Manual: Absolute Encoder and Cam Switch FC-21-V

FACTORY AUTOMATION Manual
Absolute encoder and

cam switch FC-21-V
EDITION 99
With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical Industry, as published by
the Central Association of the 'Elektrotechnik und Elektroindustrie (ZVEI) e.V.',
including the supplementary clause "Extended reservation of title"
We at Pepperl+Fuchs recognise a duty to make a contribution to the future.

For this reason, this printed matter is produced on paper bleached without the use of chlorine.
General
Programmable cam switch FC-21-V
The programmable cam switch FC-21-V corresponds to a

mechanical cam switch with 24 cam circuits. 180 (256, 360,
512) cams are possible on each of these circuits.
Every cam circuit corresponds to a cam output port at the

main unit FC-21-V. If a cam is placed, then the applied voltage
is +24V, if no cam is placed, then the applied voltage is 0 V.
The position of the machine to be controlled is given by an

absolute encoder.
Depending on the type of the used absolute encoder 360,

512, 720 or 1024 positions may be solvable.
Start and end of a cam must be programmed with the pro-

grammer FC-20P. The programming of up to 24 cam circuits
with up to 512 cams represents a pattern. For distinction all
pattern are numbered.
Up to 10 pattern may be stored (in an EEPROM) in the main

unit FC-21-V. External storage of pattern is possible with a
cassette data recorder and commercial cassettes.
Date of issue 03.02.1997
Subject to reasonable modifications due to technical advances. Copyright Pepperl+Fuchs, Printed in Germany
Pepperl+Fuchs Group · Tel.: Germany (6 21) 7 76-11 11 · USA (3 30) 4 25 35 55 · Singapore 7 79 90 91 · Internet http://www.pepperl-fuchs.com 1
General
2 Pepperl+Fuchs Group · Tel.: Germany (6 21) 7 76-11 11 · USA (3 30) 4 25 35 55 · Singapore 7 79 90 91 · Internet http://www.pepperl-fuchs.com
Contents
System-components 7 Programming 35
Main unit FC-21-V 8 Setting DIP switch 36
Programmer FC-20P 11 Short instruction programming 37
Absolute encoder TRD-AK...-GC 12 Schema for programming 40
Plug MR-16L for connecting cable Initial setting 41
between FC-21-V and absolute encoder 12 Writing by keying in 42
Writing by teaching method 43
System-extensions 15 Check of zero point correction value 44
External display unit FC-21D 16 Change zero point correction value 45
Connecting cable programmer E-15PJ 17 Read out of set points 46
Cassette data recorder 18 Read out of cam output status 47
Mounting support RT11 for absolute encoder 19 Clearing of particular cam output port setting 48
Coupling RU-03 for absolute encoder 20 Change set point in programming mode 49
Connecting cable for absolute encoder 21 Change set point in TEST-mode 50
Write to tape (SAVE) 51
Installation 23 Read out of tape (LOAD) 52
Verification with tape 54
Mechanical mounting
Main unit FC-21-V 24
Absolute encoder TRD-AK...-GC 25
Trouble detection 57
Programmer FC-20P 26 List of error codes 58
Electrical connections 27 General trouble detection 59
Block diagram FC-21-V 28 Check input and output circuits 60
Specifications terminals 29 Check input and output ports 61
Check central processing unit (CPU) 62
Operation 31 Check memory contents (EEPROM) 63
Check memory contents (RAM) 64
Starting FC-21-V 32
Changing program 33
Adjusting cams 34
Application 65
Application form 66
Notes
Contents
Absolute encoder and cam switc

switch FC-21-V
witch
Page
System-components ______________________________________________________ 7
System-extensions _______________________________________________________ 15
Installation ______________________________________________________________ 23
Operation _______________________________________________________________ 31
Programming ____________________________________________________________ 35
Trouble detection ________________________________________________________ 57
Application _____________________________________________________________ 65
Notes
Contents
System-componets
Page
Main unit FC-21-V _________________________________________________________ 8
Programmer FC-20P ______________________________________________________ 11
Absolute encoder TRD-AK...-GC ____________________________________________ 12
Plug MR16-L for connecting cable between FC-21-V and absolute encoder ________ 12
System-components
Main unit FC-21-V
for screw M4
210
200 58
0V START 1 2 3 1 2 3 4 5 6 7 8 9 10 11 12
Bank OUT
RUN
CPU
POWER
PROGRAMMABLE CAM SWITCH
Part. No. 23382
162
138
OUT
1 5 9 13 17 21
BANK 2 6 10 14 18 22
3 7 11 15 19 23
Pepperl +Fuchs 4 8 12 16 20 24
Mannheim W. Germany
POSITION
OUT 220V AC POWER

(Bank 4) (Run) OUT
110V
13 14 15 16 17 18 19 20 21 22 23 24 COM G
Voltage supply 0 V DC
Start input (1)
Input ports for bank selection (3)
Output ports (1-12)
0V START 1 2 3 1 2 3 4 5 6 7 8 9 10 11 12
Operation mode RUN Bank OUT
CPU faulty RUN

CPU
Voltage o.k. POWER DIP switches (open cover)
Display bank
Display position
Connection: 1 5 9 13
OUT
17 21
Display output port
Absolute encoder BANK 2 6 10 14 18 22
External display 3 7 11 15 19 23
Programmer Pepperl +Fuchs 4 8 12 16 20 24

Mannheim W. Germany
POSITION
OUT 220V AC POWER

(Bank 4) (Run) OUT
110V
13 14 15 16 17 18 19 20 21 22 23 24 COM G
Voltage supply 220/110 V AC

Voltage supply +24 V DC
Output ports (13-24)
Accessorries: Mounting screws with nuts

Plug for connecting absolute encoder
System-components
Main unit FC-21-V

Ratings 1
(general specifications)
Item Rating
Power source voltage: FC-21-V: 93...126/195...264 V AC voltage 50/60 Hz

and 24 V DC to supply cam output ports
Power consumption: 30 VA
Operating temperature range: 0°...50°C
Storing temperature: -20°...-70°C
Withstanding humidity: 45%...85% (No condensing)
Dielectric power: 2 kV, 1 minute between AC input, output terminals

and housing
Insulation resistance: > 20 MW, 500 V DC
Vibration resistance: stable against vibrations with shifting amplitude of 0.3 mm,.
10...55 Hz in 3 axis directions
Shock resistance: 10 G in 3 axis directions
Noise immunity: between AC-terminals: 1 kV (pulse width: 1µs, leading edge

pulse time / 1 ms, polarity ±, synchronous to voltage supply,
0°... 360° phase)
Weight: 2 kg
System-components
Main unit FC-21-V

Ratings 2
(proper specifications)
Item Specification
Control input: 1 Start-input; 4 bank change input
Absolute encoder input: Gray-binary code (10 bit), Connection by the special connector
Resolution: 360; 512; 720 or 1024 positions (DIP switch)
Output ports: 16 or 24 (DIP switch)
Output port RUN: Output port 24 to control peripherical apparatus (DIP switch)
Number of output ON/OFF: max. (resolution/2) for every output port
Maximum responding revolutions: Resolution: Min.distance of set points

360 512 720 1024
revolutions per minute:

3600 2520 1800 1260 > 3° of interval
2400 1680 1200 840 > 2° of interval
1200 840 600 420 > 1° of interval
Maximum number of banks:
Number of programs Revolutions Number of output ports
10 360 16
7 360 24
7 512 16
4 512 24
5 720 16
3 720 24
3 1024 16
2 1024 24
Switching direction (clockwise and counterclockwise): clockwise: increase of the current value by the clockwise
rotation when the encoder is observed form the shaft side.
Counterclockwise; increase of the current value by the coun-
terclockwise rotation when the encoder is observed form the
shaft side
(DIP switch changing 1)
Write protection: ON: inhibition of program writing, correction, and deletion (DIP
switch changing 6)
Value of zero point compensation: Possible to compensate for whole range: 0...(resolution - 1)
Storage memory: EEPROM
Display set points Programmer: 16 LEDs (changing from 1...16 and 17...24)
Haupteinheit: 24 LED
Display bank: 7-segment display LED Height of character

Programmer: 8 mm
Display position: 4-digit 7-segment display LED Main unit: 14,2 mm
System-components
Programmer FC-20P
110 24 80
1 5 9 13
17 21 25 29
2 6 10 14
18 22 26 30
BANK POSITION
3 7 11 15
ON/OFF RUN SHF 19 23 27 31
4 8 12 16
POWER CPU 20 24 28 32
118
SAVE
SHF BNK 7 8 9 +
FC-20P LOAD
Part. No. 20635
F OUT 4 5 6 -
VERIFY
RUN TEST PRG TAPE REF 1 2 3
TCH 0 C
Accessories: Installation:
Connecting cable for cassette data recorder C-08J Connecting and removing programmer - see page 26
2 keys form program selection switch
System-components
Absolute encoder TRD-AK360-GC

TRD-AK512-GC
TRD-AK720-GC
TRD-AK1024-GC
(corresponding to resolutions of 360, 512, 720 or 1024
positions)
o ± 0,5 o
max. 12,5 66 33 90
5
10 - 0,015
0
M4 x 0,7
15
78 ± 0,1
1
- 0,010
- 0,029
20
12 tief
42
72
78
56
3 3 22
Accessories: Operation:
Servo mounting support, hexagon socket head bolts The absolute encoder shaft is supported by precision ball
bearings. Do not apply a load exceeding the allowable limit
(radial load 100 N, thrust load 50 N). The excess load will
seriously reduce the service life of the shaft.
Plug MR16-L connecting cable between

main unit FC-21-V and absolute encoder
Connecting cable (complete) between absolute encoder and

main unit FC-21-V is an optional accessory and can be ordered
- see page 21.
System-components
Absolute encoder
Ratings
Item Rating
Starting torque: 4 N cm (20°C)
Shaft inertia moment: 1 N cm2
Allowable shaft load: Radial: 100 N; Thrust: 50 N
Allowable number of maximum rotations: 5000 rpm
Connection: Connector (Fabr. BINDER, Serie 723, 12 pol.)
Weight: Approx. 0.7 kg
Operation temperature range: -10 °C...+50 °C
Storing temperature: -25 °C...+80 °C
Dielectric strength: 500 V AC, 50/60 Hz, 1 min. (between the whole terminal and
the housing)
Insulation resistance: More than 10 MΩ (at 500 V AC)
Vibration resistance: Displacement amplitude: 0.75 mm, 10...55 Hz for 3 axis

directions
Shock resistance: 100 G, 11 ms for 3 axis directions
Preventive construction: IEC-standard IP65

Notes
Contents
System-extensions
Page
External display unit FC-21D _______________________________________________ 16
Connecting cable programmer E-15PJ _______________________________________ 17
Cassette data recorder ____________________________________________________ 18
Mounting support RT11 for absolute encoder ________________________________ 19
Coupling RU-03 for absolute encoder _______________________________________ 20
Connecting cable for absolute encoder ______________________________________ 21

System-extensions
External display unit FC-21D
FC-21D
45
BANK POSITION
120
130
1,6
36,4
Accessory:
Connecting cable with standard length 2 m, max. 10 m
Item Rating
Operating temperature range: 0°C...+50°C
Storing temperature: -10°C...+70°C
Vibration resistance: Displacement amplitude 0.3 mm, 10...55 Hz for 3 axis

directions
Shock resistance:
10 G for 3 axis directions
Weight:
0.2 kg
Functions:
Bank and position display Red LEDs, Letter height: 14.2 mm
System-extensions
Connecting cable E-15PJ

for programmer
Length: 1.5 m
System-extensions
Cassette data recorder
Use a commercial cassette data recorder for a personal

computer, capable of adjusting the recording level.
Radio-cassette recorders are mostly not suitable as the recor-
ding level is not compatible
Item Rating
Recording terminal: Microphone input
Reproduction terminal: Earphone output: Output power 300 mW min. / 4...16Ω
Frequency characteristic: 300 Hz...4000 Hz ± 6 dB
Transfer rate: 830 baud
Modulation method: FSK ”1“: 2 kHz / ”0“: 1 kHz
Head mark/End mark 2 kHz
File No.: 0...999 as desired
System-extensions
Mounting support RT11 for absolute encoder

90
4- 7 45 10
22,5
95
4- 4,5
R 10
66
95
56 + 0,12
0
50
10
85 104
Accessory screw:
Bolt with the hexagonal screw hole on the head
M6x20(4ea)
System-extensions
Coupling RU-03 for absolute encoder
32
3.8 3.8
+0,05
120 o
10 -0
M4
25,0
14,5
Material: Aluminum
Weight: 35g
System-extensions
Connecting cable for absolute encoder
Binder-Serie 723 12-pol (straight or right angle plug) Plug MR16-L is

Cable 12-conductor + shield, max. length 30 m, cross delivered (without cable)
section 0.25 mm2, as an accessory to the FC-21-V
Order plug and cable separately
Pin assignment Pin assignment
Connection Function Colour of wire Connection Function Colour of wire
A + 12 V DC red 1 25 violet
B 20 brown 2 24 dark-blue
C 21 orange 3 23 green
D 22 yellow 4 22 yellow
E 23 green 5 21 orange
F 24 dark-blue 6 20 brown
G 25 violet 7 29 light-blue
H 26 grey 8 28 pink
J 27 white 9 27 white
K 28 pink 10 26 grey
L 29 light-blue 11 free -
M 0 V DC black 12 + 12 V DC red
13 free -
Shield is not connected 14 free -
15 0 V DC black
16 Shield -
Notes
Contents
Installation
Page
Mechanical mounting
Main unit FC-21-V ________________________________________________________ 24
Absolute encoder TRD-AK-...GC ____________________________________________ 25
Programmer FC-20P ______________________________________________________ 26
Electrical connections ____________________________________________________ 27
Block diagram FC-21-V ___________________________________________________ 28
Specification terminals ___________________________________________________ 29

Installation
Mechanical mounting
of main unit FC-21-V
1. Provide a space of at least 60 mm around the cam switch

for ventilation and maintenance.
2. Install the main unit on a vertical wall as illustrated on the

opposite side for dissipating heat effectively.
The side panels of the main unit and extension base are
provided with vents for releasing generated heat.
3. Avoid installing the main unit in the following places:

- where panel temperature exceeds the range of
0°C...50°C
- where ambient humidity exceeds 90% or moisture
condenses because of rapid temperature change.
- where there is a considerable amount of dust, iron partic-
les, or corrossive gases.
- where the main unit is exposed to the direct sunlight.
Installation
Mechanical mounting
of absolute encoder TRD-AK...-GC
1. Install absolute encoder to a mounting plate - see illustration

or use the mounting support RT11 (optional available)
2. Pay attention to maximum shaft load.
Loads which exceed the allowable limits lead to decrease in

accuracy and service life.
26
grammer
main unit.
is in RUN-mode.
1. Mount programmer
3. Remove programmer
grammer is removed.
connecting cable E-15PJ
Mechanical mounting
of programmer FC-20P
- Switch key switch to RUN or TEST*
switch off and then on voltage supply.
Subject to reasonable modifications due to technical advances.

- At the end of programming switch key to RUN.
(press both keys on the programmer side panel)

2. Pay attention to the following operation conditions:
- Rock the programmer lightly up and down to connect it
- Match the hook on the programmer to the opening in the
- If LED RUN at programmer is dark, remove programmer,

- If LED RUN at programmer lights up, remove programmer
- The choosen operation mode is stored, also if the pro-
- Control operation mode of main unit with key switch of pro-
- If voltage supply is switched off and then on, the main unit
It is also possible to connect programmer to main unit using
* If key switch is switched to PRG, main unit switches to PRG.
RU 0V RU 0V RU 0V
CP N ST
CP N ST
CP N
ST
AR AR AR
PO U T PO U T PO U T
W 1 W 1 W 1
ER BA ER BA ER BA
NK NK NK
O 2 O 2 2 O
N/O N/O N/O
FF FF FF
PO
SIT
3 PO
SIT
3 3 PO
SIT
RU
N IO 1
RU
N IO 1
RU
N IO 1
BNa 1 17 BNa 1 17 Ba 1 N 17
PO nk PO n nk PO
W SH 2 2 W SH k 2 2 2 W SH 2
ER F 18 5 ER F 18 5 ER F 18 5
FC 21 FC 21 FC 21
CP 3 3 CP 3 3 3 CP 3
Pa -20
U 6 Pa -20
U 6 Pa -20
U 6
rt. P 19
22 9 rt. P 19
22 9 rt. P 19
22 9
No
4 4 25 No
4 4 25 No 4 4 25
.2
06 SH 20 7 10
.2
06 SH 20 7 10
.2
06 20 7 10
23 13 23 13 SH 23 13
RU 35 F 26 5 RU 35 F 26 5 RU 35 F 5 26
N 8 29 N 8 29 N 8 29
TE 11 TE 11 TE 11
ST BN 24 14 6 ST BN 24 14 6 ST BN 6 24 14
27 27 27
PR F K 30 PR F K 30 PR F K 30
G 12 15 7 G 12 15 7 G 7
12
15
28 28 28
TA
PE O 7 31 TA
PE O 7 31 TA
PE O 7 31
UT UT UT
16 8 16 8 8 16
8 32 8 32 8 32
O RE 4 9 O RE 4 9 O RE 4 9
UT F UT F UT F
9 9
Pe Pe Pe
M 5 SA 10 M 5 SA 10 M 5
9 10 S
A
an 1 an 1 an 1 V
pp VE
pp VE
pp
nh TC nh TC nh TC E
13 er H + 11 13 er H + 11 13 er H + 11
ei
m 6 LO
ei
m 6 LO
ei
m 6 LO
2 2 2
14
l+ 12 14
l+ 12 14
l+ 12
W Fu 0 AD W Fu 0 AD W Fu 0 AD
.G - .G - .G -
15 er ch 3 VE O
15 er ch 3 VE O
15 er ch 3 VE O
m s PR UT m s PR UT m s PR UT
RIF O RIF O an O RIF
G G G
16 an Y 16 an Y 16 Y
y RA y RA y RA
C M C M C M
17 BA M 17 BA M 17 BA M
AB AB AB
NK LE NK LE NK LE
18 CA 18 CA 18 CA
Pa M Pa M Pa M
19 rt SW 19 rt. SW 19 rt. SW
1
.N IT 1 No IT 1 No IT
o. CH .2 CH . CH
20 23 20 33 20 23
5 38 5 5 38
2 82 2
21 PO 2 9 21 PO 2 9 21 PO 2 9
SIT 6 SIT 6 SIT 6
22 (B IO 13 22 (B IO 13 22 (B IO 13
an
k N 3 10 O an
k4 N 3 10 O an
k4 N 3 10 O
4) 17 UT 17 UT 17 UT
23 (R 7 14 23 ) (R 7 14 23 ) (R 7 14
un 21 un 21 un 21
) 4 11 ) 4 11 ) 4 11
24 O 18 24 O 18 24 O 18
U 8 15 U 8 15 U 8 15
CO T 22 CO T 22 CO T 22
12 12 12
M 19 M 19 M 19
G 16 23 G 16 23 G 16 23
20 20 20
11 220 11 220 11 220
0V V 24 0V V 24 0V V 24
AC AC AC
PO PO PO
W W W
ER ER ER
Copyright Pepperl+Fuchs, Printed in Germany

Pepperl+Fuchs Group · Tel.: Germany (6 21) 7 76-11 11 · USA (3 30) 4 25 35 55 · Singapore 7 79 90 91 · Internet http://www.pepperl-fuchs.com
Installation

Installation
Carry out electrical installation like this: Pay attention to the following interrelationships:
Find the block diagram of the main unit FC-21-V on page 28..
Find specifications of terminals on page 29. Absolute encoder:
Realize all electrical circuits outside the frame »FC-21-V« Set points depend on rotation direction
yourself.
Install electrical cable like this:

Lay the input, output, and power supply cables in isolation from
eath other. Start signal:
Ensure that they do not pass over the main unit. If start signal is switched off (terminal 2: 0 V DC) all output
Isolate also the connection cables of the external display unit terminals are closed.
and the absolute encoder from the power cables and the power If start signal is switched on (terminal 2: +24 V DC), the main
supply cables. unit will run the selected program depending on the position
returned from the absolute encoder.
Switch off voltage supply and start signal to change program.
Connect voltage supply to FC-21-V like this:

Connect a filter to the power supply line if there are many
induction loads such as motors and AC solenoids which may
generate considerable interference.
Connect terminal 31 (G) to earth.
Use terminals 31, 32 and 34 for 220 V supply.
Use terminals 31, 32 and 33 for 110 V supply. Signal for program selection:
No particular precautions against interference from the power The signal for program selection (terminal 3...5 and 28) must
supply is required. be given 10 ms before start signal.
Choose your program as written on page 33.
Connect absolute encoder like this: Output ON/OFF terminals:

Lay the absolute encoder connection cable separately from The number of output ports (16 or 24) is selected with DIP
power cables such as the motor and clutch cables. switch 4 - see page 36.
Ground the absolute encoder to the earth. The time delay between input signal from absolute encoder
Connect absolute encoder and main unit with a cable with a and switching off outputs is max. 130 µs.
nominal cross section area of 2.5 mm2.
Connect the shield of the abolute encoder cable to 0 V terminal

of the FC-21-V since the shield wire is not connected to the
grounding circuit or the housing of the absolute encoder.
Connect power source voltage to input and output termi- RUN output port (terminal 24):
nals: Use RUN-signal to control peripherical apparatus.
Terminal 1 (0 V) to 0 V DC Therefore switch DIP switch 5 to ON.
Terminal 30 (OUT COM) to +24 V DC The maximum number of output ports is then 23.
of an external supply. The RUN output port is switch to ON only for nomal operation
(ON for operation mode PRG, TEST and RUN), otherwise it is
switched to OFF (OFF for CPU faulty, changing storage and
voltage decrease).
The time delay between switching from PRG to RUN (or TEST)
and switching on peripherical apparatus is max. 35 ms.
Installation
Block diagram
Input and output ports
of cam switch FC-21-V
24 V DC = EXTERNAL voltage supply!

Installation
Specifications terminals
Terminal No. Symbol Description
1 0V Negative common terminal of each input and output
2 START Switching this terminal to +24 V the selected pattern (terminal

3...5, 28) is started and the cam outputs are open
ON: 16...30 V, 12 mA max
OFF: 0...6 V, 2 mA max
3 Bank 1 = 1 (BCD) Terminals for program selection: BCD-coded

4 Bank 2 = 2 (BCD) ON: 16...30 V, 12 mA max
5 Bank 3 = 4 (BCD) OFF: 0...6 V, 2 mA max
6...29 OUT 1...OUT 24 Output ports: PNP - open collector

Umax: UB - 3 V; Imax: 30 mA short circuit-proof
28 OUT 23 Output terminal 23 or bank 4 = 8 BCD for program selection

or Bank 4 = 8 (BCD) with resolution - 360 and if only 16 ouput ports are selected.
(DIP switch 4 to ON)
29 OUT 24 Output terminal 24, if DIP switch 5 is set to OFF,

or RUN otherwise RUN-output to control peripherical apparatus.
30 OUT COM Power supply for output ports + 24 V DC (UB) 30 V max
31 G Earth: Grounding terminal of chassis and trans-shield
32 N In circuit with terminal 33 or 34
33 110 V (L) Connecting with terminal 32: voltage supply 110 V AC
34 220 V (L) Connecting with terminal 32: voltage supply 220 V AC
C1...C10 20...29 Input signals of absolute encoder:

ON: 10...13.8 V, 3 mA
OFF: 0...2 V, 1 mA max
C11, C12 + 12 V Voltage supply of absolute encoder:

C15, C16 0V 10.8...13.2 V DC; 70 mA max
Notes
Contents
Operation
Page
Starting FC-21-V _________________________________________________________ 32
Changing program _______________________________________________________ 33
Adjust cams _____________________________________________________________ 34

Operation
Starting FC-21-V
1. Switch on voltage supply

Voltage supply is switched on by:
(Write down here how to do this with your apparatus, e.g. switch
on main switch of switch cupboard)
___________________________________________
___________________________________________
2. Check for correct operation mode

The FC-21-V operates correctly, if
- both LEDs RUN and POWER light up
- program number lights up on BANK
- position number lights up on POSITION
If LEDs RUN or POWER are dark

- go to trouble detection - page 59
3. Clear errors (if E... is displayed)

If an error is displayed on POSITION (e.g. here E16):
- go to trouble detection - page 60
Operation
Changing program
4. Change program
If you like to run another program, but not the displayed one,
change program like this:
- Select another program from the EEPROM - see step 5.
- Read another program from cassette - see page 52
- Write a new program - see page 42 and 43
5. Select another program from the EEPROM

Look into your application form to know the program number.
Switch off voltage supply or start signal (terminal 2 = OFF)
Switch terminal 3...5 and 28 (BANK 1...4) according to the
opposite chart (Write down here the position of an optional
switch, if mounted)
_________________________________________________
Switch on voltage supply
6. Check program
You can check following parts of the program:
- Value of zero point compensation - see page 44
- Set points of cam circuits - see page 46 and 47 Check of zero point
correction value
Operation
Adjusting cams
7. Adjust set points

You can change set points of every cam circuit:
- during operation mode - see page 50
- with machine position during writing by teaching method
- see page 43
8. Save program on cassette

You can save the memory of the EEPROM to a commercial
cassette
- Write to tape (SAVE) - see page 51
Contents
Programming
Page
Set DIP switches _________________________________________________________ 36
Short instruction programming _____________________________________________ 37
Schema for programming _________________________________________________ 40
Initial setting ____________________________________________________________ 41
Writing by keying in ______________________________________________________ 42
Writing by teaching method _______________________________________________ 43
Check zero point correction value __________________________________________ 44
Change zero point correction value _________________________________________ 45
Read out of set points ____________________________________________________ 46
Read out of cam output status _____________________________________________ 47
Clearing of particular cam output port setting ________________________________ 48
Change set point in programming mode _____________________________________ 49
Change set point in TEST-mode ____________________________________________ 50
Write to tape (SAVE) ______________________________________________________ 51
Read out of tape (LOAD) __________________________________________________ 52
Verification with tape _____________________________________________________ 54

Programming
Set DIP switches

Previously switch off voltage supply!
Programming
short instruction programming

Switch key at programmer to PRG.
Switch voltage supply.
Programming
Short instruction programming

Programming
Short instruction programming

Programming
41
42
54
42
43
44
45
46
47
48
49
51
54
Programming
36
Programming
41
Programming
41
Programming
Programming
Programming
Read out of
set points
Select
program number
Select
output port
Enter
start position
Display
next set point
Display
next set point
Display
further
YES set points?
NO
Display
further
YES output ports?
NO
Display
further
programs? YES
NO
Save
program
End
Programming
Programming
Programming
48
42
43
Programming
Programming
Programming
Programming
58
Programming
Programming
58
Notes
Contents
Trouble detection
ouble
Page
List of error codes _______________________________________________________ 58
General trouble detection _________________________________________________ 59
Check input and output circuits ____________________________________________ 60
Check input and output ports ______________________________________________ 61
Check central processing unit (CPU) ________________________________________ 62
Check memory contents (EEPROM) _________________________________________ 63
Check memory contents (RAM) ____________________________________________ 64

Trouble cetection
List of error codes

(Clear display of error meassage by pressing key C)
Error code Error Description Remedy
E01 Input error Input keys were pressed Pay attention to correct sequence
in wrong sequence
E11 Bank No. error False bank is specified Check of bank number (DIP switch 2...4)
E12 Cam No. error False cam No. is specified Check of output port numbers (DIP switch 2...4)
E13 Position setting error False position is set Check of resolutin (DIP switch 2...4)
E14 Writr protection error Written in write protection Switch OFF power supply and set DIP switch 6 to OFF
condition position for writing
E15 Overlapped position A position is set in a range Clear previous setting before updating. Refer to operating
setting already set procedure table on page 37 and 38 (No. 10...12)
E16 DIP switch error Setting of DIP switch Switch OFF power supply, reset DIP switch, and switch ON
change power supply in PRG mode
E17 Bank input error False bank is entered Check number of banks (DIP switch 2...4). Check bank selec-
tion signal
E18 Encoder signal error Input of false encoder data Check of resolution (DIP switch 2, 3). Check of encoder input
or wrong model circuit
E21 Memory change error User memory content Switch OFF power supply and check DIP switch. Switch ON
changes power supply in PRG mode
E22 Memory error Parity-Check of RAM Switch OFF power supply and check DIP switch. Switch ON
memory is negative power supply in PRG mode
E25 Cassette tape Memory contents are Re-record or re-load

verification error different from information
recorded on tape
E26 Program load error False set of DIP switch Switch OFF power supply and check DIP switch. Switch ON
power supply in PRG mode
Trouble detection
60
62
63
Trouble detection
Trouble detection
Check input and output ports
Input ports: (Start, Bank 1...4)
Output ports: (1...24)

Trouble detection
Trouble detection
Trouble detection
Contents
Appliction
Page
Application from _________________________________________________________ 66

Application
Notes
Notes
With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical Industry, as published by
the Central Association of the 'Elektrotechnik und Elektroindustrie (ZVEI) e.V.',
including the supplementary clause "Extended reservation of title"
We at Pepperl+Fuchs recognise a duty to make a contribution to the future.

For this reason, this printed matter is produced on paper bleached without the use of chlorine.
One Company, Two Divisions.
Factory Automation Process Automation
Division Division
Product Range Product Range

Binary and analog sensors Signal conditioners
in different technologies Intrinsically safe interface modules
Inductive and capacitive sensors Remote process interface
Magnetic sensors Intrinsically safe field bus solutions
Ultrasonic sensors Level control sensors
Photoelectric sensors Process measuring and control systems
Incremental and absolute rotary encoders engineering at the interface level
Counters and control equipment Intrinsic safety training
ID systems
AS-Interface
Areas of Application Areas of Application

Machine engineering Chemical industry
Conveyor or transport Industrial and community sewage
Packaging and bottling Oil, gas and petrochemical industry
n Automobile industry PLC and process control systems
Engineering companies for process systems
Service Area
Worldwide sales, customer service and consultation via competent and reliable Pepperl+Fuchs
associates ensure that you can contact us wherever or whenever you need us. We have subsidiaries
worldwide for your convenience.
The Pepperl+Fuchs Group

USA Headquarter Worldwide Headquarter
Pepperl+Fuchs Inc. · 1600 Enterprise Parkway Pepperl+Fuchs GmbH · Königsberger Allee 87
Twinsburg, Ohio 44087 · Cleveland-USA 68307 Mannheim · Germany
Tel. (330) 4 25 35 55 · Fax (330) 4 25 93 85 Tel. +49 621 7 76-0 · Fax +49 621 7 76-10 00
e-mail: sales@us.pepperl-fuchs.com http://www.pepperl-fuchs.com
e-mail: fa-info@de.pepperl-fuchs.com
Asia Pacific Headquarter
Pepperl+Fuchs Pte Ltd. · P+F Building
18 Ayer Rajah Crescent · Singapore 139942
Tel. (65) 7 79 90 91 · Fax (65) 8 73 16 37
e-mail: sales@sg.pepperl-fuchs.com
Subject to reasonable modifications due to technical advances · Copyright PEPPERL+FUCHS · Printed in Germany · Part. No. 25 353 09/99 03

Manual: Absolute Encoder and Cam Switch FC-21-V

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FACTORY AUTOMATION Manual

Absolute encoder and

We at Pepperl+Fuchs recognise a duty to make a contribution to the future.

Programmable cam switch FC-21-V

The programmable cam switch FC-21-V corresponds to a

Every cam circuit corresponds to a cam output port at the

The position of the machine to be controlled is given by an

Depending on the type of the used absolute encoder 360,

Start and end of a cam must be programmed with the pro-

Up to 10 pattern may be stored (in an EEPROM) in the main

Date of issue 03.02.1997

Absolute encoder and cam switc

Trouble detection ________________________________________________________ 57

Main unit FC-21-V _________________________________________________________ 8

Programmer FC-20P ______________________________________________________ 11

Absolute encoder TRD-AK...-GC ____________________________________________ 12

Main unit FC-21-V

Part. No. 23382

OUT 220V AC POWER

Operation mode RUN Bank OUT

CPU faulty RUN

Programmer Pepperl +Fuchs 4 8 12 16 20 24

OUT 220V AC POWER

Voltage supply 220/110 V AC

Accessorries: Mounting screws with nuts

Main unit FC-21-V

Power source voltage: FC-21-V: 93...126/195...264 V AC voltage 50/60 Hz

Operating temperature range: 0°...50°C

Storing temperature: -20°...-70°C

Withstanding humidity: 45%...85% (No condensing)

Dielectric power: 2 kV, 1 minute between AC input, output terminals

Shock resistance: 10 G in 3 axis directions

Noise immunity: between AC-terminals: 1 kV (pulse width: 1µs, leading edge

Main unit FC-21-V

Control input: 1 Start-input; 4 bank change input

Resolution: 360; 512; 720 or 1024 positions (DIP switch)

Output ports: 16 or 24 (DIP switch)

Number of output ON/OFF: max. (resolution/2) for every output port

Maximum responding revolutions: Resolution: Min.distance of set points

revolutions per minute:

Storage memory: EEPROM

Display bank: 7-segment display LED Height of character

Absolute encoder TRD-AK360-GC

Plug MR16-L connecting cable between

Connecting cable (complete) between absolute encoder and

Starting torque: 4 N cm (20°C)

Shaft inertia moment: 1 N cm2

Allowable shaft load: Radial: 100 N; Thrust: 50 N

Allowable number of maximum rotations: 5000 rpm

Connection: Connector (Fabr. BINDER, Serie 723, 12 pol.)

Weight: Approx. 0.7 kg

Operation temperature range: -10 °C...+50 °C

Withstanding humidity: 35%...85% (No condensing)

Storing temperature: -25 °C...+80 °C

Insulation resistance: More than 10 MΩ (at 500 V AC)

Vibration resistance: Displacement amplitude: 0.75 mm, 10...55 Hz for 3 axis

Shock resistance: 100 G, 11 ms for 3 axis directions

Preventive construction: IEC-standard IP65