntax the following symbols are used in
the summary tables:
Symbol
n
<Operand>
[]
|
Description
Placeholder for numerical values
Placeholder for operands (e.g. F0.0)
Parameters given in square brackets can be
supplied as an alternative or in addition 1)
Parameters separated by a vertical stroke
can be supplied as alternatives
1) To facilitate reading, axis identifiers are shown in a simplified

form [Y., Z.., U..]. Additional parameters have been omitted
intentionally.
7-10
SPC200... 9904a
All NC commands are supported in start/stop mode. NC

commands, which are supported in the record select
operating mode, are marked as follows:
x Record select
If the manual refers to a certain type of axis, this is also
marked. The meanings are:
Axis type
Manual
Pneu. axis
Description of NC command refers to

pneumatic axes
Step. Axis
Description of NC command refers to

stepping motor axis
Pneu. Axis
G00
x Record select
Axis type
NC-command
Available in record select mode
If no identifier is specified for a certain type, the description of the command applies to both types of axes.
SPC200... 9904a
7-11
Presetting
The following are preset for positioning:

Positioning command G02
with pneumatic axes: move smoothly to position at
defined speed (G02);
with stepping motor axes: move to position at
start/stop frequency
Absolute positioning (G90)
With pneumatic axes:
the positioning quality class (1...6) set in the application parameters is valid; speed factor, acceleration
factor and mass load factors are 100 %
The commands are explained in the sequence in which
they appear when selected on the control panel.
7-12
SPC200... 9904a
7.2.1 Explanation of the NC commands on the control panel

NC commands for the SPC200
Pneu. axis
G00
Move to position at the highest possible

speed (point to point)
Record selection
Structure
Nn
Parameter
Xn
X@n
Action
The pneumatic axis moves at the highest possible speed from the
present position to the reference position (absolute or relative, see
under G90/G91).
The automatically generated reference values for speed and
acceleration are limited to the maximum values determined
during identification, in order to avoid overswing as a result of
stress (see following diagram).
Example
N000 G00 G91 X100

N001 G00 G90 X@2
G00
[G90|G91] Xn|X@n [X..,Y..,Z..,U..]
N003 G00 X100 Y-100

N004 G00 X@5 Y@1
Remarks
SPC200... 9904a
Position in mm; n = 9999.99

Position register; n = 0...99
;Move 100 mm in positive direction

;Move to position from position
;register 2 of the X axis
;Move to X100 and Y-100
;Move to position from position reg;ister 5 (X) and position register 1 (Y)
The following is set when the system is started:

- Absolute positioning (G90)
The command G00 will be stored. It will remain active until
cancelled by a G01 or G02 command.
Example: N000
G00
X100
N001
X200
N002
G01
X300
When programming with WinPISA positions can also be specified
symbolically. For this purpose the position values and the position
names are entered in the position list.
Example: N006
G00
x@ABHOL_POS
N007
x@ABLAGE_POS
7-13
With the command G00, reference value curves are

specified by the SPC200 for path, speed and acceleration. These values enable a reproducible fast and nooverswing approach of the reference position.
The defined maximum speed and acceleration is only
effective with the positioning commands G01 and G02.
v [m/s]
s [m]
1
a [m/s2]
t [s]
t [s]
6
7
t [s]
1
2
3
4
Reference speed
Identified maximum speed
Configured maximum speed (G01/G02)
Reference position
5
6
7
Reference acceleration
Identified maximum acceleration
Configured maximum acceleration
(G01/G02)
Fig. 7/3: Reference values with command G00 (pneumatic axis)
7-14
SPC200... 9904a
Step. axis
G00
Move to position at highest possible speed

(point to point)
Record selection
Structure
Nn
Parameter
Xn
X@n
Action
The stepping motor axis moves at the maximum speed and

maximum acceleration specified in the application parameters
from the current position to the defined position (absolute or
relative, see under G90/G91).
Example
As with pneumatic axes (see under G00 for pneumatic axis)
Remarks
As with pneumatic axes (see under G00 for pneumatic axis)
SPC200... 9904a
G00
(G90|G91)
Xn|X
7-15
With the stepping motor axis, the setpoint speed value

increases at first in ramp form with command G00, until
the maximum speed specified in the application parameters is reached. Before the setpoint position is
reached, the setpoint speed value falls again in ramp
form. The steepness of the approach and braking
ramps is preset by the maximum acceleration defined in
the application parameters.
v [m/s]
s [m]
1
a [m/s2]
t [s]
t [s]
t [s]
1
2
3
Setpoint speed value

Configured maximum speed
Setpoint position value
4
5
Setpoint acceleration value

Fig. 7/4: Setpoint specifications with command G00 (stepping motor axis)
7-16
SPC200... 9904a
G01
Record selection
Structure
Nn
Parameter
Xn
X@n
FXn
Action
The axis moves at the specified speed and acceleration from the
present position to the specified position (absolute or relative),
subject to the speed being attainable by the system (see following
diagram).
With pneumatic axes: The reference values for speed and
acceleration will be limited automatically to the maximum values
determined during dynamic identification in order to avoid
overswing as a result of stress.
Example
N000 G01 X100 FX10
G01
[G90|G91] Xn|X@n FXn
N001 G01 X@2 FX30
Remarks
SPC200... 9904a
[Y..,Z..,U..]

Speed of movement in % of the
specified maximum speed;
n = 0...99
0 = 100 %, 1 = 1 % ...99 = 99 %
;Move to position 100 at 10 % of the

;specified maximum speed
;Move to position from register 2
;at 30 % of the specified maximum
;speed
To determine the set positioning time resulting from the reference

values see appendix A.
The following are set when the system is started:
- Positioning mode = Absolute positioning (G90);
- Approach ramp = 100 % of the maximum acceleration (G08);
- Brake ramp = 100 % of the maximum acceleration (G09).
Example: N003
G01
X100
FX10
N004
X200
N005
G00
X300
When programming with WinPISA positions can also be allocated
Example:
N005 G01 x@ABHOL_POS FX20 y@ABHOL_POS FY30
N006 x@ABLAGE_POS
7-17
With the G01 command the reference speed increases

ramp-like initially, until the maximum speed of movement programmed with FX or FY is reached. Before
reaching the intended position the reference speed
drops again ramp-like. The steepness of the approach
ramp and brake ramp is preset by the maximum acceleration defined by the system data. The slope of the
ramps can be set by program independently of each
other using the G08 and G09 commands.
v [m/s]
s [m]
1
a [m/s2]
t [s]
t [s]
t [s]
1
2
3
4
Reference speed
Programmed speed
Reference position
5
6
7
8
Programmed acceleration for approach ramp (G08)
Programmed acceleration for brake ramp (G09)
Fig. 7/5: Reference values with command G01
7-18
SPC200... 9904a
Pneu. axis
G02
Record selection
Structure
Nn
Parameter
Xn
X@n
FXn
Action
The pneumatic axis moves smoothly at the specified speed and

acceleration from the present position to the specified position
(absolute or relative), provided the system can reach this speed.
The programmed reference acceleration values are medium
values (see following diagram). The resulting reference values are
limited automatically to the maximum values determined during
dynamic identification, in order to avoid overswing as a result of
stress.
Example
N010 G02 X90 FX0
G02
N011 G02 X@2 FX30
Remarks
SPC200... 9904a
[Y..,Z..,U..]

Positioning speed in % of the
specified maximum speed;
n = 0...99
0 = 100 %, 1 = 1 % ... 99 = 99 %
;Move to position X90 at 100 % of the

;specified maximum speed
;at 30 % of the specified maximum
;speed
To determine the set positioning time resulting from the reference

values see appendix A.
This command reduces jolting movements of the slide during
starting and braking.
The following are set when the system is started:
- Absolute positioning (G90);
- Approach ramp = 100 % of the maximum acceleration (G08);
- Brake ramp = 100 % of the maximum acceleration (G09).
When programming with WinPISA positions can also be allocated
Example:
N10 G02 x@ABHOL_POS FX20 x@ABHOL_POS FY30
7-19
In the case of the G02 command the acceleration reference value has a sine2-shaped curve. The effect of this
is to reduce sudden changes in the positioning signal
and consequently any jolting motion of the slide on
approach ramp and brake ramp. As with the G01 command, the G02 command increases the reference
speed ramp-like initially, until the given speed of movement is attained. The programmed reference acceleration values of the approach ramp and brake ramp are
medium values. The peak values lie higher by the factor 2, in order to reach the same positioning times as
with G01.
v [m/s]
s [m]
1
a [m/s2]
t [s]
t [s]
6
7
t [s]
1
2
3
4
Reference speed
Programmed speed
Reference position
5
6
7
8
Effective reference acceleration value
Programmed acceleration for approch ramp (G08)
Programmed acceleration for brake ramp (G09)
Fig. 7/6: Reference values with command G02
7-20
SPC200... 9904a
Step. axis
Move to position at start/stop frequency
G02
Record selection
Structure
Nn
Parameter
Xn
X@n
FXn
Action
The stepping motor axis moves at the defined start/stop frequency

from the current position to the defined position (absolute or
relative).
Example
N010 G02 X90 FX0
G02
N011 G02 X@2 FX30

N012 X100
Remarks
SPC200... 9904a
[Y..,Z..,U..]

reserved; n = .. 99
parameter must be specified, but it will
be ignored
;Move to position X90 at start/stop

;frequency
;at start/stop frequency
;Move to position 100 at start/stop
;frequency
A parameter F...n must be specified in order to avoid syntax

errors. The parameter value will be ignored as movement is made
at start/stop frequency.
The approach and braking ramps defined with G08 and G09 will
also be ignored.
The following is preset when the system is started:
- absolute positioning (G90)
The command G02 has a saving effect. It remains effective until it
is cancelled by command G00 or G01.
During programming with WinPISA, positions can also be
specified symbolically. For this purpose the position values and
position names are entered in the position list.
Example:
N10 G02 x@ABHOL_POS FX20 x@ABHOL_POS FY30
7-21
G04
Dwell time
Structure
Nn G04 n
Parameter
Action
Switching to the next NC record does not take place until the
dwell time has expired.
Example
N010
N011
N012
G08
Dwell time in 10 ms; n = 1...9999
G00
G04
G00
X100
250
X200
;Move to position X100

;Wait 2.5 seconds
Record selection
Structure
Nn G08 Xn [Y..,Z..,U..]
Parameter
Xn
Action
When positioning takes place with the following commands,

approach will be made at maximum with the acceleration
specified here.
With pneumatic axes: G01 and G02
With stepping motor axis: G01
Example
N020 G08 X50 Y50

N021 G01 X80 FX50
N022 G08 X0
Acceleration in % steps of the

defined maximum acceleration;
n = 0...99,
0 = 100 %, 1 = 1 % ...99 = 99 %
;Approach ramp = 50 %
;Approach ramp at maximum
;acceleration
The X axis will only be accelerated at 50 % of the defined

acceleration in moving to position X80. Finally, the acceleration for
the X axis will be switched to maximum acceleration.
Remarks
7-22
This command will be stored. It will remain active until a new

approach ramp is defined.
SPC200... 9904a
G09
Acceleration for brake ramp
Record selection
Structure
Nn G09 Xn [Y..,Z..,U..]
Parameter
Xn
Action
When positioning takes place with the following commands,

braking is made at maximum with the following acceleration.
With pneumatic axes: G01 and G02
With stepping motor axis: G01
Example
N000
N001
N002
N003
Remarks
This command will be stored. It will remain active until a new

brake ramp is defined.
SPC200... 9904a
Acceleration in % steps of the

defined maximum acceleration;
n = 0...99,
0 = 100 %, 1 = 1 % ...99 = 99 %
G09
G01
G01
G09
X50
X100 FX50
X150 FX50
X0
;Brake ramp = 50 %
;Brake ramp at maximum
;acceleration
7-23
G25
Position-dependent switch to next record
Structure
Nn G25 Xn [Y..,Z..,U..]
Parameter
Action
If an axis, for which a position-dependent switch to the next

record has been programmed, is moved, a switch to the next NC
record will be made, if the path is traversed at the specified per
cent rate. The SPC200 is then able to process further NC records,
while the axis traverses the rest of the path to the destination
position.
All NC commands can be used after this. Positioning commands
must, however, not require a change of directon of the current
positioning procedure.
With stepping motor axes:
If command G25 refers to a stepping motor axis, the following
commands must not refer to the same stepping motor axis.
With multi-axis systems:
You can program the preselect values for several axes in one NC
record. The preselect values for the individual axes are valid until
a positioning command for the relevant axis is executed and the
preselect value thereby reached.
The further switching conditions of several axes can be linked by
means of a positioning command (see example 4).
Example
see Example 1...4
Remarks
This command enables:

- the speed in the case of pneumatic axes and the acceleration to
be switched during the current positioning procedure.
- obstructions to be avoided time-optimized with two-axis systems.
If a stop is triggered when the preselect value is exceeded and
when a switch is made to the next NC record, the destination
position will be maintained.
If a stop is triggered before the preselect value is reached, the
position of the preselect value will also be maintained.
7-24
Preselect value in % of positioning

path;
0 = 100 %, 1 = 1 % ...99 = 99 %
SPC200... 9904a
Switching over the speed/acceleration

(only with pneumatic axes)
Transfer to a new setpoint speed is made with the current set values for approach acceleration and braking.
Automatic limiting to realizable braking values is not
undertaken.
CAUTION
Unrealistically high acceleration values can lead to
high oscillation and therefore to damage to the axis.
If you use command G25, make sure that realizable
acceleration values are set in relation to the axis
used and the remaining positioning path.
If the remaining positioning path is not sufficient for
coming to a stand with the set braking, a stop will be
triggered automatically (error no. nnn03x06). In this
case, move the switching conditon forwards or set a
steeper braking ramp.
With G02 positioning commands, an automatic stop can
also be triggered when the conditon for further switching is in the range of the braking phase. In this case,
use positioning command G01 (calculation forms see
Appendix A).
SPC200... 9904a
7-25
Example 1
Modify speed; only permitted with pneumatic axes

N000
N001
N002
N003
G00
G25
G01
G01
X0
X60
X500
X500
FX75
FX50
The SPC200 reduces the speed from 75 % to 50 % of

the specified maximum speed after covering 60 % of
the distance from position 0 to position 500.
75%
50%
2
25%
100
1
2
200
300
400
Speed in % of the specified maximum speed

Pre-shutdown value of the X axis
Fig. 7/7: Example - modify speed (only permitted with

pneumatic axes)
Switching to the highest possible speed (NC command
G00) whilst the system is running is not permitted.
7-26
SPC200... 9904a
Example 2
Time-optimized translation
N010
N011
N012
N013
G00
G25
G00
G00
X100
X50
X400
Y300
Y100
After moving 50 % of the distance from position X100

to position X400 the axis controller sets the processes
the next NC record.
300
200
100
2
100
1
2
3
200
300
400
Positioning path of the Y axis in mm

Pre-shutdown value of the X axis
Positioning path of the X axis in mm
Figure 7/8: Example: Time-optimized translation

The Y-axis therefore begins to move to position Y300,
although the X-axis has not yet concluded the positioning movement.
SPC200... 9904a
7-27
Example 3
Event-dependent switching to next record

N010
N011
N012
N013
N014
G00 X0
G25 X1
G01 X500 FX60
#TNI0.0 13
G01 X500 FX10
When 1% of the positioning path from X0 to X500 has

been traversed, the SPC200 switches further to NC
record N013. A pause is made in this record until the
event takes place (here 1-signal at input I0.0). Only
then or during positioning, a switch is made to the next
positioning task (here speed reduction).
If the event occurs after the destination position has
been reached, the following positioning command in
this example will have no effect, as the same destination position (X500) has been programmed.
7-28
SPC200... 9904a
Example 4
Linked further switching condition

N010
N011
N012
N013
N014
N015
G01 X0 FX0 Y0 FY0 Z0 FZ0

G25 X10 Y10 Z10
G01 X100 FX10
#SQ0.0
G01 Y100 FY10 Z100 FZ10
.......
In NC record N011, the SPC200 saves preselect values

for the axes X, Y and Z. In the next NC record only the
X-axis will be moved. When the X-axis reaches the
preselect value, output Q0.0 will be set.
In NC record N014 the axes Y and Z are moved. A
switch is made to the next NC record when both axes
reach the preselect value programmed under N011
(AND linking).
If, in addition to the axis for which a preselect value has
been programmed, other axes are to be positioned with
the same NC record, a preselect value of 100% will
apply to these axes.
N015
N016
N017
N018
N019
G01 X0 FX0 Y0 FY0

G25 X50
G01 X200 FX0 Y200 FY0
#SQ0.0
.......
Output Q0.0 will be set when the Y-axis reaches position Y200 and when the X-axis reaches the programmed preselect value (here X100).
SPC200... 9904a
7-29
G26
Structure
Parameter
Action
Example
Remarks
G27
Structure
Parameter
Action
Example
Remarks
7-30
SPC200... 9904a
G28
Load position value into position register
Structure
Nn G28 @n Xn [Y..,Z..,U..]
or
Nn G28 @n X@n [Y..,Z..,U..]
Parameter
@n
Xn
X@n
Action
Loads the position value or register value into the target position
register.
Example
N010 G28 @0 X10 Y10

N011 G28 @1 X@99
Remarks
SPC200... 9904a
Target position register; n = 0...99

Source position register; n = 0...99
;Load the value 10 into position

;register 0 of the X and Y axes;
;Load the value from position
;register 99 of the X axis into
;position register 1 of the X axis
Position registers are saved in the event of a power failure

(remanent). Each configured axis has its own position register
record. This stores the positions contained in the position list.
7-31
G29
Add position value and position register
Structure
Nn G29 @n Xn [Y..,Z..,U..]
or
Nn G29 @n X@n [Y..,Z..,U..]
Parameter
@n
Xn
X@n
Action
Forms the sum of the position value and register value or of two
register values and stores the result in the target register.
Example
(Register @X10=20)
N010 G29 @10 X+10.5
Target position register; n = 0...99

Source position register; n = 0...99
;Add position value and position

;register value of the X-axis
The reference position 10.5 and the value from position register
10 of the X axis (here 20) are added. The result (30.5) is stored in
position register 10 of the X axis.
Remarks
7-32
Position registers are saved in the event of a power failure

(remanent). Each configured axis has its own position register
record. This stores the positions contained in the position list.
SPC200... 9904a
Pneu. axis
Precision stop
G60
Record selection
Structure
Nn G60 X [Y, Z, U]
Parameter
Action
Switches to precision stop (Quality class 3). The MC signal is sent

if the specified axis is still in the tolerance range when the
monitoring time has expired.
Example
N000 G60 X
N001 X100
Axis designation
;Activate precision stop

(Example: Tolerance = 0.2 mm):

During movement to position 100 mm, the MC signal is sent
providing the X-axis remains for a long period in the tolerance
range (between 99.8 mm...100.2 mm).
Remarks
This command will be stored. It will remain effective until a fast

stop is selected with the G62 command or any other quality class
with G61.
s [m]
2
t [s]
1
0
6
1
0
1
2
3
Reference positioning value

Tolerance range
Duration of monitoring period per cylinder length
4
5
6
Expiration of monitoring period

Monitoring period
MC signal on precision stop
Fig. 7/9: Precision stop
SPC200... 9904a
7-33
Pneu. axis
Set quality class
G61
Record selection
Structure
Nn G61 Xn [Yn]
Parameter
Xn
Action
Switches to the set quality class. The MC signal (motion

complete) will only be issued when the axis has met the required
criteria for the chosen quality class (see Fig. 7/9).
Example
N005 G61 X1
N006 G00 X100
N007 G60 X
Quality class; n = 0...6
;Quality class = 1, Fast stop

;Move to position 100 mm
;Precision stop
In moving to the X100 position the MC signal will be sent if the

axis enters the tolerance range (fast stop). Then it will switch to
precision stop.
Remarks
7-34
This command will be stored. The quality class will remain active
until another quality class is selected. The various quality classes
are described in the following table.
SPC200... 9904a
Type
Quality
class
Description
Presetting
Switches to the positioning quality class (1...6) set in the

application parameters.
Fast stop
Fast stop without damping time

The MC signal is always sent when the axis moves into
the tolerance range (see Fig. 7/10).
Fast stop with damping time

The MC signal is always sent when the axis moves into
the tolerance range and the damping time has expired.
Precision stop without damping time

The MC signal is sent if the specified axis remains in the
tolerance range for the duration of the monitoring time.
Precision stop with damping time

tolerance range for the duration of the monitoring time
and the damping period.
Precision stop with end speed control

tolerance range and is standing still for the duration of the
monitoring time.
Precision stop with damping time and end speed control

tolerance range and is standing still for the duration of the
monitoring time and the damping time.
Precision
stop
The length of the damping time and monitoring time is

specified automatically by the SPC200.
SPC200... 9904a
7-35
Pneu. axis
Fast stop
G62
Record selection
Structure
Nn G62 X [Y, Z, U]
Parameter
Action
Switches to fast stop. The MC signal (motion complete) is always

sent when the axis moves into the tolerance range the first time
(see Fig. 7/9).
Example
N000
N001
N002
N003
N004
Axis designation
G60
G00
G62
G00
G00
X
X200
X
X100
X300
;Activate precision stop

;Activate fast stop
In moving to the X100 position the MC signal (motion complete)

will be sent if the axis enters the tolerance range. The SPC200 is
immediately ready to move to position X300.
Remarks
This command will be stored. The fast stop will remain active until
another quality class is selected.
1
2
1
0
Reference positioning value

Tolerance range
3
4
Reaching the tolerance range

MC signal in the case of fast stop
Fig. 7/10: Fast stop
7-36
SPC200... 9904a
Step. axis
Start reference travel
G74
Record selection
Structure
Nn G74 X [Y..,Z..,U..]
Parameter
Action
Starts reference travel in the specified mode (see diagram below)
Example
N000 G74 X0
Remarks
All positions refer indirectly to the reference point. The exact

position of the switching point of the reference switch depends on
the reference travel mode selected.
Mode
Reference travel mode; n = 0...4
;transfer current position as reference

;point
Description
Transfers current axis position as reference point
Reference travel in negative direction up to reference switch

(REF) with transfer as reference point
Reference travel in negative direction up to negative end switch

(LIM-) with transfer as reference point
Reference travel in positive direction up to reference switch (REF)

with transfer as reference point
Reference travel in positive direction up to positive end switch

(REF) with transfer as reference point
SPC200... 9904a
7-37
Mode 0:
Mode 1:
case a:
1
case b:
2
Mode 2:
Mode 3:
case a:
case b:
Mode 4:
1
2
Starting position
Position transferred as
reference point
Switching range of end

switch and reference
switch
Fig. 7/11: Reference travel modes

Detailed instructions on carrying out the reference travel
can be found in the manual for the stepping motor module type P.BE-SPC200-SMX-... .
7-38
SPC200... 9904a
G90
Absolute measurement
Record selection
Structure
Nn G90 Xn|X@n [Y..,Z..,U..]
Parameter
Xn
X@n
Action
Switches to absolute positioning and moves at current speed and,

if relevant, with current ramp to given absolute position. All
subsequent positions in the program will be interpreted as
absolute. The positioning mode remains valid until a new
positioning mode is set (see also under G00/G01/G02).
Example
N000 G00 G90 X200

N001 X100
N002 X@5 Y@1
N003 G90 Y100
N004 G91 X100
Remarks
SPC200... 9904a

;Move at highest possible speed to

;absolute position X200
;Move at highest possible speed to
;absolute position X100
;Move to position from Register 5
;and Register 1
;Move to absolute position Y100
The default for positioning is:

cancelled by a G91 command.
Example: N010
G90
X100
N011
X200
N012
G91
X300
During programming with WinPISA positions can also be specified
symbolically. For this purpose, the position values and the position
Example: N010
G00
x@ABHOL_POS y@ABHOL_POS
N011
x@ABLAGE_POS
7-39
G91
Record selection
Structure
Nn G91 Xn|X@n [Y..,Z..,U..]
Parameter
Xn
X@n
Action
Switches to relative positioning and moves at current speed and,

if relevant, with current ramp to the given section. All subsequent
positions in the program will be interpreted as relative. The
positioning mode remains valid until a new positioning mode is set
(see also under G00/G01/G02).
Example
N000 G00 G91 X200

N001 X100
N002 G90 X@5 Y@1
N003 G91 X-100
N004 X200
Remarks
7-40

;Move relative at highest possible

;speed by 200 mm
;Move relative at highest possible
;speed by 100 mm
;Move to position from Register 5
;and Register 1
;Move 100 mm in negative
;direction
The default for positioning is:

cancelled by a G90 command.
Example: N010
G91
X100
N011
X200
N012
G90
X300
During programming with WinPISA positions can also be specified
symbolically. For this purpose, the position values and the position
Example: N013
G91
x@ABHOL_POS
N014
x@ABLAGE_POS
SPC200... 9904a
Programmed stop
M00
Structure
Nn M00
Parameter
none
Action
The program run will be stopped with the M00 command and will
only continue after receipt of a synchronisation signal. In start/stop
mode a negative edge at the SYNC_IA/IB input is interpreted as a
synchronisation signal.
Example
N005 M00
N006 G00 X100
Remarks
In start/stop mode use this command to synchronise the program

run with other devices.
;Wait for SYNC signal

G00/G01/G02
M00
SYNC_IA/IB
SYNC_OA/OB
MC_A/B
1
0
1
0
1
0
1
2
3
G00/G01/G02
M00
Externally controlled process

Programmed stop
Program run
Fig. 7/12: Programmed stop
SPC200... 9904a
7-41
M02
Structure
End of subroutine
Nn M02
Parameter
none
Action
This command must be used to mark the end of subroutines. If

the program is called up as a main program, it will be issued
once. Then it must be reentered.
Example
see under L
Remarks
see also under M30
M10
Activate analogue input
Structure
Nn M10 Xn [Y..,Z..,U..]
Parameter
Xn
Action
The analogue reference value input will be activated. Five modes

of analogue reference input value specification are distinguished.
The desired mode is defined with the M13 command. The default
is mode 0 (continuous tracking of the position).
Using the scaling factor (mm/V) indicate which section should be
covered by the analogue reference value input
(0...10 V) (e.g. factor = 20, possible travel distance = 200 mm).
Example
see following pages
Remarks
The reference point for the travel range is the zero point of the
project. By specifying the offset (command M11) you can shift the
reference point (see Fig. 7/13).
In modes 0 and 1, the analogue input must be deactivated with
M12 before it is activated again with M10.
With stepping motor axes: modes 0 and 1 are not supported.
7-42
Scaling factor in mm/V;

n = 0.1...9999.9 (see Fig. 7/13)
SPC200... 9904a
CAUTION
Analogue mode 0 or 1 does not offer MC monitoring.
If, therefore, the analogue input is activated several
times quickly, the drive may move further from its set
position.
In this case, avoid this error by programming a "zero
stroke" (G00 G91 X0).
The M12 command can be used to deactivate the
analogue channel again. It will be automatically
deactivated in the following cases:
during a stop (controlled stop)
if release is not activated (ENABLE supplies a
0-signal)
If there is once again a 1-signal at the relevant output
after a stop or when there is no enable, the analogue
channel will automatically be activated again.
SPC200... 9904a
7-43
Example
Mode 0
Continuous position tracing

....
N010
N011
M11
M13
X100
X0
N012
M10
X30
N013
N014
....
....
N020
#TNI0.0 013
M12 X
;Offset 100 mm
;Set mode 0
;Continuous motion
;Activate analogue input
;Scaling factor = 30 mm/V
;Waits if I0.0 gives a 1-signal
;Deactivates analogue input
M30
;End of program with repeat
In this example the analogue input remains active while

the I0.0 input supplies a 0-signal. If this input provides a
1-signal, the program will be continued in line N014 and
the analogue input will be deactivated.
Mode 3
Analogue reference value input without tracking, ramp

N001
N002
M11
M13
N003 G01
N004
N005
G61
M10
X100
X3
G91
X1
X30
N006 G00 X300

.....
.....
N020 M30
X0
;Offset 100 mm
;Set mode 3
;Move once
FX30;Moves relative 0 mm
;Speed ramp = 30 %
;Fast stop
;Factor = 30, moves once to an
;analogue predetermined position
;End of program with repeat
The speed can be preset with the aid of the G01 and
G02 commands. For this it is programmed to move
relatively by 0 mm (see line N003). The speed ramp
given in this record is relevant for this purpose, without
being followed by a positioning process.
7-44
SPC200... 9904a
M11
Offset for analogue reference value
Structure
Nn M11 Xn [Yn]
Parameter
Xn
Action
Matches the voltage/position assignment (see following Fig.).
Example
Example see under M10
Remarks
Preset reference point for the analogue reference value

specification is the project zero point. By specifying the offset you
can shift the reference point. Command M11 must be processed
before M10.
Offset in mm;
n = 9999.99
-ML < n < ML (ML = length of
measuring system)
10 V
5
4
0V
100
200
300
400
1
2
3
Project zero point

Measuring system length
Scaling factor = 30, Offset = 100
4
5

Fig. 7/13: Scaling factor and offset with analogue reference

value specification
SPC200... 9904a
7-45
M12
Deactivate analogue input
Structure
Nn M12 X [Y, Z, U]
Parameter
Action
All the axes named will be stopped.

The input for analogue reference value specification is deactivated.
Example
Remarks
In modes 0 and 1, the analogue input must be deactivated with

M12 before it is activated again with M10.
7-46
Axis designation
SPC200... 9904a
Set analogue positioning mode
M13
Structure
Nn M13 Xn [Y..,Z..,U..]
Parameter
Xn
Action
Switches to the specified mode.
Example
Type
Tracking
Single
positioning
Mode
Mode; n = 0...4
Explanation see table below.
Description
1)
This mode is only supported by pneumatic axes:

- continual position adjustment
- with MC monitoring (motion complete)
- continuous parallel program processing possible
11)
This mode is only supported by pneumatic axes:

- continual position adjustment
- MC monitoring is switched off
- continuous parallel program processing possible
- current reference value is read once

- move in jump (as with G00)
Only with pneumatic axes:
- current quality class is active (see under G61)
2)

- move with current ramp (as with G01)
2)

- smooth move with current ramp (as with G02)
Only with stepping motor axes:
- move to position at start/stop frequency (see under G02)
1) Positioning quality class and positioning timeout have no effect in this mode
Stepping motor axes are not supported in this mode
2) In this mode, the approach and braking ramps set with G08 and G09, as well as the
last programmed positioning speed, are valid.
SPC200... 9904a
7-47
M14
Assign analogue input
Structure
Nn M14 Xn [Y..,Z..,U..]
Parameter
Xn
Action
The analogue input module type SPC200-2AI-U has two

reference value inputs (differential inputs).
reference value module no. 1: reference value inputs 1 and 2
reference value module no. 2: reference value inputs 3 and 4
With command M14, one or several axes can be assigned to
each differential input.
Example
N007 M14 X2 U1
7-48
Number of differential input

n = 1...4
;the X-axis is assigned to reference

;value input 2
;the U-axis is assigned to reference
;value input 1
SPC200... 9904a
M30
Structure
End program with repeat

Nn M30
Parameter
none
Action
This command must be used to mark the end of programs. It

causes the program to be continued at the first NC record.
Example
N007 G00 X100

N008 M30
Remarks
Subprogram end see under M02
Pneu. axis

;Terminate program
Set mass percentage
M37
Structure
Nn M37 Xn [Y..,Z..,U..]
Parameter
Xn
Action
Sets controller to the specified load.
Example
Nn M37 X50
Remarks
The work load is an application parameter. This command will be

stored and supports positioning with different work loads.
Take into consideration the mass load

in % of the specified working load;
n = 0...99
0=100 %, 1=1 %.....99=99 %
;Load = 50 % of the specified working

;load
Recommendation: Carry out the dynamic identification with

minimum and maximum work load if you wish to use this
NC record.
SPC200... 9904a
7-49
M38
Load actual value into position register
Structure
Nn M38 @n X [Y, Z, U]
Parameter
@n
Action
The current position is loaded into the specified position register.
Example
N003 G00 G91 X100

N004 M38 @1 X
N005 G29 @0 X@1
N006 G00 G90 X@0
M39
Register number n = 0...99
;Move relative by 100 mm

;Load current position into
;position register 1 of the X axis
;Form the sum of the two position
;registers 0 and 1, Store result in
;position register 0
;Move to position in Register 0
Structure
Parameter
Action
Example
Remarks
7-50
SPC200... 9904a
Access subroutine (load subroutine)
L
Structure
Nn Ln
or
Nn LRn
Parameter
n
Rn
Program number
n = 0...99
Register number
n = 0...99
Action
Access the given program as subroutine.
Example
See below
Remarks
The program number can be specified directly (n) or indirectly via

a register (Rn). Nesting depth = 4
Example
Palletizing
0 mm
200 mm
50 mm
250 mm
1
2
Distance between rows

Positions
Fig. 7/14: Palletizing
SPC200... 9904a
7-51
Program 0
...
N003
N004
N005
N006
N007
N008
N009
....
....
N080
G28 @1 X200
G28 @2 X50
#LR0=0
L1
#AR0=1
#TR0=0 10
E05 6
;Load topmost pallet row

;Load distance between rows
;Initialize number of rows
;Call Program 1
;Update counter
;Column filled?
;Jump to N006
;further commands
M30
;End of program
Subprogram 1 Fill pallet gap

N000
N001
N002
N003
N004
N005
....
....
N016
#TNI0.0
G00 X0
#SQ0.0
G00 X@1
#RQ0.0
G29 @1
M02
X@2
;Wait for part

;Fetch part, position 0 mm
;Close grips
;Move to pallet position
;Open grips, deposit part
;Calculate next position
;Further commands
;End of subroutine
Position register @1 contains the current pallet position.

Position register @2 contains the distance between
rows. These position registers are initialized in lines
N003 and N004 (program 0).
Register R0 serves as a loop counter and is initialized
with the number of rows. Subprogram 1 is accessed 6
times and the current pallet gap is filled.
7-52
SPC200... 9904a
E05
Unconditional jump
Structure
Nn E05 n|Rn
Parameter
NC record number
n = 0...99999
R<Register number>
Rn = R0...R99
Rn
Action
The program run will always continue at the given jump mark.
Example
N005 #TNI1.1 5
N006 G00 X100
N007 E05 5
;Wait for 1-signal at input I1.1

;Jump to NC record 5
In NC record 7 the program always branches to NC record 5.
#S
Set single-bit operand
Structure
Nn
Parameter
<Operand>
Action
The given single-bit operand is set.
Example
N10
#S<Operand>
#SQ0.0
Permitted operands are single-bit

operands, but no inputs.
Flags: F0...F63
Outputs: all freely programmable
;Set output Q0.0
After this record has been processed the output Q0.0 provides a
1-signal.
Remarks
SPC200... 9904a
Certain outputs are reserved by previously stored functions.

Flags are remanent.
7-53
#R
Reset single-bit operand
Structure
Nn
Parameter
<Operand>
Action
The given single-bit operand is reset.
Example
N10
#R<Operand>
#RQ0.0
Permitted operands are single-bit

operands, but not inputs.
Flags: F0...F63
Outputs: all freely programmable
outputs
;Reset output Q0.0
After this record has been processed the output Q0.0 provides a
0-signal.
Remarks
#T
Certain outputs are reserved by previously stored functions.

Flags are remanent.
Structure
Nn
Parameter
<Operand>
All single-bit operands are permitted.

Flags: F0...F63
Permitted inputs:
all available inputs
Permitted outputs:
all available outputs
<Record number>
Specification of record number as

numerical value or as register number.
<Record number> = 0...999
or
<Record number> = R0...R99
#T<Operand>
<Record number>
Action
If the single-bit operand supplies a 1-signal, the program will

branch to the given NC record. Otherwise the following NC record
will be processed.
Example
see below
Remarks
see also under "Test register".
7-54
SPC200... 9904a
Example
For this example, the following apply:

Operating mode: start/stop
In the following example binary-coded position numbers
are sent to the SPC200 through the inputs I0.0 and
I0.1. This allows four position numbers to be preset:
I0.1
I0.0
Positions
Po_1
Po_2
Po_3
Po_4
At the start of the program, the programmed stop is

used to effect synchronisation with the host SPC. The
SYNC signal also allows the outputs of the SPC for the
binary-coded position numbers to be controlled simultaneously. For this purpose, a debounce time of 30 ms
is preset in NC record 1.
N000
N001
N002
N003
N004
N005
N006
N007
N008
N009
N010
N011
N012
SPC200... 9904a
M00
G04 3
#TI0.1 8
#TI0.0 6
G00 X@Po_1
E05 0
G00 X@Po_2
E05 0
#TI0.0 11
G00 X@Po_3
E05 0
G00 X@Po_4
E05 0
;Waits for SYNC signal

;Debounce time 30 ms
;Po_3 or Po_4, if 1-signal
;Po_2, if 1-signal
;Po_1, if both inputs 0
;Rebound
;Po_2, if 1-signal only on I0.0
;Rebound
;Po_3, if 1-signal only on I0.1
;Rebound
;Rebound
7-55
#TN
Structure
Nn
Parameter
<Operand>
All single-bit operands permitted.

Flags: F0...F63
Permitted inputs:
all available inputs
Permitted outputs:
all available outputs
<Record number>
Specification of the record number as

a numerical value or as a register
number.
or
#TN<Operand>
<Record number>
Action
If the single-bit operand supplies a 0-signal, the program will

branch to the given NC record. Otherwise the following NC record
will be processed.
Example
N30 #TNI0.0 30
#LR
;Wait until I0.0 supplies a 0-signal
Load register
Structure
Nn
Parameter
<Register number>
Register number = 0...99
Value or register:
n = - 32767...32767
or
n = R0...R99
#LR<Register number>=n
Action
The value given by n is loaded into the register.
Example
N011
Remarks
Registers are remanent
7-56
#LR1=100
;Load value 100 into Register R1
SPC200... 9904a
#AR
Add to register
Structure
Nn #AR<Registernummer>=n
Parameter
<Register number>
Register number = 0...R99
Value or register:
n = - 32767...32767
or
n = R0...R99
Action
The contents of the register will be added to the given value.
Example
N010 #LR0=0
N011 #AR0=1
Remarks
Registers are remanent
#TR
;Cancel register 0
;Increment register 0 by 1
Test register
Structure
Nn
Parameter
<Register number>
Register number = 0...99
Value or register:
n = - 32767...32767
or
n = R0 ... R99
<Record number>
Value or register:
or
#TR<Registernummer>=n <Record number>
Action
If the register contains the given value, branch to

NC record n.
Example
N10 #TR0=100 350
;If Register 0 =100, jump to NC

;record 350
If register 0 holds the value 100, the program will branch to NC

record 350.
SPC200... 9904a
7-57
7-58
SPC200... 9904a
Chapter 8
Diagnosis and error treatment
SPC200... 9904a
8-1
Contents
8.1
8.2
8.3
8.3.1
8.3.2
8-2
On-the-spot dagnosis .................................................................... 8-4

Error messages on the control panel ............................................ 8-9
Eliminating errors on the system................................................. 8-24
Errors when the system is switched on ...................................... 8-24
Errors in positioning..................................................................... 8-25
SPC200... 9904a
Contents of
this chapter
The SPC200 offers extensive and user-friendly possibilities for diagnosis and error treatment. The following
possibilities are available:
The LEDs on the SPC200 and on the connected field
devices show directly configuration errors, hardware
errors, string errrors, etc.
The control panel shows detailed error messages
coded in the form of a hexadecimal number. These
error messages describe in detail the error class, the
error number and give additional information for localizing the error (see section 8.2).
Further information
WinPISA shows error messages in plain text in online

mode. Information on the LED functions of the field bus
and stepping motor indexer module can be found in the
manual for the relevant module.
A description of the time behaviour of the I/O signals
when errors are acknowledged can be found in Chapter
5.
SPC200... 9904a
8-3
8.1 On-the-spot dagnosis

The LEDs on the power supply module, the axis interface and on the I/O modules (optional) give information
about the operating status of the system. The following
tables show how the various operating states are indicated by the LEDs. The meaning of the displays is as
follows:
LED
Meaning
LED lights up
LED out
LED flashes
- continuously without a break
or
- several times with break (flash sequence
corresponding to the error class occuring with a
1 second break, see also section 8.2)
LED on the SPC200 Smart Positioning Controller

Reaction
Sequence
Operating status
Error remedy
Operating voltage applied
None
Operating voltage not applied
Check operating voltage

connection of electronic
components (pin 2).
POWER LED
ON
OFF
ON
OFF
8-4
SPC200... 9904a
Reaction
Sequence
Operating status
Error remedy
- Starting phase
(3...4 seconds) or
- hardware error, SPC200 is
not ready for communication
None
No internal error registered
None
- lights up briefly once when

SPC200 is switched on
None
ERROR LED
ON
OFF
ON
Servicing required
OFF
ON
OFF
Flash sequence corresponding to error class occuring

with a 1 second break:
- flashes once (error class 1)
error in initialization
- flashes twice (error class 2)
reserved
- flashes three times
(error class 3)
user data damaged
- flashes four times
(error class 4)
hardware error during
running time
- flashes five times
(error class 5)
control sequence error
- flashes six times
(error class 6)
error in positioning order
- flashes seven times
(error class 7)
pre-parametrizing error
- no flashing (error class 8)
- flashes nine times
(error class 9)
Install components
and modules correctly or
replace defective module1) 2)
(reserved)
Carry out data reset
and enter or reload
data again 1) 2)
Download error message
and remedy error1)

and remedy error1)
and remedy error1)
and remedy error1)
None
and enter or reload
data again 1) 2)
Flashes continuously without

a break:
- firmware deleted by user
Load firmware
1) Download error message and remedy error (see section 8.2)
2) Or Servicing required
SPC200... 9904a
8-5
LED on the axis interface

Reaction
Sequence
Operating status
Error remedy
None
No operating voltage present
Check operating voltage and

load voltage connection on
the SPC200 (Pin 1 and
Pin 2).
- Starting phase
(3...4 seconds) or
- hardware error, SPC200 is
not ready for communication
None
- No internal error
registered
None
- lights up briefly when

SPC200 is switched on
None
POWER LED
ON
OFF
ON
OFF
ERROR LED
ON
OFF
ON
OFF
ON
Servicing required
OFF
Flashes at 1 second intervals:

- once (error number 1)
axis interface has not been
initialized
- twice (error number 2)
a CAN module on the bus
is in the OFF status
- three times (error number 3)
incorrect type ID loaded
- four times
emergency stop is activated
- five times
linear potentiometer is in
end position or is not
connected
- six times timeout
- seven times
load voltage too low
8-6
Switch on system again,

if necessary, replace
defective axis interface
Switch on system again,
if necessary, replace
defective CP module
Remove non-permitted
module or servicing required
None
Bring linear potentiometer
out of end position
or connect
Servicing required
Check load voltage
SPC200... 9904a
LEDs on the I/O function module

Status LED
Reaction
The operating status of the input module is indicated by

the status LED (POWER/DIAG) on the I/O function
module. The displays mean:
Sequence
Operating status
Error remedy
POWER/DIAG (status LED)

None
- Operating voltage
not applied
or
- no connection to
the SPC200
Check CP cable and

operating voltage and load
voltage connections on
the SPC200 (pins 1 and 2).
Switch on SPC200 again
or carry out system reset
- Test phase when power

supply is switched on
or
- short circuit in sensor
supply
None
ON
OFF
ON
OFF
ON
OFF
or
eliminate short circuit
and acknowledge error
1)
1) The error is cancelled when the operating voltage for the SPC200 is switched on.
SPC200... 9904a
8-7
Short circuit
in sensor
supply
In the event of a short circuit, the input module switches

off and holds locked the power supply for the sensors.
It communicates this error to the SPC200. The status
LEDs are switched off and the inputs of the module
supply a 0-signal. When the short circuit has been
eliminated, you should delete this error by acknowledging it.
Status
display
There are green LEDs next to the sensor connections.

These indicate the status of the signal at the relevant
input. The displays mean:
Status
LED
Sequence
ON
Status
logic 1
(signal present)
OFF
ON
OFF
ON
OFF
8-8
logic 0
(no signal)
Only in the starting phase if there is:
- a 1-signal and
- an assignment error on the
SPC200... 9904a
8.2 Error messages on the control panel

If errors occur, the control panel will show detailed error
messages (error codes) coded in the form of a hexadecimal number. The coded error messages contain information on:
the error class
the error number
in some cases additional information
Structure of the error messages

The control panel shows error messages in the form of
an eight-position hexadecimal number. The individual
positions of this hexadecimal number contain the following information:
4
1
2
Error class (0...9)

Axis identifier (0...4)
3
3
4
Error number
Additional information
Fig. 8/1: Structure of the error messages (error code)
SPC200... 9904a
8-9
Error class
The error class describes the type of error which has

occurred (e.g. hardware error, configuration error etc.).
If the SPC200 is ready for communication, the ERROR
LED will flash according to the relevant error class.
Axis
identification
In the case of errors concerning the axis, the axis

identifier indicates the axis on which the error has
occurred. The identifiers mean:
Axis
identification
Error
number and
additional
information
8-10
Meaning
Error is not axis-related (system error)
Error on X-axis
Error on Y-axis
Error on Z-axis
Error on U-axis
The error number indicates the source of the error. With

some error numbers, additional information is output as
a three-position hexadecimal number which contains
further important instructions on localizing the error.
SPC200... 9904a
Error stages
All errrors are assigned to a certain error stage. The
error stage specifies how the error can be acknowledged and how the system reacts when the error
occurs and is acknowledged.
Error
stage
Error reaction
1)
Reaction to acknowledgement
2)
Serious system error in the initialization phase

-
Controller remains switched off

The following outputs remain
reset:
READY, ACK_A/B
Initialization phase
You must switch on again, in some

cases a system reset is possible
Serious system error in the operating phase

-
Controller remains switched off

The following outputs will be
reset:
READY, ACK_A/B,
- Controller is switched on
- Status of outputs is restored
Error must be eliminated and
acknowledged 3)
System error or user error in the operating phase

-
Sequence is stopped
The following outputs
are reset:
READY, ACK_A/B
- Sequence can be started

- Status of outputs is restored
Error must be eliminated and
acknowledged 3)
Simple user upload/download or executing error

-
Error code is entered

System remains fully operational
Error code is deleted
1) With stage A to C: ERROR LED flashes and error code is entered

2) With stage A to C: error code and ERROR LED are deleted
3) Error acknowledgement by start signal (start/stop mode) or CLK signal (record select
mode) or by Reset command (Reset Error, Reset Program, Reset System)
SPC200... 9904a
8-11
The following tables explain all the error messages

sorted according to error classes and show the related
error stages.
Error
class
Error
message
Operating status
00000000
No error registered
zzzyyx01
Starting phase:
error in initialization of components and modules
sss01001
Internal system error
Servicing
required
sss02001
Errors in initializing the axis interface string
Check modules
and components on the
axis interface
string and
remove if
necessary
(A)
zzz=Additional information (1...D or 11...1D)

1....D
: error on 1st. AIF string
1 or B : error on first measuring system
2 or C : error on second measuring system
3 or 9 : error on first AIF
4 or A : error on second AIF
5
: error on first CP module
6
: error on second CP module
7 or 8 or D : bus error
Error remedy
11....1D
: error on 2nd. AIF string
11 or 1B : error on first measuring system
12 or 1C : error on second measuring system
13 or 19 : error on first AIF
14 or 1A : error on second AIF
15
: error on first CP module
16
: error on second CP module
17 or 18 or 1D : bus error
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier
sss = additional information for service personnel, AIF = axis interface string
8-12
SPC200... 9904a
Error
class
Error
message
Operating status
00000000
No error registered
zzzyyx01
Starting phase:
error in initialization of components and modules
zzz03001
Defective or non-permitted
component
zzz=Slot number 2)
Replace or remove
component
00004001
Actual configuration not the

same as nominal configuration
Check configuration of
internal components and
string assignment or
correct and switch on
SPC200 again or carry
out system reset,
or
save actual configuration as
nominal configuration
(menu SET CONFIGUR.) or
load project (with WinPISA)
ZZZ05x01
Initialization error with an

intelligent module 1)
x = 0: initialization error
x = 1...4: axis 1 (X) ...4 (U)
x = 5: field bus module
zzz = slot number 2)
Check stepping motor

indexer modul, subcontroller
and field bus module and
switch on SPC200 again or
carry out a system reset
(A)
Error remedy
or servicing required
2
zzzyyx02
Reserved
Reserved
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier
sss = additional information for service personnel, ppp = program number
1) Stepping motor module, field bus module or axis interface module
2) Ascending from left to right (0...3 with 4 slots or 0...5 with 6 slots)
SPC200... 9904a
8-13
(A)
zzzyyx03
Starting phase:
user data damaged
ppp01003
User program damaged
00002003
Position list damaged
00003x03
Configuration data damaged
00004x03
System data damaged
00005x03
Dynamic identification data

damaged
00006x03
Static identification data

damaged
00007x03
Faulty PROFIBUS data
00008x03
Faulty INTERBUS data

and enter or reload
data again
or Servicing required
(A) = error stage, zzz = additional information, yy = error number, x = axis identifier,
sss = additional information for service personnel, ppp = program number
8-14
SPC200... 9904a
Error
class
4
(C)
Error
message
Operating status
zzzyyx04
Hardware error during running time
sss01004
Internal system error

AIF string no longer functions
zzz as with error class 1, error
number 2)
Check modules on AIF

string and string
assignment 1)
sss03x04
AIF string no longer functions

or measuring system in end
position or measuring system
cable defective1)
zzz as with error class 1, error
number 2)
Check modules on
AIF string and string
assignment or bring
measuring system out
of end position or replace
measuring system cable1)
zzz04004
Error on first I/O module

zzz=short circuit at input (I) or
output (Q) or undervoltage
000: short circuit at I and Q
and undervoltage
and undervoltage
003: short circuit at I
004: short circuit at Q
and undervoltage
005: short circuit at Q
006: undervoltage
Eliminate undervoltage
or short circuit 2)
zzz05004
Error on second I/O module

zzz=short circuit at input or
output or undervoltage
000 to 006: additional
information as with error no.
zzz04004
or short circuit
(C)
(C)
Servicing required
1)
sss02004
(B)
(B)
Error remedy
(B), (C) = Error stage, zzz = additional information, yy = error number, x = axis identifier,
sss = additional information for service personnel
1) When this error is rectified and quitted, the system tries first of all to start the axis
interface string. If this is not possible, the axis interface string will be re-initialized.
This procedure may take a certain amount of time, depending on the system
configuration used (max. 10 sec.).
2) If there is a short circuit at the input, the operating voltage must be switched on
again.
SPC200... 9904a
8-15
Error
class
4
(B)
(C)
Error
message
Operating status
zzzyyx04
00006x04
Load voltage for field devices

and proportional directional
control valve too low 1)
at operating voltage
connection (X2) 1)
00007004
Fault in field bus module
Insert module fully or

replace
zzz08004
Error at analogue reference

value module
zzz:= Error type
001: Time-Out A/D converter
002: Upper software end
position exceeded
003: Lower software end
position exceeded
Replace component
Adapt voltage range to
defined positioning range
(C)
Error remedy
zzz09004
Error at the V.24 interface (X4)

zzz:= Error type
001: Overrun
002: Parity error
Check diagnostic module

or connecting cable;
or use lower baud rate
(C)
zzz0A004
Error at the V.24 interface for

the control panel (X3)
zzz:= Error type
001: Overrun
002: Parity error
Check diagnostic module

and control panel
(C)
zzz0B004
zzz0C004
Fault in:
- second I/O module (B)
third I/O module (C)
(zzz as with error class 4,
error numbers 4 and 5
Eliminate undervoltage or
short circuit2)
zzz0D004
Fault in AIF module

(for 2nd AIF string)
Insert module fully or

replace
(C)
(C)
(C) = Error stage, zzz = additional information, yy = error number, x = axis identifier
1) When this error is eliminated and acknowledged the axis interface string will be
reinitialized. This process can take a certain amount of time.
8-16
SPC200... 9904a
Error
class
4
(C)
Error
message
Operating status
zzzyyx04
zzz0E004
Fault in stepping motor

module
zzz=error type
001: power controller not
ready
002: no reference travel
carried out
003: positive limit switch
activated
004: negative limit switch
activated
005: reference travel
interrupted
zzz0F004
(C) =
Error remedy
Check power controller or

connecting cable
Carry out reference travel
Bring drive out of end
position and carry out
reference travel
Bring drive out of end
position and carry out
reference travel
Carry out reference
travel again
reserved
error stage, zzz = additional information, yy = error number, x = axis identifier
SPC200... 9904a
8-17
Error
class
5
Error
message
Operating status
zzzyyx05
Sequence control errrors
ppp01005
Start program does not exist
Correct start program

number or load/enter
start program
nnn02005
Subprogram does not exist

(L command)
Correct NC record or
load/enter program
nnn03005
NC record does not exist
Correct NC record
nnn04005
Program no. with L command

is identical to number of
accessing program
Correct NC record
nnn05005
Permitted nesting depth

exceeded with L command
Correct NC record
nnn06005
Analogue mode active with

NC commands G00, G01,
G02 or M10
Correct NC record
nnn07005
Arithmetical overrun in a
register (R)
Correct NC record
nnn08005
Record overrun
Conclude programs with

command M02 or M30
(C)
(C) =
ppp =
8-18
Error remedy
error stage, zzz = additional information, yy = error number, x = axis identifier,

program number, nnn = NC record number of the NC command causing the
overrun
SPC200... 9904a
Error
class
6
Error
message
Operating status
nnnyyx06
Error in positioning task
nnn01x06
Time-out, position cannot be

reached quickly enough
(MC error)
Remove obstruction in
positioning range or check
supply pressure or increase
positioning time-out or
optimize controller
nnn02x06
Reference position outside

the software end positions;
the positioning process is not
started
Correct NC record, position

list or software end positions
nnn03x06
Non-permitted positioning
task with position-dependent
record indexing (G25)
Correct NC record or
position list (see under
NC command "G25").
nnn04x06
Required speed is not reached
Correct maximum speed

or speed factor
sss05x06
Error in identification travel
Check configuration
and supply pressure
nnn06x06
NC command G00 not

possible, as dynamic
identification has not been
carried out
Carry out dynamic

identification
nnn07x06
Controller in SPC200 cannot

be initialized
Check controller, axis and

application parameters
(C)
Error remedy
(C) = error stage, zzz = additional information, yy = error number, x = axis identifier,
nnn = NC record number of the NC command causing this error
SPC200... 9904a
8-19
Error
class
Error
message
Operating status
zzzyyx06
nnn08x06
Task cannot be accepted
Correct NC record
or stop system before
carrying out activity
nnn09x06
Contents of a position register

not valid
Correct NC record
nnn0Ax06
reserved
reserved
(C)
0000Bx06
Identification aborted as there

is no enable signal
Set ENABLE input and start

identification again
(B)
nnn0Cx06
Axis oscillates
(control not stable)
nnn=NC record number if a
program is active

nnn0Dx06
Bad positioning quality

nnn=NC record number if
a program is active

0000Ex06
Identification data not valid
Carry out identification

again
nnn0Fx06
Non-permitted positioning
quality class
Correct NC record
(C)
(C)
(B)
(C)
(C)
Error remedy
(B), (C) = error stage, zzz = additional information, yy = error number, x = axis identifier,
nnn = NC record number of the NC command causing this error
8-20
SPC200... 9904a
Error
class
6
Error
message
Operating status
zzzyyx06
nnn10x06
With pneumatic axis:

- Controller is inactive as
there is no enable signal for first
commissioning or configuration
is faulty
With stepping motor axis:
- no enable signal from
power controller
Create positive edge at

ENABLE input or check
controller, axis and
Correct error in power
controller
nnn11x06
Command not supported by this

axis type.
With pneumatic axes:
- command reference travel (G74)
With electric axes:
- activate analogue input in
modes 0 and 1 (M10);
- command M39
Correct NC program
nnn12x06
Reference position for this axis

unknown
Carry out reference

travel
zzzyyx07
Error in pre-parametrizing
00001x07
Software end position lies outside

possible positioning range
00002x07
Mass load lies outside permitted

range
00003x07
Gain factor not permitted
00004x07
Damping factor not permitted
00005x07
Filter factor not permitted
00006x07
Measuring system length not

valid or measured value
outside set cylinder length
00007x07
Parameter limit exceeded
00008x07
Measuring system type not

permittted
(C)
(C)
Correct parameter
(permitted value ranges
see chapter 5)
(C), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number, nnn = NC record number of the NC command causing this error
SPC200... 9904a
8-21
Error
class
7
Error
message
Operating status
zzzyyx07
Error in pre-parametrizing
00009x07
Reserved
0000Ax07
Maximum permitted step

frequency (positioning
frequency) exceeded
(>40000 Hz)
Check resolution or reduce

positioning speed
(C)
8
zzzyyx08
NC editor, upload/download or executing errors
nnn01x08
Syntax error or non-permitted

program number entered
Correct entry
ppp02x08
Non-permitted program number selected, program cannot

be created as it already
exists or program cannot be
opened as it does not exist.
Correct entry
nnn03x08
Non-permitted record number
Correct entry
ppp04x08
No free memory space

for new program
Delete non-required
program and NC records
(D)
(C), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number, nnn = NC record number of the NC command causing this error
8-22
SPC200... 9904a
Error
class
8
Error
message
Operating status
zzzyyx08
NC editor, upload/download or executing errors
ppp05x08
Checksum error
Servicing required
00006x08
to
0000Ax08
Error in upload/download
with WinPISA
Check connecting cable

and diagnostic module
or use lower baud rate
0000Bx08
No enable signal
Apply 1-signal to input

ENABLE
0000Cx08
System has stopped, there is

a 0-signal at input STOP
Apply 1-signal to input

STOP
0000Dx08
Start program does not exist
Correct number of
start program
0000Ex08
Command not permitted

in this operating mode
Do not use command in this

mode or modify operating
mode
0000Fx08
Command or control
function not permitted
in active NC program
Stop system and

access command or
control function again
00010x08
With pneumatic axis:

- Controller is inactive as
there is no enable signal for
first commissioning or
configuration is faulty
With stepping motor axis:
- no enable signal from
power controller

application parameters or
apply 1-signal to ENABLE
input
(D)
9
(B)
zzzyyx09
Internal error
00001x09
to
00007x09
Internal error
Error remedy
Correct error in power

controller
Servicing required
(B), (D) = error stage, zzz = additional information, yy = error number, x = axis identifier
ppp = program number
SPC200... 9904a
8-23
8.3 Eliminating errors on the system

8.3.1 Errors when the system is switched on
1) No display on SPC200
Cause
Remedy
Remarks
Supply voltage is not correct

or the SPC 200 is defective
Check supply voltage or

servicing required
See section 3.3
2) Axis makes small movements backwards and forwards

Cause
Remedy
Remarks
Axis or application
parameters not correct
Check axis or application

parameters
See section 6.2
System identification has

not been carried out
Carry out system

identification
See section 6.8
System is not correctly

earthed
Check earthing measures
See section 3.3
Measuring system or
measuring system cable is
defective
Check measuring system

or measuring system cable
and replace if necessary
Check by manual
shifting or movement
test, See section 4.2
3) Axis moves against end positions

Cause
Remedy
Remarks
Tubing is not correct

(incorrect polarity)
Check
See section 3.2.2
Measuring system cable is

defective or not connected
Check
See section 3.4.1
control valve is defective
Check proportional
directional control valve
Carry out movement test,

see section 4.3.2
8-24
SPC200... 9904a
8.3.2 Errors in positioning

1) Drive does not move
Cause
Remedy
Remarks
No supply pressure
Check
Valve cable not connected

correctly
Check
See section 3.4.1
Check and replace

if necessary
Carry out movement test, see

section 4.3.2
2) Axis moves against end positions

Cause
Remedy
Remarks
Tubing is not correct
Check
See section 3.2.2
Measuring system cable is

defective or not connected
Check
See section 3.4.1
Check
Carry out movement test, see

section 4.3.2
3) Axis has bad positioning behaviour

Cause
Remedy
Remarks
System is not mounted

correctly
Check mechanical
parts
Check measuring system and

cylinder for parallelity, mechanical
play and sluggishness
System is not earthed

correctly
Check
See section 3.3.2
Application parameters are

not set optimally
(mass, working stroke)
Check application
parameters
See section 6.2
System identification has

not been carried out
Carry out system

identification
See section 4.3
Controller parameters are

not set optimally
(gain, damping)
Optimize controller
parameters
See appendix A
SPC200... 9904a
8-25
8-26
SPC200... 9904a
Appendix A
Optimizing the positioning behaviour
SPC200... 9904a
A-1
Contents
A.1
A.2
A.3
A.3.1
A-2
Basic information on control ..........................................................A-3

Description of the controller factors...............................................A-6
Optimizing the positioning behaviour ............................................A-9
How to deal with an instable compressed air supply..................A-15
SPC200... 9904a
A.1 Basic information on control

The basis for controlling pneumatic axes is a model positioning path incorporated in the SPC200. This model
functions on the assumption that there is a pneumatic
axis set up according to specifications, e.g. in respect
of:
the compressed air supply
the valve-cylinder combination used
the permitted mass load
the size and length of tubing, etc.
The basic parameters of this positioning path are:
the axis and application parameters to be entered
internal data determined by the system identification
and by adaption.
System
identification
By means of the system identification, variables such

as the attainable speed, acceleration capacity, friction
and the valve characteristics of the axis are determined
during commissioning.
Adaption
During adaption, the positioning behaviour of the axis is

continuously monitored while the system is operating.
Internal controller parameters are adapted here to the
actual status of the axis, e.g. in order to compensate
for system wear incurred during operation.
SPC200... 9904a
A-3
The SPC200 permits not only point-to-point positioning

(G00), but also profile control (G01/G02) of pneumatic
axes.
Point-to-point
In the case of point-to-point positioning, reference value

curves are generated by the SPC200 for path, speed
and acceleration. These values should enable reproducible no-overswing approach as fast as possible to
the reference position (see section 7.2.1, command
G00).
Profile control
With profile control, the reference value curves are calculated on the basis of the reference values programmed by the user for position, speed and acceleration (see section 7.2.1, commands G01, G02).
The reference positioning time is the sum of the individual times for the following phases (see following diagram):
acceleration phase
braking phase
constant movement phase
Please note that the programmed values for speed and
acceleration are automatically limited by the positioning
stroke to values which can actually be implemented.
The maximum values which can be achieved are determined individually for each axis during dynamic identification.
A-4
SPC200... 9904a
9
8
1
2
3
4
5
7
2
Acceleration phase (t1)

Constant movement (t3)
Braking phase (t2)
Reference value curve G01
Reference value curve G02
6
7
8
9
Braking ramp (G09)

Approach ramp (G08)
Programmed speed
Configured
maximum speed
Fig. A/1: Reference value speed curve (G01/G02)

Phases of a
positioning process
Calculation
formulae
Description
Acceleration
phase
t1 =
v
a1
a1 2
s1 =
t1
2
Braking phase
t2 =
Constant
movement
s3 = sges(s1+s2)
s3
t3 =
v
v
a1
a2
t1
t2
t3
s1
s2
s3
sges
SPC200... 9904a
v
a2
a2 2
s2 =
t2
2
=
=
=
=
=
=
=
=
=
=
Programmed speed
Acceleration for braking ramp
Approach time
Braking time
Time with constant speed
Approach path
Braking path
Path with constant speed
Total path
A-5
A.2 Description of the controller factors

The SPC200 determines various controller parameters
from the basic parameters. These determine the
dynamics (speed) as well as the transition behaviour
(damping) of the control. The aim is to guarantee fast
no-overswing positioning with few contour errors
(dynamic control deviation).
The controller parameters calculated by the SPC200
are therefore usually the optimum values. The (real)
pneumatic axes used do not, however, always correspond to the (ideal) axes used as the basis for control.
To take into consideration any possible deviations, you
can influence the controller parameters by entering factors.
Instructions on optimizing the positioning behaviour can
be found in section A.3.
The SPC200 standardizes the factors to 1.0. By
increasing the factors (>1), you can increase the
parameters; by reducing the factors (<1), you can
correspondingly reduce the parameters.
A-6
SPC200... 9904a
Gain
factor
With the gain factor, you can influence the sensitivity

with which the closed loop positioning circuit reacts to
modifications of the measured variables (position,
speed, acceleration).
Behaviour of axis
Factor
The drive tends towards instability

(tendency to oscillate when positioning up to
constant swinging around the reference position).
Reduce
Bad positioning accuracy or high contour errors

as well as long positioning time.
Increase
The positioning process is carried out quickly and

accurately.
Optimum
Permitted 0.1 .. 10.0

Damping
factor
Damping is a measure of the transition behaviour of the

system from the actual to the reference status, especially with fast modifications to the reference value. The
system should normally guarantee low-swing behaviour
in response to reference value specification and nooverswing movement to the destination position.
By modifying the factor for damping, you can influence
the transition behaviour of the system
Behaviour of axis
Factor
Bad positioning quality, reference position is

reached only slowly (underswing).
Reduce

(tendency to swinging when positioning up to
constant oscillation around the reference position,
heavy overswing).
Increase

accurately.
Optimum
Permitted 0.1 .. 10.0
SPC200... 9904a
A-7
Signal filter
factor
Speed and acceleration are derived from the path signal and are filtered to improve the signal quality. If signal quality is bad in practice, e.g. due to electrical interference, you can influence the filtering of the signal by
means of the signal filter factor.
If filtering is too strong, it may destabilize the control.
Behaviour of axis
Factor

(in spite of low amplification and good cushioning)
Reduce
"Noise" or loud valve noises

(observe amplification, i.e too high)
Increase

accurately, low valve noises
Optimum
Permitted: 0.1 .. 10.0
A-8
SPC200... 9904a
A.3 Optimizing the positioning behaviour

The following problems may occur during positioning:
axis stops several times prematurely
swinging around the reference position
stability problems, high frequent swinging around the
reference position
overswing
underswing
Before starting to optimize the positioning behaviour of
the axis, you should carry out the following steps:
Make sure that the pneumatic axis is set up
according to the specifications (see chapter 3).
Make sure that all the axis and application
parameters are set correctly.
Always carry out the static identification and at least
one of the dynamic identifications.
Let the axis perform several positioning cycles.
This is to guarantee that the adaption is effective.
SPC200... 9904a
A-9
If problems still occur, proceed as follows:

1. Observe the positioning behaviour. Make use here
of the software package WinPISA. With WinPISA
you can record and graphically represent reference
and actual values e.g. for path, speed and acceleration.
Detailed information on WinPISA can be found in the
WinPISA user manual.
2. Compare the positioning behaviour or the graph created with WinPISA with the following examples.
3. Optimize the positioning behaviour as described in
the table for the relevant example. First check from
top to bottom the most probable causes and their
remedies.
A-10
SPC200... 9904a
Effect
Cause
Remedy
Axis stops several times prematurely

- System identification
not carried out
- Adaption not yet
completed
- Bad running behaviour
of cylinder/guide
(stick-slip)
- Incorrect mass
- Incorrect valve type
configured
(s)
Carry out system

identification
Move a few positioning
cycles (adaption)
Check or carry out
maintenance or
replace components
Correct mass
Correct configuration
(t)
Swinging around the reference position with standing times
- Static identification
not carried out
- Incorrect mass load
configured or
programmed (M37)
- Long service period of
cylinder (friction
has changed)
- Gain factor set
too low
(s)
1
2
Carry out static system

identification
or program
Carry out identification
again (static or dynamic)
Correct parameter
(t)
1
2
Reference position
Current position
SPC200... 9904a
A-11
Effect
Cause
Remedy
Stability problems, highly frequent swinging around the reference position

(s)
1 2
3
(t)
1
2
3
A-12
- Incorrect mass load

configured or
programmed (M37)
- Gain factor set
too high
- Damping factor set
too low
- Filter set too high
(smooth acceleration/
speed signal but
constant swinging)
- or loud noise with
acceleration signal
with high amplitude
- Minimum mass load
not reached
- Too low a tolerance
demanded
or program
Correct parameter
Correct parameter
Reduce signal filter factor
Increase signal filter

factor
Increase basic load
(see chapter 3)
Increase tolerance
Reference position
Current position
Speed
SPC200... 9904a
Effect
Cause
Remedy
Overswing (no or minimum standing time before MC)

- Drop in static supply
pressure below
permitted tolerance level
(s)
- Mass load too high

(or configured mass
load too small)
- Overstress (reference
acceleration too high)
2
(t)
1
2
- Signal filter factor set

too high
- Gain factor set
too high
- Damping factor set
too low
Stabilize supply pressure

or identify with less
supply pressure
(see section A.3.1)
Correct mass
Reduce reference values
(esp. acceleration)
or carry out dynamic
identification (autom.
limiting)
Correct parameter
Correct parameter
Correct parameter
Reference position
Current position
SPC200... 9904a
A-13
Effect
Cause
Remedy
Underswing (no or minimum standing time before MC)

(s)
1
2
- Too high mass load

entered (can cause
overcushioned controller)
Reduce mass load

(see chapter 3)
- Overstress (too high,

"fast reference values)
Adapt reference values

or carry out dynamic
identification (autom.
limiting)
(t)
1
2
A-14
Reference position
Current position
SPC200... 9904a
A.3.1 How to deal with an instable compressed air supply

If your compressed air supply does not fulfil the requirements (tolerance of 1 bar in operation), although a
compressed air reservoir has already been installed
(see section 3.2), the maximum values ascertained for
acceleration and slowing down during identification may
under circumstances not be reached.
This can result, e.g. in overswing, if the operating
pressure required for slowing down cannot be provided.
In order that such overstrain can be avoided, the
dynamics of the system must be reduced. Proceed
here as follows:
1. Ascertain the minimum available static supply
pressure for positioning in your compressed air
system.
2. Lower the supply pressure statically to this level.
3. Now carry out the dynamic identification again.
4. Raise the supply pressure after identification to
the value set in the application parameters.
SPC200... 9904a
A-15
A-16
SPC200... 9904a
Appendix B
Technical appendix
SPC200... 9904a
B-1
Contents
B.1
B.2
B.2.1
B.2.2
B.2.3
B.2.4
B-2
Internal structure of the inputs and outputs ..................................B-3

Technical specifications.................................................................B-7
Technical specifications of the SPC200........................................B-7
Technical specifications of axis interface type SPC-AIF-... ........B-13
Technical specifications of I/O function module
type SPC-FIO-... ..........................................................................B-14
Technical specifications of control panel type SPC200-MMI-1...B-15
SPC200... 9904a
B.1 Internal structure of the inputs and outputs

Internal structure of type SPC200-DIO (PNP inputs)
24 V +10/-15%
1
2
0...9 *)
0V
0V
1
2
Diagnosis (short circuit, overload,

protection against incorrect polarity)
SPC200, inputs 0...9
3
4
Logic recognition
*) Inscription on plug X5/X7 (inputs 0...9)
Fig. B/1: Internal structure of the SPC200-DIO (PNP inputs)
SPC200... 9904a
B-3
Internal structure of type SPC200-DIO (PNP outputs)
+ 24 V
3
0...7 *)
4
0V
1
2
3
Load voltage connection

SPC200, outputs 0...7
Electrical isolation
0V
Diagnosis (short circuit, overload, load
voltage failure)
*) Inscription on plug X6/X8 (outputs 0...7)
Fig. B/2: Internal structure of the SPC200-DIO (PNP outputs)
B-4
SPC200... 9904a
Internal structure of type SPC-FIO-2E/2A (PNP inputs)
+ 24 V
Pin 1
4
Pin 2
0V
1
2
3
Sensor supply via AIF string

SPC-FIO-... input 1.0 or 1.1
4
5
Pin 3
Diagnosis (short circuit, overload,
protection against incorrect polarity)
Green LED
Fig. B/3: Internal structure of the SPC-FIO-2E/2A (PNP inputs)
SPC200... 9904a
B-5
Internal structure of type SPC-FIO-2E/2A (PNP outputs)
Pin 2 (n.c.)
2
3
Pin 1
4
0V
1
2
Load voltage via AIF string

Diagnosis (short circuit, overload, load
voltage failure)
Pin 3
3
4
SPC-FIO-... output 1.0 or 1.1

*) Inscription on plug X6/X8 (outputs 0...7)
Fig. B/4: Internal structure of the SPC-FIO-2E/2A (PNP outputs)
B-6
SPC200... 9904a
B.2 Technical specifications

B.2.1 Technical specifications of the SPC200
Type
SPC200-CPU-...
- height
- width
- depth
Locations
4
120 mm
126 mm
96.5 mm
Weight
- unfitted
approx. 675 g
Dimensions
6
120 mm
166 mm
96.5 mm
approx. 850 g
Temperature range:
- operating temperature
- storage/transport
- 5 C ... + 50 C
- 20 C ... + 70 C
Relative humidity
95% non condensing
Protection class as per EN 60 529

Locations fitted or sealed with
blank panels
IP 20
NC programming
- in accordance with
- number of programs
- number of NC records
- number of NC records per program
- position register
- nesting depth of subprograms
Program storage without battery

DIN 66025
max. 100
max. 2000
max. 1000
100 per axis
max. 4
Oscillation and shock

- oscillation
- shock
Protection against electric shock
(protection against direct an indirect contact as
per EN 60204-1 / IEC 204
SPC200... 9904a
Tested as per DIN/IEC 68 part 26

severity grade 1
severity grade 2
By means of PELV power units
(protected extro low voltage)
B-7
Type
SPC200-PWR-AIF
Temperature range:
- operation
- storage/transport
- 5 C ... + 50 C
-20 C ... + 70 C
Weight
82 g
Relative humidity
95% non condensing
Operating voltage pin 1

(load voltage supply)
- rated value
- tolerance 1)
- residual ripple
- current consumption
(SPC200-CPU4 and SPC200-CPU-6)
Operating voltage pin 2
(internal electronics)
- rated value
- tolerance
- residual ripple
- power failure bridging time
- current consumption at:
SPC200-CPU-4
SPC200-CPU-6
Electromagnetic compatibility
- interference emission
- resistance to interference
- oscillation
- shock
1)
2)
3)
4)
B-8
24 V DC
-5%...+25% (22.8 V ... 30.0 V)
2%
500 mA + 1.2 A per pneumatic axis
24 V DC
-5%...+25% (22.8 V ... 30.0 V)
2%
10 ms
400 mA + current requirement of
components connected to sensor
supply 2) + sum of current
consumption on AIF string 3)
600 mA + current requirement of
components connected to sensor
supply 2) + sum of current
consumption on AIF string 3)
Tested as per EN 55011
limit value class A 4)
Tested as per EN 50082-2
severity grade 1
severity grade 2
Observe the tolerance of the modules connected to the axis interface string
Max. 0.5 A can be made available for each I/O module type SPC200-DIO
See technical specifications of the connected modules
With individual authorization can also be used in residential areas (residential,
business/commercial areas and small firms).
SPC200... 9904a
Type
SPC200-MMI-DIAG
Temperature range:
- operation
- storage/transport
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
Weight
68 g
Relative humidity
95% non condensing
Serial interface (RS232C)

- baud rates
-
data bits
stop bits
parity
protocol
- oscillation
- shock
SPC200... 9904a
9600, 19200, 38400, 57600,

115200 Baud
8 bits
1
even
No handshake
limit value class A
severity grade 1
severity grade 2
B-9
Type
SPC200-DIO (PNP)
Temperature range
- operation
- storage/transport
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
Weight
62 g
Relative humidity
95% non condensing
Digital inputs
- design
10 inputs as per IEC 1131-2 type 2

inputs 24 V DC
positive switching (PNP)
> 11 V
<5V
at "logic 1"
typ. 8 mA
- logic level; ON
OFF
- current consumption (at 24 V)
(input current from sensor
to input)
- response delay (at 24 V)
- reference potential
typ. 5 ms
0V
Digital outputs
- design
- load rating per output
- electronic fuse
(short circuit, overload)
trigger current
response time
8 outputs as per IEC 1131-2

24 V DC positive switching
250 mA
Sensor supply VD 24 V 25%
max. 0.5 A
(electronic short circuit protection)
- inputs
- outputs
- oscillation
- shock
B-10
> 2A
max. 1.5 ms
No
Yes
limit value class A
severity class 1
severity class 2
SPC200... 9904a
Type
SPC200-2AI-U
Temperature range
- operation
- storage/transport
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
Weight
approx. 55 g
Relative humidity
95% non condensing
Analogue reference value input

- input voltage
- resolution
- input resistance
0...10 V
12 bits
> 200 k
- oscillation
- shock
SPC200... 9904a

limit value class A
severity class 1
severity class 2
B-11
Type
SPC200-SCU-AIF
Temperature range
- operation
- storage/transport
- 5 oC ... + 50 oC
-20 oC ... + 70 oC
Weight
approx. 80 g
Relative humidity
95% non condensing
Current consumption
- oscillation
- shock
B-12

limit value class A
severity class 1
severity class 2
SPC200... 9904a
B.2.2 Technical specifications of axis interface type SPC-AIF-...

Type
SPC-AIF-...
Dimensions (plug exit upwards; without cable;

incl. fastening bracket)
Height: approx. 42 mm
Width: approx. 100 mm
Depth: approx. 66 mm
Weight
approx. 300 g
Temperature range
- operating temperature
- storage/transport
0 C ... + 50 C
- 20 C ... + 70 C
Relative humidity
95% non condensing

Plug connector plugged in or with protective cap
IP 65
Supply:
- rated value
- tolerance 1)
- current consumption incl. MPYE-...
(load voltage supply)
- current consumption without MPYE-...
(internal electronics)
- residual ripple
24 V (DC)
- 25% ... + 25% 1)
SPC-...-POT SPC-...-MTS
1.1 A
1.2 A 2)
100 mA
200 mA 2)
max. 6%
max. 6%
Valve output (MPYE-5-...-...:

- power supply
- output voltage
24 V (DC)
0...+10 V
Potentiometer (only SPC-AIF-POT)

- reference voltage VOUT
- Rmin
+10 V
2.5 k
Temposonics (only SPC-AIF-MTS)

- VOUT
+24 V
- oscillation
- shock

limit value class A
severity class 2
severity class 2
1) Observe tolerance of connected valve type MPYE-...

2) Current consumption incl. Temposonics
SPC200... 9904a
B-13
B.2.3 Technical specifications of I/O function module

type SPC-FIO-...
Type
SPC-FIO-2E/2A-M8
Temperature range
operation
storage/transport
1)
- 5 C ... + 50 C
-20 oC ... + 70 oC
Weight
42 g
Relative humidity
95% non condensing
Protective class as per EN 60 529

Plug connector plugged in or with protective cap
IP 65
- oscillation
- shock
Digital inputs
- design
- protection against incorrect polarity
- logic level; ON
OFF
- reference potential
- current consumption (at 24 V)
(input current from sensor to input)
- response delay (at 24 V)
Sensor supply
2)
VD 24 V 25%
Digital outputs
- design
- load rating per output 1)
- electronic fuse (short circuit, overload)
trigger current
Internal current consumption of electronics
(PNP)

limit value class A
severity class 2
severity class 2
2 inputs as per IEC 1131-2 type 2 inputs
24 V DC positive switching PNP, status
display by LED
- 30 V ... + 30 V
> 11 V
<5V
0V
at "logic 1" typ. 7 mA
typ. 3 ms
max. 0.5 A
(electronic short circuit protection)
2 outputs as per IEC 1131-2; 24 V DC
positive switching
250 mA
min. >500 mA
None
< 40 mA
1) External load voltage supply module type SPC-EXT-PWR is required

2) Provided via module SPC200-PWR-AIF (internal electronics, pin 2)
B-14
SPC200... 9904a
B.2.4 Technical specifications of control panel type SPC200-MMI-1

Type
SPC200-MMI-1
Dimensions
- height
- width
- depth
approx. 67 mm
approx. 59 mm
approx. 52 mm
Weight
approx. 90 g
Temperature range
- operation
- storage/transport
- 5 C ... + 50 C
- 20 C ... + 70 C
Relative humidity
95% non condensing

control panel fitted into place
IP 20

- oscillation
- shock
SPC200... 9904a

severity class 1
severity 2
B-15
B-16
SPC200... 9904a
C. Index
Appendix C
Index
SPC200... 9904a
C-1
C. Index
C-2
SPC200... 9904a
C. Index
C.1 Index
A
Address range
basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
SPC200 modules and I/O modules. . . . . . . . . . 1-28
Analogue input module
pin assignment differential inputs . . . . . . . . . . . 3-42
Application parameters . . . . . . . . . . . . . . . . . . . . . . 6-19
Autonomous mode. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Autonomous operation. . . . . . . . . . . . . . . . . . . . . . . . 7-6
Axis designations
assigning the axis designations. . . . . . . . . . . . . 1-17
Axis interface
connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51
pin assignment of valve connection . . . . . . . . . 3-55
Axis interface string
basic rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
B
Basic unit
mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
C
Components
for setting up a pneumatic axis . . . . . . . . . . . . . 1-14
range of equipment for the SPC200 . . . . . . . . . 1-7
Control factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
SPC200... 9904a
C-3
C. Index
Control panel
fitting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
layout and functions. . . . . . . . . . . . . . . . . . . . . . . 6-4
menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
test and diagnostic functions . . . . . . . . . . . . . . . 6-53
Coordinated mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Cylinder diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Cylinder length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Cylinder type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
D
Diagnostic module
pin assignment of MMI socket . . . . . . . . . . . . . . 3-32
pin assignment of the serial interface . . . . . . . . 3-31
E
Emergency stop circuit
example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Error
acknowledging a fault . . . . . . . . . . . . . . . . . . . . . 5-8
possible problems . . . . . . . . . . . . . . . . . . . . . . . 4-32
Error messages . . . . . . . . . . . . . . . . . . . . . . 8-12 - 8-13
structure of error messages. . . . . . . . . . . . . . . . . 8-9
F
Fitting offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fitting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function I/O module
connections . . . . . . . . . . . . . . . . . . . . . . . . . . . .
pin assignment of inputs . . . . . . . . . . . . . . . . . .
pin assignment of outputs . . . . . . . . . . . . . . . . .
C-4
6-21
6-20
3-57
3-59
3-58
SPC200... 9904a
C. Index
H
Half step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Hardware configuration
save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
I
I/O module
example of circuitry . . . . . . . . . . . . . . . . . . . . . . 3-35
pin assignment of inputs (X5/X7) . . . . . . . . . . . 3-34
pin assignment of outputs (X6/X8) . . . . . . . . . . 3-35
Identification
dynamic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
static. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
Initial display on the control panel . . . . . . . . . . . . . . . 6-7
Installation
measuring system . . . . . . . . . . . . . . . . . . . . . . . 2-19
proportional directional control valve. . . . . . . . . 2-19
L
LED
on SPC200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Power LED on the axis interface. . . . . . . . . . . . . 8-6
Status LED on the function I/O module . . . . . . . 8-7
Unlock LED on the axis interface . . . . . . . . . . . . 8-7
Lower software end position . . . . . . . . . . . . . 6-22, 6-24
M
Maximum acceleration . . . . . . . . . . . . . . . . . 6-23 Maximum speed. . . . . . . . . . . . . . . . . . . . . . 6-23 Measuring system
calibrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SPC200... 9904a
6-24
6-24
4-29
3-54
2-19
C-5
C. Index
Measuring system length . . . . . . . . . . . . . . . . . . . . . 6-18

Menu system
menu structure on the control panel . . . . . . . . . . 6-8
moving in the menu system. . . . . . . . . . . . . . . . 6-12
Micro step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Mode of reference . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Modules
install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
remove . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
N
NC commands
explanation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
O
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
record selection mode . . . . . . . . . . . 1-22, 5-4, 5-17
start/stop mode . . . . . . . . . . . . . . . . . 1-21, 5-4, 5-9
P
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Pneumatic axis
components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
instructions on pneumatic installation . . . . . . . . . 3-5
summary of pneumatic installation . . . . . . . . . . . 3-5
Position basepoint . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
Positioning tolerance . . . . . . . . . . . . . . . . . . . . . . . . 6-22
Power supply module
operating voltage connection. . . . . . . . . 3-25 - 3-26
Power supply module and display elements . . . . . . 3-24
C-6
SPC200... 9904a
C. Index
Program
adding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
deleting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
parallel program processing . . . . . . . . . . . . . . . . 7-4
testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
Programming
editing instructions . . . . . . . . . . . . . . . . . . . . . . 6-35
explanation of the NC commands . . . . . . . . . . . 7-13
general notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
instruction set on the control panel . . . . . . . . . . 6-37
notes on programming. . . . . . . . . . . . . . . . . . . . . 7-8
Project basepoint . . . . . . . . . . . . . . . . . . . . . . 6-21, 6-24
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-55
fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Q
Quality class. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
R
Record select mode
operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Reference position . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Reference speed factor . . . . . . . . . . . . . . . . . . . . . . 6-24
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
S
Setting parameters
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
Short circuit
sensor supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
SPC200... 9904a
C-7
C. Index
Slide operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

SPC200
address range . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
basic modules . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
extension modules . . . . . . . . . . . . . . . . . . . . . . . 1-11
operating modes . . . . . . . . . . . . . . . . . . . . 1-21, 5-3
switching-on procedure . . . . . . . . . . . . . . . . . . . . 6-6
Start-stop frequency. . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Start/stop
operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Start/Stop mode
summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Supply pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
Technical specifications
type SPC-AIF-...-.... . . . . . . . . . . . . . . . . . . . . . B-13
type SPC-FIO-... . . . . . . . . . . . . . . . . . . . . . . . B-14
type SPC200-2AI-U . . . . . . . . . . . . . . . . . . . . . . B-11
type SPC200-CPU-.... . . . . . . . . . . . . . . . . . . . . B-7
type SPC200-DIO (PNP) . . . . . . . . . . . . . . . . . B-10
type SPC200-MMI-1 . . . . . . . . . . . . . . . . . . . . B-15
type SPC200-MMI-DIAG . . . . . . . . . . . . . . . . . . B-9
type SPC200-PWR-AIF . . . . . . . . . . . . . . . . . . . B-8
type SPC200-SCU-AIF . . . . . . . . . . . . . . . . . . B-12
Terms and abbrevations. . . . . . . . . . . . . . . . . . . . . . . . XI
Text markings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Time behaviour
of I/O signals when processing is started . . . . . . 5-7
of the I/O signals in record select mode . . . . . . 5-20
programmed stop. . . . . . . . . . . . . . . . . . . . . . . . 5-14
when a fault is acknowledged . . . . . . . . . . . . . . . 5-8
Tool load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
C-8
SPC200... 9904a
C. Index
U
Upper software end position . . . . . . . . . . . . . 6-22, 6-24
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
V
Valve type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
W
WinPISA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
Work load. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
Y
Yoke operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
SPC200... 9904a
C-9
C. Index
C-10
SPC200... 9904a

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Positioning system

Smart Positioning Controller

Printed on 100% recycled paper

(Festo AG & Co., D-73726 Esslingen,

Registered trade mark of the

Temposonics Registered trade mark of

Order No.: 170 246

Positioning systems with the SPC200 ...........................................1-4

Inserting and removing modules ....................................................2-5

General instructions on installation ................................................3-4

Connections on the subcontroller module type

Procedure for commissioning ........................................................ 4-5

5. Controlling the SPC200

General instrutions on operation ................................................... 5-4

6. Operation of the SPC200 via the

Layout and functions of the control panel ..................................... 6-4

7. Description of the commands

General notes on programming .....................................................7-4

8. Diagnosis and error treatment

On-the-spot dagnosis .....................................................................8-4

A. Optimizing the positioning behaviour

Basic information on control.......................................................... A-3

Internal structure of the inputs and outputs .................................. B-3

Important user instructions

This manual contains instructions on the dangers which

Unintentional movements of the connected actuators.

High electric voltage or undefined voltage states of the

Electrostatically vulnerable components.

Recommendations and tips are identified by the icon

This mark indicates activities which can be carried

About this manual

Manuals for the SPC200 Smart Positioning Controller

Installation, commissioning and

Software manual Software package WinPISA

Functions of the WinPISA

Help system for WinPISA

Help system for WinPISA

Field bus module

Installation, commissioning and

Stepping motor module type

Installation, commissioning and

Electric positioning system

Further information on electric

Information on the pneuamtic components can be found

Product-specific terms and abbreviations

0 V input or output signals

24 V input or output signals

Configuration information, describing the structure, properties and

The measuring system and the proportional directional control valve

The totality of the modules, connected in common to the axis interface

Configuration information, describing the conditions of use determined

Special cable for connecting the various CP modules

Digital inputs and outputs

Programmable logic controller/PC

The total number of modules connected together on the axis interface

Positioning systems with the SPC200........................................... 1-4

Coupling to field bus systems is made possible by

1.1 Positioning systems with the SPC200

Field bus connection (optional)

Stepping motor axis

Depending on the equipment fitted on the controller, up

First axis interface string

Fig. 1/2: Connecting pneumatic axes and external I/O modules