FHPP for motor controller CMMP-AS-...-M3

FHPP for motor controller
CMMP-AS-...-M3
Description
Festo handling and
positioning profile
via fieldbus:
– CANopen
– PROFINET
– PROFIBUS
– EtherNet/IP
– DeviceNet
– EtherCAT
with interface:
– CAMC-F-PN
– CAMC-PB
– CAMC-F-EP
– CAMC-DN
– CAMC-EC
for motor controller
CMMP-AS-...-M3
760338
1205NH
CMMP-AS-...-M3
Translation of the original instructions
GDCP-CMMP-M3-C-HP-EN
CANopen®, PROFINET®, PROFIBUS®, EtherNet/IP®, STEP 7®, DeviceNet®, EtherCAT®, TwinCAT®,
Beckhoff®, Rockwell® are registered trademarks of the respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.
2
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
CMMP-AS-...-M3
Table of contents – CMMP-AS-...-M3 – FHPP
1
Overview of FHPP with motor controller CMMP-AS-…-M3 . . . . . . . . . . . . . . . . . . . . . . . . .
11
1.1
1.2
Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Mounting interface CAMC-... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
12
13
2
CANopen with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
2.1
2.2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Connection and display components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 CAN LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Pin assignments of CAN-interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of CANopen stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Setting of the node number with DIP switches and FCT . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Setting of the transmission rate with DIP switches . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Activation of CANopen communication with DIP switches . . . . . . . . . . . . . . . . . . .
2.3.4 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 Setting of the optional use of FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration CANopen master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 PDO Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 SDO Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.4 SYNC message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.5 EMERGENCY Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.6 Network Management (NMT Service) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.7 Bootup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.8 Heartbeat (Error Control Protocol) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.9 Nodeguarding (Error Control Protocol) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.10 Table of Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
15
15
15
15
16
17
18
19
19
19
19
20
20
20
21
23
25
26
29
31
32
33
35
3
PROFINET-IO with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
3.1
3.2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFINET interface CAMC-F-PN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Supported protocols and profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Connection and display components at the interface CAMC-F-PN . . . . . . . . . . . . . .
3.2.3 PROFINET LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4 Pin allocation for PROFINET interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.5 PROFINET copper cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
37
37
38
38
39
39
2.3
2.4
2.5
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
3
CMMP-AS-...-M3
3.3
3.4
3.5
3.6
Configuration PROFINET-IO participants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Activation of PROFINET communication with DIP switches . . . . . . . . . . . . . . . . . . .
3.3.2 Parameterisation of the PROFINET interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Commissioning with the Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . .
3.3.4 Setting the interface parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5 IP address allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.6 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.7 Setting of the optional use of FPC and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification & service function (I&M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration PROFINET master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Channel diagnostics – extended channel diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
40
40
41
41
41
42
42
42
43
44
4
PROFIBUS DP with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
4.1
4.2
4.4
4.5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profibus interface CAMC-PB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Connection and display components at the interface CAMC-PB . . . . . . . . . . . . . . .
4.2.2 PROFIBUS LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Pin assignment of PROFIBUS interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4 Termination and bus terminating resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS station configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Setting the bus address with DIP switches and FCT . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Activation of PROFIBUS communication with DIP switches . . . . . . . . . . . . . . . . . . .
4.3.3 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.4 Setting of the optional use of FPC and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.5 Storing the configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS master configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
45
45
46
46
46
48
48
49
50
50
50
51
52
5
EtherNet/IP with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
5.1
5.2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EtherNet/IP-Interface CAMC-F-EP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection and display components at the interface CAMC-F-EP . . . . . . . . . . . . . .
5.2.2 EtherNet/IP LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Pin allocation Ethernet/IP interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 EtherNet/IP copper cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration EtherNet/IP stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Activation of the EtherNet/IP communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Parameterisation of the Ethernet/IP interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Commissioning with the Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . .
5.3.4 Setting the IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.5 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.6 Setting of the optional use of FPC and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
53
54
54
55
55
56
56
56
57
57
58
58
4.3
5.3
4
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
CMMP-AS-...-M3
5.4
Electronic data sheet (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
6
DeviceNet with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
6.1
6.4
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 I/O connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Optional use of FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3 Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DeviceNet interface CAMC-DN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Display and control elements at the CAMC-DN interface . . . . . . . . . . . . . . . . . . . . .
6.2.2 DeviceNet LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Pin allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration DeviceNet participants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Setting the MAC ID with DIP switches and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Setting of the transmission rate using DIP switches . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Activation of DeviceNet communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.5 Setting of the optional use of FPC and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electronic data sheet (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
66
66
66
67
67
67
68
69
70
70
71
71
71
72
7
EtherCAT with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
7.1
7.2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EtherCAT CAMC-EC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Connection and display components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 EtherCAT LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Pin allocation and cable specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of EtherCAT stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Activation of EtherCAT communication with DIP switches . . . . . . . . . . . . . . . . . . . .
7.3.2 Setting of the physical units (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Setting of the optional use of FPC and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHPP with EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration EtherCAT Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Fundamental structure of the XML device description file . . . . . . . . . . . . . . . . . . . .
7.5.2 Receive PDO configuration in the RxPDO node . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.3 Transmit PDO configuration in the TxPDO node . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.4 Initialisation commands via the “Mailbox" node . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen communication interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.1 Configuration of the Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.2 New and revised objects under CoE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.3 Objects not supported under CoE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.1 Differences between the finite state machines of CANopen and EtherCAT . . . . . . .
SDO Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
84
84
84
85
87
87
88
88
89
90
90
92
94
94
95
95
98
104
106
108
109
6.2
6.3
7.3
7.4
7.5
7.6
7.7
7.8
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
5
CMMP-AS-...-M3
7.9
7.10
7.11
7.12
PDO Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronisation (Distributed Clocks) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
112
112
113
8
I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
8.1
Setpoint specification (FHPP operation modes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Switching the FHPP operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1 Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.2 I/O data in the various FHPP operating modes (control view) . . . . . . . . . . . . . . . . .
Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . . . . . . . . . . . . .
Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1 Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2 Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.3 Control byte 3 (CDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.4 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.5 Bytes 3 and 4 ... 8 – record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.1 Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.2 Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.3 Status byte 3 (SDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.4 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.5 Bytes 3, 4 and 5 ... 8 – record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.1 Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.3 Extended finite state machine with cam disc function . . . . . . . . . . . . . . . . . . . . . . .
8.6.4 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
114
114
114
115
115
115
117
118
118
119
120
121
121
122
122
123
124
125
125
127
129
130
132
133
9
Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
138
9.1
9.2
9.3
Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Calculating specifications for the measuring reference system . . . . . . . . . . . . . . . . . . . . . .
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Record selection flow diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
138
139
140
140
141
146
147
149
150
8.2
8.3
8.4
8.5
8.6
9.4
9.5
9.6
6
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
CMMP-AS-...-M3
9.6.2 Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.3 Conditional record switching / record chaining (PNU 402) . . . . . . . . . . . . . . . . . . .
9.7 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.1 Position control process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2 Sequence for force mode (torque, current control) . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.3 Speed adjustment process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8 Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9 Flying measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10 Operation of cam discs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1 Cam disc function in direct mode operating mode . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.2 Cam disc function in record selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.3 Parameters for the cam disc function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.4 Extended finite state machine with cam disc function . . . . . . . . . . . . . . . . . . . . . . .
153
153
156
157
158
159
160
162
162
162
163
163
163
10
164
Malfunction behaviour and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Classification of malfunctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.2 Malfunction type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.3 Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Diagnostic memory (malfunctions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Warning memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
164
164
165
165
166
166
167
A
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
168
A.1
Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 Calculation of the position units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Calculating the speed units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.5 Calculating the acceleration units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
168
168
169
169
172
173
B
Reference parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
176
B.1
B.2
B.3
B.4
FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.1 Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.2 PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.3 Device data – Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.4
Device data – extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.6 Process Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
176
176
177
185
185
186
188
188
191
198
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
7
CMMP-AS-...-M3
B.4.7
B.4.8
B.4.9
B.4.10
B.4.11
B.4.12
B.4.13
B.4.14
B.4.15
B.4.16
B.4.17
B.4.18
B.4.19
B.4.20
B.4.21
B.4.22
B.4.23
B.4.24
B.4.25
Flying measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – General Project Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Teach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Jog Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Direct Mode Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Direct Mode, Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Direct Mode Speed Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Project Data – Direct Mode General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function Data – Cam Disc Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function Data – Position and Rotor Position Switch . . . . . . . . . . . . . . . . . . . . . . . .
Axis Parameters Electrical Drives 1 – Mechanical Parameters . . . . . . . . . . . . . . . . .
Axis Data Electrical Drives 1 - Homing Parameters . . . . . . . . . . . . . . . . . . . . . . . . .
Axis Parameters Electrical Drives 1 – Controller Parameters . . . . . . . . . . . . . . . . . .
Axis Parameters Electric Drives 1 – Electronic Rating Plate . . . . . . . . . . . . . . . . . . .
Axis Parameters Electric Drives 1 – Standstill Monitoring . . . . . . . . . . . . . . . . . . . .
Axis Parameters for Electric Drives 1 – Following Error Monitoring . . . . . . . . . . . . .
Axis Parameters for Electric Drives 1 – Other Parameters . . . . . . . . . . . . . . . . . . . .
Function Parameters for Digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
203
203
213
214
214
215
216
217
218
219
220
223
226
227
230
230
231
232
232
C
Festo Parameter Channel (FPC) and FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
233
C.1
Festo parameter channel (FPC) for cyclic data (I/O data) . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.1 Overview of FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2 Task identifiers, response identifiers and error numbers . . . . . . . . . . . . . . . . . . . . .
C.1.3 Rules for job reply processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.1 FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.2 Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.4 Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.5 Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
233
233
234
235
238
238
238
239
239
239
D
Diagnostic messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
240
E
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
288
C.2
8
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
CMMP-AS-...-M3
Instructions on this documentation
This documentation includes the Festo Handling and Position Profile (FHPP) for the motor controller
CMMP-AS-…-M3 corresponding to the section “Information on the version”.
This provides you with supplementary information about control, diagnostics and parameterisation of
the motor controllers via the fieldbus.
• Unconditionally observe the general safety regulations for the CMMP-AS-…-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the hardware
documentation, GDCP-CMMP-M3-HW-... Tab. 1.
Target group
This documentation is intended exclusively for technicians trained in control and automation technology, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This documentation refers to the following versions:
– Motor controller CMMP-AS-...-M3 from Rev 01
– Firmware from Version 4.0.1501.1.0
– FCT plug-in CMMP-AS from Version 2.0.x.
This description does not apply to the older variants CMMP-AS-... (without M3). For these
variants, use the assigned FHPP description for the motor controller CMMP-AS, CMMS-ST,
CMMS-AS and CMMD-AS.
Note
With newer firmware versions, check whether there is a newer version of this documentation available www.festo.com
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
9
CMMP-AS-...-M3
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type
Contents
Hardware description,
GDCP-CMMP-M3-HW-...
Description of functions,
GDCP-CMMP-M3-FW-...
Description FHPP,
GDCP-CMMP-M3-C-HP-...
Description CiA 402 (DS 402),
GDCP-CMMP-M3-C-CO-...
Description CAM-Editor,
P.BE-CMMP-CAM-SW-...
Description safety module,
GDCP-CAMC-G-S1-...
Help for the FCT plug-in CMMP-AS
Tab. 1
10
Mounting and installation for all variants/power classes
(1-phase, 3-phase), pin assignments, error messages,
maintenance.
Instructions on commissioning with FCT + functional description
(firmware). Overview of FHPP, fieldbus, safety engineering.
Control and parameterisation of the motor controller through
the Festo profile FHPP with the following fieldbusses: CANopen,
PROFIBUS, DeviceNet, EtherCAT.
Control and parameterisation of the motor controller through
the device profile CiA 402 (DS402) with the following
fieldbusses: CANopen and EtherCAT.
Cam disc function (CAM) of the motor controller.
Functional safety engineering for the motor controller with the
safety function STO.
User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool.
www.festo.com
Documentation on the motor controller CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
1
Overview of FHPP with motor controller CMMP-AS-…-M3
1
Overview of FHPP with motor controller CMMP-AS-…-M3
1.1
Overview of Festo Handling and Positioning Profile (FHPP)
Festo has developed an optimised data profile especially tailored to the target applications for handling and positioning tasks, the “Festo Handling and Positioning Profile (FHPP)”.
The FHPP enables uniform control and parameterisation for the various fieldbus systems and controllers from Festo.
In addition, it defines for the user in a largely uniform way
– Operating modes,
– I/O data structure,
– parameter objects,
– sequence control.
...
Fieldbus communication
Record selection
1
>
Direct mode
Position
Speed
Parameterisation
Torque
Free access to parameters – read
and write
2
3
...
n
...
Fig. 1.1
Principle of FHPP
Control and status data (FHPP Standard)
Communication over the fieldbus is effected by way of 8-byte control and status data. Functions and
status messages required in operation can be written and read directly.
Parameterisation (FPC)
The controller can access all parameter values of the controller via the fieldbus through the parameter
channel. A further 8 bytes of I/O data are used for this purpose.
Parameterisation (FHPP+)
The I/O expansion FHPP+ allows additional PNUs configured by the user to be transmitted via the
cyclic telegram in addition to the control and status bytes and the optional parameter channel (FPC).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
11
1
Overview of FHPP with motor controller CMMP-AS-…-M3
1.2
Fieldbus interfaces
Control and parameterisation through FHPP is supported in the CMMP-AS-...-M3 through various fieldbus interfaces conforming to Tab. 1.1. The CANopen interface is integrated into the motor controller;
through interfaces, the motor controller can be extended with one of the following fieldbus interfaces.
The fieldbus is configured with the DIP switches [S1].
Fieldbus
Interface
Slot
Description
CANopen
PROFINET
PROFIBUS
EtherNet/IP
DeviceNet
EtherCAT
[X4] – integrated
Interface CAMC-F-PN
Interface CAMC-PB
Interface CAMC-F-EP
Interface CAMC-DN
Interface CAMC-EC
–
Ext2
Ext2
Ext2
Ext1
Ext2
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Tab. 1.1 Fieldbus interfaces for FHPP
5
4
1
3
2
1
2
DIP switches [S1] for fieldbus settings on the
switch or safety module in the Ext3 slot
Slots Ext1/Ext2 for interfaces
Fig. 1.2
12
3
4
5
CANopen terminating resistor [S2]
CANopen interface [X4]
CAN-LED
Motor controller CMMP-AS-...-M3: Front view, example with micro switch module in Ext3
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
1
1.2.1
Overview of FHPP with motor controller CMMP-AS-…-M3
Mounting interface CAMC-...
Note
Before performing mounting and installation work, observe the safety instructions in
the hardware description GDCP-CMMP-M3-HW-... and the accompanying assembly
instructions.
1.
2.
3.
4.
Unscrew screw with spring washer on the cover of the permissible slot ( Tab. 1.1).
Lever out and remove cover laterally with a small screwdriver.
Guide interface into the empty slot so the printed circuit board runs in the guides of the slot.
Insert interface; when you have reached the rear contact strip within the motor controller, carefully
press it into the contact strip until it stops.
5. Finally, screw the interface to the front side of the motor controller housing with the screw with
spring washer. Tightening torque: approx. 0.35 Nm.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
13
2
CANopen with FHPP
2
CANopen with FHPP
2.1
Overview
This part of the documentation describes connection and configuration of the motor controller
CMMP-AS-…-M3 in a CANopen network. It is directed at people who are already familiar with the bus
protocol.
CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manufacturers are organised in this network. This standard has largely replaced the current manufacturerspecific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 … 207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopen manual, so procurement of
DS201 … 207 is generally not necessary.
CiA 301:
This book describes the fundamental design of the object directory of a CANopen device and access to
it. The statements of DS201 … 207 are also made concrete. The elements of the object directory
needed for the CMMP motor controller families and the related access methods are described in this
manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
Source address:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: +49 (0)9131-601091
Fax: +49 (0)9131-601092
www.can-cia.org
14
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
2
CANopen with FHPP
2.2
CAN interface
The CAN-interface is already integrated into the motor controller CMMP-AS-…-M3 and thus is always
available. The CAN bus connection is designed as a 9-pin DSUB plug in accordance with standards.
2.2.1
Connection and display components
The following components can be found on the front plate of the CMMP-AS-…-M3:
– Status LED “CAN”
– a 9-pin D-SUB plug [X4]
– a DIP switch for activation of the terminating resistor.
2.2.2
CAN LED
The LED CAN on the motor controller displays the following:
LED
Status
Off
Flickers yellow
Lights up yellow
No telegrams are sent
Acyclic communication (telegrams are send only when data change)
Cyclic communication (telegrams are sent permanently)
Tab. 2.1
2.2.3
[X4]
CAN LED
Pin assignments of CAN-interface
Pin no.
1
6
2
7
3
8
4
9
5
Tab. 2.2
Designation
Value
Description
CAN-GND
CAN-L
CAN-H
CAN-GND
CAN shield
-
Not assigned
Ground
Negative CAN signal (dominant low)
Positive CAN signal (dominant high)
Ground
Not assigned
Not assigned
Not assigned
Screening
Pin assignment for CAN-interface
CAN bus cabling
When cabling the motor controller via the CAN bus, you should unconditionally observe
the subsequent information and instructions to obtain a stable, trouble-free system.
If cabling is improperly done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for safety reasons.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Termination
A terminating resistor (120 Ω) can, if required, be switched by means of DIP switches S2 (CAN Term) on
the basic unit.
2.2.4
Cabling instructions
The CAN bus offers a simple, fail-safe ability to network all the components of a system together. But a
requirement for this is that all of the following instructions on cabling are observed.
CAN shield
CAN shield
CAN shield
CAN-GND
CAN-GND
CAN-GND
CAN-L
CAN-H
CAN-L
CAN-H
CAN-L
CAN-H
120 Ω
Fig. 2.1
120 Ω
Cabling example
– The individual nodes of the network are connected point-to-point to each other, so the CAN cable is
looped from controller to controller ( Fig. 2.1).
– At both ends of the CAN cable, there must be available a terminating resistor of exactly 120 Ω ±-5%.
Such a terminating resistor is often already integrated into CAN cards or PLCs, which must be taken
into account correspondingly.
A terminating resistor (120 Ω) can, if required, be switched by means of DIP switches S2 (CAN Term)
on the motor controller CMMP-AS-…-M3.
– Screened cables with exactly two twisted conductor pairs must be used.
One twisted conductor pair is used for connecting CAN-H and CAN-L. The conductors of the other
pair are used together for CAN-GND. The cable screening is connected to the CAN shield connection
at all nodes. (A table with the technical data of usable cables is located at the end of this chapter.)
– The use of adapters is not recommended for CAN bus cabling. If this is unavoidable, then metallic
plug housings should be used to connect the cable screening.
– To keep the disturbance coupling as low as possible, motor cables should always be laid in accordance with the specification, not parallel to signal lines, and properly screened and earthed.
– For additional information on design of trouble-free CAN bus cabling, refer to the Controller Area
Network protocol specification, Version 2.0 from Robert Bosch GmbH, 1991.
16
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Characteristic
Wire pairs
Wire cross section
Screening
Loop resistance
Surge impedance
Tab. 2.3
2.3
Value
–
[mm2]
–
[Ω / m]
[Ω]
2
≥ 0.22
Yes
< 0.2
100…120
Technical data, CAN bus cable
Configuration of CANopen stations
Several steps are required in order to produce an operational CANopen interface. Some of these settings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parameterisation and configuration. As
some parameters are only effective after saving and reset of the controller, we recommend that commissioning with the FCT should be carried out first without connection to the CANopen bus.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be undertaken first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the offset of the node number, bit rate and activation of the bus communication via DIP
switches.
The status of the DIP switches is read one time at Power ON / RESET.
The CMMP-AS-...-M3 takes over changes to the switch setting in ongoing operation only
at the next RESET or restart
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
– Basic address of the node number
– Festo FHPP protocol (Operation Parameters tab)
– Physical units (Factor Group tab)
– Optional use of FHPP+ (FHPP+ Editor tab)
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Observe that the parameterisation of the CANopen function only remains intact after a
reset if the parameter set of the motor controller was saved.
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopen master sections 2.4 and 2.5.
2.3.1
Setting of the node number with DIP switches and FCT
Each device in the network must be assigned a unique node number.
The node number can be set via the DIP switches 1 … 5 on the module in slot Ext3 and in the program
FCT.
The resulting node number consists of the base address (FCT) and the offset
(DIP switches).
Permissible values for the node number lie in the range 1 … 127.
Setting of the offset of the node number with DIP switches
The node number can be set with DIP switches 1 … 5. The offset of the node number set via DIP
switches 1…5 is displayed in the program FCT on the Fieldbus page in the Operating Parameters tab.
DIP switch
Value
1
2
3
4
5
Sum of 1 … 5 = offset
ON
1
2
4
8
16
1 … 31 1)
1)
Example
OFF
0
0
0
0
0
ON
ON
OFF
ON
ON
Value
1
2
0
8
16
27
The value 0 for the offset is interpreted in connection with a base address 0 as node number 1.
A node number larger than 31 must be set with the FCT.
Tab. 2.4
Setting of the offset of the node number
Setting the base address of the node number with FCT
With the Festo Configuration Tool (FCT), the node number is set as base address on the Fieldbus page in
the Operating Parameters tab.
Default setting = 0 (that means offset = node number).
If a node number is assigned simultaneously via DIP switches 1…5 and in the FCT program, the resulting node number consists of the sum of the base address and the offset.
If this sum is greater than 127, the value is automatically limited to 127.
18
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
2.3.2
Setting of the transmission rate with DIP switches
The transmission rate must be set with DIP switches 6 and 7 on the module in slot Ext3. The status of
the DIP switches is read one time at Power ON/RESET. The CMMP-AS-...-M3 takes over changes to the
switch setting in ongoing operation only at the next RESET.
Transmission rate
125
250
500
1
Tab. 2.5
[Kbit/s]
[Kbit/s]
[Kbit/s]
[Mbps]
DIP switch 6
DIP switch 7
OFF
ON
OFF
ON
OFF
OFF
ON
ON
Setting of the transmission rate
2.3.3
Activation of CANopen communication with DIP switches
When the node number und transmission rate have been set, CANopen communication can be activated. Please note that the above-mentioned parameters can only be revised when the protocol is deactivated.
CANopen communication
DIP switch 8
Disabled
Enabled
OFF
ON
Tab. 2.6
Activation of CANopen communication
Please observe that CANopen communication can only be activated after the parameter set (the FCT
project) has been saved and a Reset carried out.
If another fieldbus interface is plugged into Ext1 or Ext2 ( section 1.2), CANopen communication is activated with DIP switch 8 instead of via [X4] of the corresponding fieldbus.
2.3.4
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
2.3.5
Setting of the optional use of FHPP+
Besides the control or status bytes and the FPC, additional I/O data can be transmitted section C.2.
This is set via the FCT (page Fieldbus, tab FHPP+ Editor).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
2.4
Configuration CANopen master
You can use an EDS file to configure the CANopen master.
The EDS file is included on the CD-ROM supplied with the motor controller.
You will find the most current version under www.festo.com
Electronic data sheet (EDS) files
Description
CMMP-AS-...-M3_FHPP.eds
Motor controller CMMP-AS-...-M3 with protocol “FHPP”
Tab. 2.7
EDS files for FHPP with CANopen
2.5
Access procedure
2.5.1
Introduction
Order from controller
Control
PDO
CMMP
Control
SDO
(Transmit PDO)
Confirmation from
CMMP
SDO
the controller
Confirmation from
the controller
Control
CMMP
PDO
(Receive PDO)
Data from controller
Fig. 2.2
20
Access procedure PDO and SDO
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Overview of communication objects
PDO
Process Data Object.
SDO
Service Data Object
SYNC
EMCY
NMT
Synchronisation Message
Emergency Message
Network management
HEARTBEAT
Error Control Protocol
Tab. 2.8
The FHPP I/O data are transferred in the PDOs
chapter 8.
Mapping is automatically determined in parameterisation
with FCT section 2.5.2.
Parallel to the FHPP I/O data, a parameter can be
transferred over SDOs corresponding to CiA 402.
Synchronisation of multiple CAN nodes
Transmission of error messages
Network service: All CAN nodes can be worked on
simultaneously, for example.
Monitoring of the communications participants through
regular messages.
Communication objects
Every message sent on the CAN bus contains a type of address which is used to determine the bus
participant for which the message is meant. This number is designated the identifier. The lower the
identifier, the greater the priority of the message. Identifiers are established for the above-named communication objects section 2.5.10. The following sketch shows the basic design of a CANopen message:
Identifier
Number of data bytes (here 8)
Data bytes 0… 7
601h
Len
D0
D1
D2
D3
D4
D5
D6
D7
2.5.2
PDO Message
A distinction is made between the following types of PDOs:
Type
Path
Remark
Transmit PDO
Motor controller Host
Receive PDO
Host motor controller
Motor controller sends PDO when a certain
event occurs.
Motor controller evaluates PDO when a certain
event occurs.
Tab. 2.9
PDO types
The FHPP I/O data are divided among several process data objects for CANopen communication.
This assignment is established through the parameterisation during commissioning with the FCT.
The mapping is thereby automatically created.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Supported process data objects
Data mapping of the FHPP data
TxPDO 1
FHPP standard
8 byte control data
FPC parameter channel
Read/write FHPP parameter values
FHPP+ data1)
Mapping = 8 bytes of FHPP+ data
FHPP+ data1)
Mapping = 8 bytes of FHPP+ data
FHPP standard
8 bytes status data
FPC parameter channel
Transmission of requested FHPP parameter values
FHPP+ data1)
Mapping = 8 bytes of FHPP+ data
FHPP+ data1)
Mapping = 8 bytes of FHPP+ data
TxPDO 2
TxPDO 3 (optional)
TxPDO 4 (optional)
RxPDO 1
RxPDO 2
RxPDO 3 (optional)
RxPDO 4 (optional)
1)
Optional if parameterised through the FCT (page Fieldbus – tab FHPP+ Editor)
Tab. 2.10 Overview of supported PDOs
You can find the allocation of the FHPP I/O data in chapter 8.
22
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
2.5.3
SDO Access
Through the service data objects (SDO), the CiA 402 object directory of the motor controller can be
accessed.
Observe that the contents of FHPP parameters (PNUs) can differ from the CiA objects. In
addition, not all objects are available in an active FHPP protocol.
You will find documentation of the objects in the description CiA 402.
SDO access always starts from the higher-order controller (Host). This either sends the motor controller a write command to modify a parameter in the object directory or a read command to read a parameter. For each command, the host receives an answer that either contains the read-out value or – in
the case of a write command – serves as an acknowledgement.
For the motor controller to recognise that the command is meant for it, the host must send the command with a specific identifier. This identifier is made up of the base 600h + node number of the motor
controller. The motor controller answers with the identifier 580h + node number.
The design of the commands or answers depends on the data type of the object to be read or written,
since either 1, 2 or 4 data bytes must be sent or received.
SDO Sequences for Reading and Writing
To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
Identifier
8 bits
16 bits
32 bits
Task identifier
Response identifier
Response identifier in case of error
2Fh
4Fh
–
2Bh
4Bh
–
23h
43h
80h
Tab. 2.11 SDO – response/task identifier
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
EXAMPLE
UINT8/INT8
Reading of Obj. 6061_00h
Return data: 01h
40h 61h 60h 00h
Writing of Obj. 1401_02h
Data: EFh
2Fh 01h 14h 02h EFh
4Fh 61h 60h 00h 01h
Reading of Obj. 6041_00h
Return data: 1234h
40h 41h 60h 00h
Command
4Bh 41h 60h 00h 34h 12h
Reading of Obj. 6093_01h
Return data: 12345678h
40h 93h 60h 01h
60h 01h 14h 02h
Writing of Obj. 6040_00h
Data: 03E8h
2Bh 40h 60h 00h E8h 03h
60h 40h 60h 00h
Writing of Obj. 6093_01h
Data: 12345678h
23h 93h 60h 01h 78h 56h 34h 12h
Answer:
43h 93h 60h 01h 78h 56h 34h 12h
60h 93h 60h 01h
Command
Answer:
UINT16/INT16
Command
Answer:
UINT32/INT32
Note
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.
SDO Error Messages
In case of an error when reading or writing (for example, because the written value is too large), the
motor controller answers with an error message instead of the acknowledgement:
Command
23h
60h
00h
…
Answer:
80h 41h 60h
Error identifier
41h
00h
02h 00h 01h 06h
Error code (4 byte)
…
…
…
Error code
Significance
05 03 00 00h
05 04 00 01h
06 06 00 00h
06 01 00 00h
06 01 00 01h
06 01 00 02h
06 02 00 00h
06 04 00 41h
06 04 00 42h
06 04 00 43h
06 04 00 47h
Protocol error: Toggle bit was not revised
Protocol error: Client / server command specifier invalid or unknown
Access faulty due to a hardware problem1)
Access type is not supported.
Read access to an object that can only be written
Write access to an object that can only be read
The addressed object does not exist in the object directory
The object must not be entered into a PDO (e.g. ro-object in RPDO)
The length of the objects entered in the PDO exceeds the PDO length
General parameter error
Overflow of an internal variable / general error
1)
Returned in accordance with CiA 301 in case of incorrect access to store_parameters / restore_parameters.
2)
“Status” here generally: for example, incorrect operating mode, module not on hand, or the like.
3)
Returned, for example, if another bus system controls the motor controller or the parameter access is not permitted.
24
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Error code
Significance
06 07 00 10h
06 07 00 12h
06 07 00 13h
06 09 00 11h
06 09 00 30h
06 09 00 31h
06 09 00 32h
06 09 00 36h
08 00 00 20h
08 00 00 21h
08 00 00 22h
Protocol error: Length of the service parameter does not agree
Protocol error: Length of the service parameter is too large
Protocol error: Length of the service parameter is too small
The addressed subindex does not exist
The data exceed the range of values of the object
The data are too large for the object
The data are too small for the object
Upper limit is less than lower limit
Data cannot be transmitted or stored1)
Data cannot be transmitted/stored; motor controller is working locally
Data cannot be transmitted/stored, since the motor controller is not in the correct
status for this2)
There is no object dictionary available3)
08 00 00 23h
1)
Returned in accordance with CiA 301 in case of incorrect access to store_parameters / restore_parameters.
2)
“Status” here generally: for example, incorrect operating mode, module not on hand, or the like.
3)
Returned, for example, if another bus system controls the motor controller or the parameter access is not permitted.
Tab. 2.12
Error codes SDO access
2.5.4
SYNC message
Several devices of a system can be synchronised with each other. To do this, one of the devices (usually
the higher-order controller) periodically sends out synchronisation messages. All connected controllers
receive these messages and use them for treatment of the PDOs ( chapter 2.5.2).
Identifier
Data length
80h
0
The identifier on which the motor controller receives the SYNC message is set permanently to 080h. The
identifier can be read via the object cob_id_sync.
Index
1005h
Name
cob_id_sync
Object Code
VAR
Data Type
UINT32
Access
PDO mapping
Units
Value Range
Default Value
rw
no
-80000080h, 00000080h
00000080h
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
2.5.5
EMERGENCY Message
The motor controller monitors the function of its major assemblies. These include the power supply,
output stage, angle transmitter evaluation and the slots Ext1 … Ext3. In addition, the motor
(temperature, angle encoder) and limit switch are checked. Incorrect parameter setting can also result
in error messages (division by zero, etc.).
When an error occurs, the error number is shown in the motor controller's display. If several error messages occur simultaneously, the message with the highest priority (lowest number) is always shown in
the display.
Overview
When an error occurs or an error acknowledgment is carried out, the controller transmits an EMERGENCY message. The identifier of this message is made up of the identifier 80h and the node number of
the relevant controller.
0
Error free
1
2
Error occured
4
3
After a reset, the controller is in the status Error free (which it might leave again immediately, because
an error is on hand from the beginning). The following status transitions are possible:
No.
Cause
0
1
Initialisation completed
Error occurs
2
Error acknowledgment
3
Error occurs
4
Error acknowledgment
Tab. 2.13
26
Significance
No error is present and an error occurs. An EMERGENCY telegram with the error code of the occurring error is sent.
An error acknowledgment is attempted, but not all causes have
been eliminated.
An error is present and an additional error occurs. An
EMERGENCY telegram with the error code of the new error is
sent.
An error acknowledgment is attempted, and all causes are eliminated. An EMERGENCY telegram with the error code 0000 is
sent.
Possible status transitions
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Structure of the EMERGENCY Message
When an error occurs, the motor controller transmits an EMERGENCY message. The identifier of this
message is made up of the identifier 80h and the node number of the relevant motor controller.
The EMERGENCY message consists of eight data bytes, whereby the first two bytes contain an
error_code, which is listed in the following table. An additional error code is in the third byte (object
1001h). The remaining five bytes contain zeros.
Identifier: 80h + node number
Error_code
81h
8
E0
E1
0
0
0
0
0
Error_register (object 1001h)
Data length
error_register (R0)
Bit
M/O1)
R0
Significance
0
M
generic error: Error is present (Or-link of the bits 1 … 7)
1
O
current: I2t error
2
O
voltage: voltage monitoring error
3
O
temperature: motor overtemperature
4
O
communication error: (overrun, error state)
5
O
–
6
O
reserved, fix = 0
7
O
reserved, fix = 0
Values: 0 = no error; 1 = error present
1)
M = required / O =
Tab. 2.14 Bit assignment error_register
The error codes as well as the cause and remedial measures can be found in section D.
Description of the objects
Object 1003h: pre_defined_error_field
The respective error_code of the error messages is also stored in a four-stage error memory. This is
structured like a shift register, so that the last occurring error is always stored in the object 1003h_01h
(standard_error_field_0). Through read access on the object 1003h_00h (pre_defined_error_field_0), it
can be determined how many error messages are currently stored in the error memory. The error
memory is cleared by writing the value 00h into the object 1003h_00h (pre_defined_error_field_0). To
be able to reactivate the output stage of the motor controller after an error, an error acknowledgement
must also be performed.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Index
1003h
Name
pre_defined_error_field
Object Code
ARRAY
No. of Elements
4
Data Type
UINT32
Sub-Index
Description
Access
PDO mapping
Units
Value Range
Default Value
01h
standard_error_field_0
ro
no
–
–
–
Sub-Index
Description
Access
PDO mapping
Units
Value Range
Default Value
02h
standard_error_field_1
ro
no
–
–
–
Sub-Index
Description
Access
PDO mapping
Units
Value Range
Default Value
03h
standard_error_field_2
ro
no
–
–
–
Sub-Index
Description
Access
PDO mapping
Units
Value Range
Default Value
04h
standard_error_field_3
ro
no
–
–
–
28
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CANopen with FHPP
2.5.6
Network Management (NMT Service)
All CANopen equipment can be triggered via the Network Management. Reserved for this is the identifier with the top priority (000h). By means of NMT, commands can be sent to one or all controllers. Each
command consists of two bytes, whereby the first byte contains the command code (command specifier, CS) and the second byte the node address (node id, NI) of the addressed controller. Through the
node id zero, all nodes in the network can be addressed simultaneously. It is thus possible, for example, that a reset is triggered in all devices simultaneously. The controllers do not acknowledge the
NMT commands. Successful completion can only be determined indirectly (e.g. through the switch-on
message after a reset).
Structure of the NMT Message:
Identifier: 000h
Command specifier
000h
2
CS
NI
Node ID
Data length
For the NMT status of the CANopen node, statuses are established in a status diagram. Changes in
statuses can be triggered via the CS byte in the NMT message. These are largely oriented on the target
status.
Power On
Reset Application
aE
Reset Communication
2
aA
aD
Pre-Operational (7Fh)
3
5
aJ
7
Stopped (04h)
aC
6
9
Fig. 2.3
4
Operational (05h)
8
aB
Status diagram
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
Transition
Significance
CS
Target status
2
3
4
5
6
7
8
9
10
11
12
13
14
Bootup
Start Remote Node
Enter Pre-Operational
Stop Remote Node
Start Remote Node
Enter Pre-Operational
Stop Remote Node
Reset Communication
Reset Communication
Reset Communication
Reset Application
Reset Application
Reset Application
-01h
80h
02h
01h
80h
02h
82h
82h
82h
81h
81h
81h
Pre-Operational
Operational
Pre-Operational
Stopped
Operational
Pre-Operational
Stopped
Reset Communication 1)
Reset Communication 1)
Reset Communication 1)
Reset Application 1)
Reset Application 1)
Reset Application 1)
1)
7Fh
05h
7Fh
04h
05h
7Fh
04h
The final target status is pre-operational (7Fh), since the transitions 15 and 2 are automatically performed by the controller.
Tab. 2.15
NMT state machine
All other status transitions are performed automatically by the controller, e.g. because the initialisation
is completed.
In the NI parameter, the node number of the controller must be specified, or zero if all nodes in the
network are to be addressed (broadcast). Depending on the NMT status, certain communication objects cannot be used: For example, it is absolutely necessary to place the NMT status to operational so
that the controller sends PDOs.
Name
Significance
SDO
PDO
NMT
Reset
Application
Reset
Communication
Initialising
No Communication. All CAN objects are reset to their reset
values (application parameter set)
No communication: The CAN controller is newly initialised.
–
–
–
–
–
–
Status after hardware reset. Resetting of the CAN node,
Sending of the bootup message
Communication via SDOs possible; PDOs not active
(no sending/evaluating)
Communication via SDOs possible; all PDOs active
(sending/evaluating)
No communication except for heartbeating
–
–
–
X
–
X
X
X
X
–
–
X
Pre-Operational
Operational
Stopped
Tab. 2.16
30
NMT state machine
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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CANopen with FHPP
NMT telegrams must not be sent in a burst (one immediately after another)!
At least twice the position controller cycle time must lie between two consecutive NMT
messages on the bus (also for different nodes!) for the controller to process the NMT
messages correctly.
If necessary, the NMT command “Reset Application” is delayed until an ongoing saving
procedure is completed, since otherwise the saving procedure would remain incomplete
(defective parameter set).
The delay can be in the range of a few seconds.
The communication status must be set to operational for the controller to transmit and
receive PDOs.
2.5.7
Bootup
Overview
After the power supply is switched on or after a reset, the controller reports via a Bootup message that
the initialisation phase is ended. The controller is then in the NMT status preoperational
( chapter 2.5.6, Network Management (NMT Service))
Structure of the Bootup Message
The Bootup message is structured almost identically to the following Heartbeat message.
Only a zero is sent instead of the NMT status.
Identifier: 700h + node number
Bootup message identifier
701h
1
0
Data length
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2.5.8
Heartbeat (Error Control Protocol)
Overview
The so-called Heartbeat protocol can be activated to monitor communication between slave (drive) and
master: Here, the drive sends messages cyclically to the master. The master can check whether these
messages occur cyclically and introduce corresponding measures if they do not. Since both Heartbeat
and Nodeguarding telegrams ( chap. 2.5.9) are sent with the identifier 700h + node number, both
protocols can be active at the same time. If both protocols are activated simultaneously, only the Heartbeat protocol is active.
Structure of the Heartbeat Message
The Heartbeat telegram is transmitted with the identifier 700h + node number. It contains only 1 byte of
user data, the NMT status of the controller ( chapter 2.5.6, Network Management (NMT Service)).
Identifier: 700h + node number
NMT status
701h
1
N
Data length
N
Significance
04h
05h
7Fh
Stopped
Operational
Pre-Operational
Description of the objects
Object 1017h: producer_heartbeat_time
To activate the Heartbeat function, the time between two Heartbeat telegrams can be established via
the object producer_heartbeat_time.
Index
1017h
Name
producer_heartbeat_time
Object Code
VAR
Data Type
UINT16
Access
PDO
Units
Value Range
Default Value
rw
no
ms
0 … 65535
0
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The producer_heartbeat_time can be stored in the parameter record. If the controller starts with a
producer_heartbeat_time not equal to zero, the bootup message is considered to be the first
Heartbeat.
The controller can only be used as a so-called Heartbeat producer. The object 1016h
(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and always
returns 0.
2.5.9
Nodeguarding (Error Control Protocol)
Overview
The so-called Nodeguarding protocol can also be used to monitor communication between slave (drive)
and master. In contrast to the Heartbeat protocol, master and slave monitor each other: The master
queries the drive cyclically about its NMT status. In every response of the controller, a specific bit is
inverted (toggled). If these responses are not made or the controller always responds with the same
toggle bit, the master can react correspondingly. Likewise, the drive monitors the regular arrival of the
Nodeguarding requests from the master: If messages are not received for a certain time period, the
controller triggers error 12-4. Since both Heartbeat and Nodeguarding telegrams ( chapter 2.5.8)
are sent with the identifier 700h + node number, both protocols cannot be active simultaneously. If both
protocols are activated simultaneously, only the Heartbeat protocol is active.
Structure of the Nodeguarding Messages
The master's request must be sent as a so-called remote frame with the identifier 700h + node number.
In the case of a remote frame, a special bit is also set in the telegram, the remote bit. Remote frames
have no data.
Identifier: 700h + node number
701h
R
0
Remote bit (Remote frames have no data)
The response of the controller is built up analogously to the Heartbeat message. It contains only 1 byte
of user data, the toggle bit and the NMT status of the controller ( chapter 2.5.6).
Identifier: 700h + node number
Toggle bit / NMT status
701h
1
T/N
Data length
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The first data byte (T/N) is constructed in the following way:
Bit
Value
Name
Significance
7
0…6
80h
7Fh
toggle_bit
nmt_state
Changes with every telegram
04h Stopped
05h Operational
7Fh Pre-Operational
The monitoring time for the master's requests can be parameterised. Monitoring begins with the first
received remote request of the master. From this time on, the remote requests must arrive before the
monitoring time has passed, since otherwise error 12-4 is triggered.
The toggle bit is reset through the NMT command Reset Communication. It is therefore deleted in the
first response of the controller.
Description of the objects
Object 100Ch: guard_time
To activate the Nodeguarding monitoring, the maximum time between two remote requests of the master is parameterised. This time is established in the controller from the product of guard_time (100Ch)
and life_time_factor (100Dh). It is therefore recommended to write the life_time_factor with 1 and then
specify the time directly via the guard_time in milliseconds.
Index
100Ch
Name
guard_time
Object Code
VAR
Data Type
UINT16
Access
PDO mapping
Units
Value Range
Default Value
rw
no
ms
0 … 65535
0
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Object 100Dh: life_time_factor
The life_time_factor should be written with 1 in order to specify the guard_time directly.
Index
100Dh
Name
life_time_factor
Object Code
VAR
Data Type
UINT8
Access
PDO mapping
Units
Value Range
Default Value
rw
no
–
0.1
0
2.5.10
Table of Identifiers
The following table gives an overview of the identifiers used:
Object type
Identifier (hexadecimal)
SDO (Host to controller)
SDO (Controller to host)
TPDO1
TPDO2
TPDO3
TPDO4
RPDO1
RPDO2
RPDO3
RPDO4
SYNC
EMCY
HEARTBEAT
NODEGUARDING
BOOTUP
NMT
600h + node number
580h + node number
180h + node number
280h + node number
380h + node number
480h + node number
200h + node number
300h + node number
400h + node number
500h + node number
080h
080h + node number
700h + node number
700h + node number
700h + node number
000h
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Remark
Standard values.
Can be revised if needed.
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PROFINET-IO with FHPP
3.1
Overview
This part of the documentation describes the connection and configuration of the motor controller
CMMP-AS-...-M3 in a PROFINET IO network. It is directed at people who are already familiar with this
bus protocol.
PROFINET (PROcess Field Network) is the open Industrial Ethernet standard from PROFIBUS &
PROFINET International. PROFINET is standardised in IEC 61158 and IEC 61784.
In PROFINET, there are the two perspectives, PROFINET CBA and PROFINET IO.
PROFINET CBA (Component Based Automation) is the original variant, which is based on a component
model for communication of intelligent automation devices with each other.
Profinet IO was created for real-time (RT) and synchronous communication IRT (IRT= Isochronous
Real-Time) between a controller and the decentralised peripherals.
To better scale the communication options and thus also the determinism in PROFINET IO, real-time
classes (RT_CLASS) have been defined for data exchange.
RT Class
Comment
Is supported by CAMC-F-PN
RTC 1
based on an unsynchronised RT
communication within a subnet.
Permits both synchronised and
unsynchronised communication.
Yes, as active participant.
RTC2
not synchronised
RTC 2
synchronised
RTC 3
No
Permits only synchronised
communication.
RTC via UDP
Tab. 3.1
Compatible (only passive)
Compatible (only passive)
No
Real-time classes
PROFINET IO is a network system optimised on performance. Since the complete function range is not
always needed in each automation system, PROFINET IO is cascadeable with regard to the supported
function. The Profibus user organisation has therefore divided the PROFINET function range into conformance classes. The target is to simplify use of PROFINET IO and make things easier for the system
operator through a simple selection of field devices and bus components with uniquely defined minimum characteristics.
The minimum requirements for 3 conformance classes (CC-A, CC-B, CC-C) have been defined.
Class A lists all devices according to the PROFINET IO standard. Class B specifies that the network infrastructure must also be constructed in accordance with the guidelines of PROFINET IO. Class C permits
synchronous applications.
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PROFINET-IO with FHPP
Additional information, contact addresses etc. can be found under:
http://www.profibus.com
Observe the available documents on planning, mounting and commissioning.
3.2
PROFINET interface CAMC-F-PN
The PROFINET interface is implemented for the motor controllers CMMP-AS-...-M3 through the optional
interface CAMC-F-PN. The interface is mounted in slot Ext2. The PROFINET connection is designed as a
2-port Ethernet switch with 8-pin RJ sockets at the interface CAMC-F-PN.
With the help of the CAMC-F-PN, it is possible to integrate the motor controllers CMMP-AS-...-M3 into a
PROFINET network. The CAMC-F-PN permits the exchange or process data between a PROFINET controller and the CMMP-AS-...-M3.
Note
The PROFINET interface of the CAMC-F-PN is intended exclusively for connection to
local, industrial fieldbus networks.
Direct connection to a public telecommunications network is not permissible.
3.2.1
Supported protocols and profiles
The interface CAMC-F-PN supports the following protocols:
Protocol/profile
Profile
PROFIenergy
Protocol
MRP
LLDP
SNMP
Tab. 3.2
Description
Profile for energy management
The interface behaves MRP-compatibly at the bus and supports the general
function of MRP as an MRP slave. The interface is able to communicate with a
redundancy manager (RM) and pass on the MRP packages in accordance with
the MRP specification. In case of a string failure, the interface receives the new
path specifications of the RM and uses them.
The protocol permits information exchange between neighbouring devices.
Monitoring and control through a central component
Supported protocols and profiles
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3.2.2
1
2
3
4
5
Connection and display components at the interface CAMC-F-PN
ACT-LED (orange)
LNK-LED (green)
SF-LED
BF-LED
PROFINET interface
(RJ-45 socket, 8-pin)
4
3
1
5
2
1
5
2
Fig. 3.1
3.2.3
Connection and display components at the PROFINET-IO interface
PROFINET LEDs
LED
Status:
Significance:
SF
Off
Lights up red
No system error
Watchdog timeout
Channel diagnostics
General or extended diagnostics
System fault
PROFINET equipment identification
No bus error
No configuration
Error at the physical link
No physical link
No data are transmitted
No link present
Link present
No Ethernet communication present
Ethernet communication present
Ethernet communication active
BF
LNK
ACT
Tab. 3.3
38
Flashes red (2 Hz for 3 s)
Off
Lights up red
flashes red (2 Hz)
Off
Lights up green
Off
Lights up orange
Flashes orange
PROFINET LEDs
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3.2.4
Socket
Tab. 3.4
Pin allocation for PROFINET interface
Pin no.
Designation
Description
1
RX–
Receiver signal-
2
RX+
Receiver signal+
3
TX-
Transmission signal-
4
-
Not assigned
5
-
Not assigned
6
TX+
Transmission signal+
7
-
Not assigned
8
-
Not assigned
Pin allocation: PROFINET interface
3.2.5
PROFINET copper cabling
PROFINET cables are 4-wire, screened copper cables. The wires are marked by colour. The maximum
bridgeable distance for copper cabling is 100 m between communication end points. This transmission
distance is defined as PROFINET end-to-end link.
Use only PROFINET-specific cabling corresponding to conformance class B.
EN 61784-5-3
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PROFINET-IO with FHPP
3.3
Configuration PROFINET-IO participants
Several steps are required in order to produce an operational PROFINET interface.
We recommend the following procedure:
1. Activation of the bus communication via DIP switches.
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
The following settings on the Fieldbus page:
– IP address
– Issue of the PROFINET-IO device name
– Physical units (Factor Group tab)
– Optional use of FPC and FHPP+ (FHPP+ editor tab)
3. Linking of the GSDML file into the project planning software
3.3.1
Activation of PROFINET communication with DIP switches
The PROFINET interface can be activated with switch 8 through DIP switch S1 on the module in slot
Ext3. The remaining switches 1…7 have no significance for PROFINET.
DIP switch
Tab. 3.5
DIP switch 8
PROFINET interface
OFF
ON
Disabled
Enabled
Activation of PROFINET communication
3.3.2
Parameterisation of the PROFINET interface
With the help of the FCT, settings of the PROFINET interface can be read and parameterised. The target
is to configure the PROFINET interface through the FCT in such a way that the motor controller
CMMP-AS-...-M3 can build up PROFINET communication with a PROFINET controller. Parameterisation
can take place even if no PROFINET interface CAMC-F-PN has yet been installed in the motor controller
CMMP-AS-...-M3. If a PROFINET interface CAMC-F-PN is plugged into the controller, the interface is
automatically recognised after the motor controller is switched on and is placed in operation with the
stored information. This ensures that the motor controller CMMP-AS-...-M3 remains addressable
through the same network configuration if the CAMC-F-PN is replaced.
The configuration and status of the DIP switches is read one time at Power ON/RESET.
The CMMP-AS-...-M3 takes over changes to the configuration and switch settings in
ongoing operation only at the next RESET or restart. In order to activate the settings
made, proceed as follows:
– Save all parameters in the flash with help of the FCT
– Carry out a reset or restart of the CMMP-AS-...-M3.
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3.3.3
PROFINET-IO with FHPP
Commissioning with the Festo Configuration Tool (FCT)
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
To be able to make the subsequent settings, select “PROFINET IO” as the control interface in the FCT program on the Application Data page in the Operating Mode Selection
tab.
Then change to the Fieldbus page.
3.3.4
Setting the interface parameters
Fieldbus device name
For a controller to communicate with the interface CAMC-F-PN, a unique name must be assigned to the
interface. The name must be unique in the network.
Follow the PROFINET name conventions when assigning fieldbus device names.
PROFIenergy
The PROFIenergy profile can be activated or deactivated through a corresponding selection.
In the PROFIenergy status, the CMMP-AS-...-M3 engages the holding brake and switches off the output
stage.
Note
PROFIenergy should not be used with vertically mounted axes, since it can not be
ensured that the holding brake will hold the load if the load is large.
3.3.5
IP address allocation
A unique IP address must be assigned to each device in the network.
Static address allocation
A static IP address, such as the related subnet mask and the gateway, can be set in the FCT.
Assignment of already used IP addresses can result in temporary overloading of your
network.
You may need to contact your network administrator for manual assignment of a permissible IP address.
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PROFINET-IO with FHPP
Dynamic address allocation
With dynamic address allocation, IP addresses, like the related subnet mask and the gateway, are set
through the DCP protocol. A previously assigned static IP address is hereby overwritten.
3.3.6
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
3.3.7
Setting of the optional use of FPC and FHPP+
Besides the control and status bytes, additional I/O data can be transmitted sections C.1 and C.2.
This is set via the FCT (Fieldbus page, tab FHPP+ Editor).
3.4
Identification & service function (I&M)
The PROFINET interface CAMC-F-PN supports the device-specific base information of the I&M0.
Byte
Designation
Contents
Description
Data
type
00…09
10…11
Header
MANUFACTURER_ID
Reserved
0x014D
UINT16
12…31
32…47
48…49
50…53
54…55
56…57
58…59
60…61
ORDER_ID
SERIAL_NUMBER
HARDWARE_REVISION
SOFTWARE_REVISION
REVISION_COUNTER
IM_PROFILE_ID
IM_PROFILE_SPECIFIC_TYPE
IM_VERSION
CMMP-AS-...-M3
e.g. “10234”
e.g. 0x0202
e.g. V1.4.0
0x0000
0x0000
0x0000
0 x 01, 0 x 02
Manufacturer’s code
(333 = FESTO)
Order code
Serial number
Hardware issue status
Software issue status
Software Revisions
“Non-profile device”
No profiles are supported
I&M Version V1.2
62…63
IM_SUPPORTED
0x0000
Only I&M0 is supported
Tab. 3.6
42
STRING
STRING
UINT16
UINT16
UINT16
UINT16
UINT16
UINT8
UINT8
16 bit
array
PROFINET I&M 0 Block
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3.5
Configuration PROFINET master
A GSDML file is available to you for project planning of the PROFINET IO interface. This file is read in
with the help of the project planning software of the used PROFINET IO controller and is then available
for project planning. The GSDML file describes the motor controller as a modular device. In it are described all possible device structure variants in a PROFINET-conforming manner.
You can obtain the detailed procedure for linking from the documentation of your corresponding project planning software
The GSDML file and the related symbol files are included on a CD-ROM supplied with the motor
controller.
GSDML file
Description
GSDML-V2.25-FESTO-CMMP-AS-M3-20120329.xml
Motor controller CMMP-AS-...-M3
Tab. 3.7
GSDML file
You can find the most current versions under: www.festo.com
The following languages are supported in the GSDML file:
Language
XML tag
English
German
PrimaryLanguage
Language xml:lang=“de”
Tab. 3.8
Supported languages
The following symbol files are available to represent the motor controller CMMP-AS-...-M3 in your configuration software (for example, STEP 7):
Operating status
Symbol
Symbol file
Normal operating
status
GSDML-014D-0202-CMMP-AS-M3_N.bmp
Diagnostic case
GSDML-014D-0202-CMMP-AS-M3_D.bmp
Special operating
status
GSDML-014D-0202-CMMP-AS-M3_S.bmp
Tab. 3.9
Symbol file CMMP-AS-...-M3
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PROFINET-IO with FHPP
To simplify commissioning of the CMMP-AS-...-M3 with controllers from various manufacturers, you will find corresponding modules and application notes on one of the CD-ROMs
shipped with the motor controller.
3.6
Channel diagnostics – extended channel diagnostics
The malfunction number ( chapter D) is made up of a main index (MI) and a subindex (S).
The main index of the malfunction number is transferred in the manufacturer-specific range of channel
diagnostics (ChannelErrorType) 0x0100 … 0x7FFF.
The subindex of the malfunction number is transferred in the manufacturer-specific range of the extended channel diagnostics (ExtChannelErrorType) 0x1000 … 0x100F.
Example
Malfunction Number
ChannelErrorType
ExtChannelErrorType
72-4
HHh + 1000h = 0x1048
Sh + 1000h = 0x1004
Tab. 3.10
44
Channel diagnostics – extended channel diagnostics
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PROFIBUS DP with FHPP
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PROFIBUS DP with FHPP
4.1
Overview
This part of the documentation describes connection and configuration of the motor controller
CMMP-AS-…-M3 in a PROFIBUS-DP network. It is directed at people who are already familiar with the
bus protocol.
PROFIBUS (PROcess FIeldBUS) is a standard developed by the PROFIBUS User Organisation. A complete description of the fieldbus system can be found in the following standard:
IEC 61158 “Digital data communication for measurement and control – Fieldbus for use in industrial
control systems”. This standard contains several parts and defines 10 “field bus protocol types”.
Among these, PROFIBUS is specified as “Type 3”. PROFIBUS exists in two designs. PROFIBUS-DP is
used for fast data exchange in manufacturing engineering and building automation (DP = decentralised
periphery). The incorporation into the ISO/OSI layer model is also described in this standard.
Additional information, contact addresses etc. can be found under:
http://www.profibus.com
4.2
Profibus interface CAMC-PB
The PROFIBUS interface is implemented for the motor controllers CMMP-AS-...-M3 through the optional
interface CAMC-PB. The interface is mounted in slot Ext2. The PROFIBUS connection is designed as a
9-pin DSUB socket on the CAMC-PB interface.
4.2.1
1
2
3
Connection and display components at the interface CAMC-PB
DIP switches
for termination
PROFIBUS interface
(DSUB socket, 9-pin)
PROFIBUS LED
(green)
1
2
3
Fig. 4.1
Connection and display components on the PROFIBUS-DP interface
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PROFIBUS DP with FHPP
4.2.2
PROFIBUS LED
The PROFIBUS LED displays the communication status.
LED
Status
Off
Lights up green
No communication via PROFIBUS.
Communication active over PROFIBUS.
Tab. 4.1
4.2.3
Plug
PROFIBUS LED
Pin assignment of PROFIBUS interface
Pin no.
Designation
Value
Description
1
Screened
+5 V
–
–
RxD / TxD-P
RxD / TxD-N
RTS / FOC
–
GND5V
–
+5 V
–
–
–
–
–
–
0V
Cable screening
+5 V – output (potential isolated)1)
Not assigned
Not assigned
Received / transmitted data B cable
Received / transmitted data A cable
Request to Send 2)
Not assigned
Reference potential GND 5V1)
6
2
7
3
8
4
9
5
1)
Use for external bus termination or for supplying transmitter / receiver of an external fibre-optic-cable module.
2)
Signal is optional, serves direction control when used with an external FOC module.
Tab. 4.2
Pin assignment: PROFIBUS DP interface
4.2.4
Termination and bus terminating resistors
Each bus segment of a PROFIBUS network must be fitted with terminating resistors in order to minimise
cable reflections and set a defined rest potential on the cable. The bus termination is made at the beginning and end of a bus segment.
A defective or incorrect bus termination is often the cause of malfunctions
The terminating resistors are already integrated in most commercially available PROFIBUS plug connectors. The PROFIBUS interface CAMC-PB has its own integrated terminating resistors for coupling to
buses with plug connectors without their own terminating resistors. These can be switched on via the
two-pin DIP switches on the PROFIBUS interface CAMC-PB (both switches ON). To switch off the terminating resistors, both switches must be set to OFF.
To guarantee reliable operation of the network, only one bus termination may be used, internal (via DIL
switch) or external.
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PROFIBUS DP with FHPP
The external circuitry can also be constructed discretely ( Fig. 4.2, page 47). The 5 V supply voltage
required for the externally switched terminating resistors is provided at the 9-pin SUB-D socket of the
PROFIBUS interface CAMP-PB ( pin assignment in Tab. 4.2).
+ 5 V
Pull up
Resistor
390 ohms
Line B
Terminating
Resistor
220 ohms
Line A
Pull down
Resistor
390 ohms
GND5V
Fig. 4.2
External bus termination
PROFIBUS cabling
Due to the very high possible baud rates, we recommend that you use only the standardised cables and plug connectors. These are in some cases provided with additional diagnostic possibilities and in the event of a malfunction they facilitate the fast analysis of
the fieldbus hardware.
If the set baud rate > 1.5 Mbit/s, plugs with integrated series inductance (110 nH) must
be used due to the capacitive load of the station and the cable reflection thereby created.
When setting up the PROFIBUS network, it is essential that you follow the advice in the
relevant literature or the following information and instructions in order to maintain a
stable, trouble-free system. If the cabling is not correct, malfunctions may occur on the
PROFIBUS which cause the motor controller to switch off with an error for safety reasons.
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4.3
PROFIBUS DP with FHPP
PROFIBUS station configuration
Several steps are required in order to produce a functioning PROFIBUS interface. Some of these settings should or must be carried out before the PROFIBUS communication is activated. This section
provides an overview of the steps required by the slave for parameterisation and configuration. As
some parameters are only effective after saving and reset, we recommend that commissioning with the
FCT be carried out first without connection to the PROFIBUS.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When planning the PROFIBUS interface, the user must make these determinations. Only then should
parametrisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be undertaken first. Then the master should be configured. With
correct parameterisation the application is ready immediately without communication faults.
We recommend the following procedure:
1. Set the offset of the bus address and activate the bus communication via DIP switches.
The status of the DIP switches is read one time at Power On / Reset.
The CMMP-AS-...-M3 takes over changes to the switch setting in ongoing operation only
at the next RESET or restart
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In addition, the following settings on the fieldbus page:
– Base address of the bus address
– Physical units (Factor Group tab)
– Optional use of FPC and FHPP+ (FHPP+ Editor tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
3. Configuration of the PROFIBUS master section 4.4.
4.3.1
Setting the bus address with DIP switches and FCT
The inserted PROFIBUS interface is automatically detected after the motor controller is switched on. A
unique node address must be assigned to each device in the network.
The bus address can be set via the DIP switches 1 … 7 on the interface in slot Ext3 and in the program
FCT. Assignment of the address by the master is not possible, since the “Set_Slave_Address” service is
not supported.
The resulting bus address consists of the base address (FCT) and the offset
(DIP switches).
Permissible values for the bus address lie in the range 3 … 125.
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PROFIBUS DP with FHPP
Setting the offset of the bus address with DIP switches
The bus address can be set via the DIP switches 1 … 7 on the module in slot Ext3. The offset of the bus
address set via DIP switches 1 … 7 is displayed in the program FCT on the Fieldbus page in the Operating Parameters tab.
DIP switch
Value
1
2
3
4
5
6
7
Sum of 1 … 7= bus address
ON
1
2
4
8
16
32
64
0 … 127 1)
1)
Example
OFF
0
0
0
0
0
0
0
ON
ON
OFF
ON
ON
OFF
ON
Value
1
2
0
8
16
0
64
91
The resulting bus address is limited to a maximum of 125.
Tab. 4.3
Setting of the offset of the bus address
Changes to the DIP switches are not effective until Power On or RESET.
Setting the base address of the bus address with FCT
In the FCT program, the bus address is set on the Fieldbus page in the Operating Parameters tab as
base address.
Default setting = 0 (that means offset = bus address).
If a bus address is assigned simultaneously via DIP switches 1 … 7 and in the FCT
program, the resulting bus address consists of the sum of the base address and the
offset. If this sum is greater than 125, the value is automatically limited to 125.
4.3.2
Activation of PROFIBUS communication with DIP switches
After setting the bus address, PROFIBUS communication can be activated. Please note that the abovementioned parameters can only be revised when the protocol is deactivated.
PROFIBUS communication
DIP switch 8
Disabled
Enabled
OFF
ON
Tab. 4.4
Activation of CANopen communication
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PROFIBUS DP with FHPP
4.3.3
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
4.3.4
Setting of the optional use of FPC and FHPP+
Besides the control and status bytes, additional I/O data can be transmitted sections C.1 and C.2.
This is set via the FCT (Fieldbus page, tab FHPP+ Editor).
4.3.5
Storing the configuration
After configuration with subsequent download and saving, the PROFIBUS configuration is adopted
after a reset of the controller.
Please observe that the PROFIBUS configuration can only be activated when the parameter records have been saved and a reset has been carried out.
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PROFIBUS DP with FHPP
4.4
PROFIBUS I/O configuration
Name
Cyclical I/O update
FHPP standard
FHPP Standard +
FPC
1 x 8 bytes of I/O data,
consistent data transmission
2 x 8 bytes of I/O data,
consistent data transmission
FHPP+
8 bytes input
FHPP+
16 bytes input
FHPP+
24 bytes input
FHPP+
8 bytes output
1 x 8 bytes of input data,
consistent data transmission
+ 2 x 8 bytes of input data,
consistent data transmission
+ 3 x 8 bytes of input data,
consistent data transmission
+ 1 x 8 bytes of output data,
consistent data transmission
FHPP+
16 bytes output
+ 2 x 8 bytes of output data,
consistent data transmission
FHPP+
24 bytes output
+ 3 x 8 bytes of output data,
consistent data transmission
Tab. 4.5
DP identifier
Cyclically transmitted 8
control and status bytes
As FHPP standard, additional
8 bytes of I/O data for
parameterisation
Additional 1 x 8 bytes of input
data for parameterisation
Additional 2 x 8 bytes of input
data for parameterisation
Additional 3 x 8 bytes of input
data for parameterisation
Additional 1 x 8 bytes of
output data for
parameterisation
Additional 2 x 8 bytes of
output data for
parameterisation
Additional 3 x 8 bytes of
output data for
parameterisation
0xB7
0xB7, 0xB7
0x40, 0x87
0x40, 0x8F
0x40, 0x97
0x80, 0x87
0x80, 0x8F
0x80, 0x97
PROFIBUS I/O configuration
You can find information on the I/O allocation here:
– FHPP standard section 8.2.
– FPC section C.1.
– FHPP+ section C.2.
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PROFIBUS DP with FHPP
4.5
PROFIBUS master configuration
This section provides an overview of the steps required by the master for parametrisation and
configuration. We recommend the following procedure:
1. Installation of the GSD file (device master data file)
2. Specification of the node address (slave address)
3. Configuration of the input and output data
On the side of the master, the motor controller must be incorporated in the PROFIBUS in a way corresponding to the I/O configuration section 4.4.
4. When the configuration is concluded, transfer the data to the master.
The GSD file and the related symbol files are included on a CD-ROM supplied with the motor controller.
GSD file
Description
P-M30D56.gsd
motor controller CMMP-AS-...-M3
Tab. 4.6
GSD file
You will find the most current version under www.festo.com
The following symbol files are available to represent the motor controller CMMP-AS-...-M3 in your
configuration software (for example, STEP 7):
Operating status
Symbol
Symbol files
Normal operating
status
cmmpas_n.bmp
cmmpas_n.dib
Diagnostic case
cmmpas_d.bmp
cmmpas_d.dib
Special operating
status
cmmpas_s.bmp
cmmpas_s.dib
Tab. 4.7
Symbol files CMMP-AS-...-M3
To simplify commissioning of the CMMP-AS-...-M3 with controllers from various manufacturers, you will find corresponding modules and application notes on one of the CD-ROMs
shipped with the motor controller.
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EtherNet/IP with FHPP
5
EtherNet/IP with FHPP
5.1
Overview
This part of the documentation describes connection and configuration of the motor controller
CMMP-AS-...-M3 in an EtherCAT network. It is directed at people who are already familiar with the bus
protocol and motor controller.
The Ethernet Industrial Protocol (EtherNet/IP) is an open standard for industrial networks. EtherNet/IP
is used to transmit cyclical I/O data as well as acyclic parameter data.
EtherNet/IP was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) and standardised in the international standards series IEC 61158.
EtherNet/IP is the implementation of CIP over TCP/IP and Ethernet (IEEE 802.3). Standard Ethernet
twisted-pair cables are used as the transmission medium.
Additional information, contact addresses etc. can be found under:
http://www.odva.com
http://www.ethernetip.de
Observe the available documents on planning, mounting and commissioning.
5.2
EtherNet/IP-Interface CAMC-F-EP
The EtherNet/IP interface is implemented for the motor controllers CMMP-AS-...-M3 through the optional interface CAMC-F-EP. The interface is mounted in slot Ext2. The EtherNet/IP connection is designed as a 2-port Ethernet switch with 8-pin RJ sockets at the interface CAMC-F-EP.
With the help of the CAMC-F-EP, it is possible to integrate the motor controllers CMMP-AS-...-M3 into an
EtherNet/IP network. The CMMP-AS-...-M3 is a pure EtherNet/IP adapter and requires an EtherNet/IP
control (scanner) in order to be controller over EtherNet/IP.
The CAMC-F-EP supports the Device Level Ring function (DLR). The CAMC-F-EP is able to communicate
with an EtherNet/IP Ring Supervisor. In case of a string failure, the CAMC-F-EP receives the new path
specifications of the Ring Supervisor and uses them.
Note
The EtherNet/IP interface of the CAMC-F-EP is intended exclusively for connection to
local, industrial fieldbus networks.
Direct connection to a public telecommunications network is not permissible.
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EtherNet/IP with FHPP
5.2.1
1
2
3
4
5
6
Connection and display components at the interface CAMC-F-EP
ACT-LED
(Ethernet communication
activity)
LNK-LED
(Ethernet line monitoring)
MS-LED (module status)
NS-LED (network status)
EtherNet/IP interface port 2
(RJ-45 socket, 8-pin)
EtherNet/IP interface port 1
(RJ-45 socket, 8-pin)
Fig. 5.1
4
3
1
5
2
1
6
2
Connection and display components at the EtherNet/IP interface
5.2.2
EtherNet/IP LEDs
Diagnostic messages generated by the CAMC-F-EP are recorded and evaluated by the CMMP-AS-...-M3.
If the conditions for an error status are recognised, an error message is generated. The generated error
message is signaled via the LEDs at the front side of the CAMC-F-EP.
LED
Function
Status:
Significance:
ACT
Ethernet communication activity
LNK
Ethernet line monitoring
MS
EtherNet/IP module status
No bus activity
Bus activity present
No link present
Link present
No supply voltage
Interface ready for operation
Standby
Major fault
Minor Fault
Self test
NS
EtherNet/IP network status
Off
Flashes orange
Off
Lights up green
Off
Lights up green
Flashes green
Lights up red
Flashes red
Flashes red/
green
Off
Tab. 5.1
54
No supply voltage
No IP address
Lights up green
Connection present
Flashes green
No connection
Lights up red
Duplicate IP address
Flashes red
Connection timeout
Flashes green
No connection
Flashes red/green Self test
EtherNet/IP interface display elements LED
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EtherNet/IP with FHPP
5.2.3
Socket
Tab. 5.2
Pin allocation Ethernet/IP interface
Pin no.
Designation
Description
1
RX–
Receiver signal-
2
RX+
Receiver signal+
3
TX–
Transmission signal-
4
-
Not assigned
5
-
Not assigned
6
TX+
Transmission signal+
7
-
Not assigned
8
-
Not assigned
Pin allocation: Ethernet/IP interface
5.2.4
EtherNet/IP copper cabling
EtherNet/IP cables are 4-wire, screened copper cables. The maximum permissible segment length for
copper cabling is 100 m.
Use only EtherNet/IP specific cabling for the industrial environment corresponding to
EN 61784-5-3
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EtherNet/IP with FHPP
5.3
Configuration EtherNet/IP stations
Several steps are required in order to produce an operational EtherNet/IP interface.
We recommend the following procedure:
1. Activation of the bus communication via DIP switches.
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In addition, the following settings on the fieldbus page:
– IP address
– Physical units (Factor Group tab)
– Optional use of FPC and FHPP+ (FHPP+ editor tab)
3. Linking of the electronic data sheet (EDS) file into the project planning software.
5.3.1
Activation of the EtherNet/IP communication
The EtherNet/IP interface can be activated with switch 8 through DIP switch S1 on the module in slot
Ext3.
DIP switch
Tab. 5.3
DIP switch 8
Ethernet/IP interface
OFF
ON
Disabled
Enabled
Activation of the EtherNet/IP communication
5.3.2
Parameterisation of the Ethernet/IP interface
With the help of the FCT, settings of the EtherNet/IP interface can be read and parameterised. The goal
is to configure the EtherNet/IP interface through the FCT in such a way that the motor controller
CMMP-AS-...-M3 can build up EtherNet/IP communication with an EtherNet/IP controller.
The settings of the EtherNet/IP interface can be parameterised in the FCT even if no EtherNet/IP
interface CAMC-F-EP is integrated into the motor controller CMMP-AS-...-M3 If an EtherNet/IP interface
CAMC-F-EP is plugged into the controller, the interface is placed in operation with the stored
information. This ensures that the CMMP-AS-...-M3 remains addressable through the same network
configuration if the CAMC-F-EP is replaced.
The inserted EtherNet/IP interface is automatically detected after the motor controller is switched on.
The configuration and status of the DIP switches is read one time at Power ON/RESET.
The CMMP-AS-...-M3 takes over changes to the configuration and switch settings in ongoing operation only at the next RESET or restart. In order to activate the settings made,
proceed as follows:
– Save all parameters in the flash with help of the FCT
– Carry out a reset or restart of the CMMP-AS-...-M3.
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5.3.3
EtherNet/IP with FHPP
Commissioning with the Festo Configuration Tool (FCT)
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
To be able to make the subsequent settings, select EtherNet/IP as the control interface in
the FCT on the Application Data page in the Operating Mode Selection tab.
Then change to the Fieldbus page.
5.3.4
Setting the IP address
A unique IP address must be assigned to each device in the network.
Assignment of already used IP addresses can result in temporary overloading of your
network.
You may need to contact your network administrator for manual assignment of a permissible IP address.
There are several options for addressing the CAMC-F-EP interface.
Static addressing with DIP switches
The first three bytes of the IP address are preset with 192.168.1.xxx. The fourth byte of the IP address
can be set in the range 0 … 127 with DIP switches 1 … 7 at the module in slot Ext3. The address is thus
freely selectable in the range 192.168.1.1 to 192.168.1.127.
If the 4th byte is set to zero (DIP switches 1 … 7 = OFF), the IP address parameterised in
the FCT is used.
If the IP address is set via the DIP switches, the subsequent standard values are assigned
for the subnet mask and gateway address:
– Subnet mask: 255.255.255.0
– Gateway address: 0.0.0.0
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EtherNet/IP with FHPP
DIP switch
Value
1
2
3
4
5
6
7
Sum of 1 … 7 = 4th byte of IP address
ON
1
2
4
8
16
32
64
0 1) … 127 2)
Example
OFF
0
0
0
0
0
0
0
ON
OFF
OFF
ON
ON
OFF
OFF
1)
If the fourth byte is zero, dynamic address allocation takes place via DHCP/BOOTP
2)
For values larger than 127, the IP address must be set with the FCT.
Tab. 5.4
Value
1
0
0
8
16
0
0
25
Setting the IP address with DIP switch
Static addressing with FCT (Festo Configuration Tool)
With the Festo Configuration Tool (FCT), the values for IP address, subnet mask and gateway address
can be assigned on the Fieldbus page in the Operating Parameters tab.
Dynamic addressing
The dynamic addressing parameterised in the FCT is only used if:
– the DIP switches 1 … 7 on the module in the slot Ext3 = OFF.
– Obtain IP address automatically has been selected in the FCT on the Fieldbus page in
the Operating parameters tab.
For dynamic addressing, there is the option of addressing either through DHCP or BOOTP. Both protocols are standard and are supported by the CAMC-F-EP. If dynamic addressing is set at device start or
reset (DIP switches 1 … 7 = OFF, on the module in slot Ext3), an IP address is assigned to the device
either through DHCP and an available DHCP server or through the BOOTP protocol.
5.3.5
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, they must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
5.3.6
Setting of the optional use of FPC and FHPP+
Besides the control and status bytes, additional I/O data can be transmitted sections C.1 and C.2.
This is set via the FCT (Fieldbus page, tab FHPP+ Editor).
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EtherNet/IP with FHPP
5.4
Electronic data sheet (EDS)
In order to permit fast and simple commissioning, the abilities of the EtherNet/IP interface of the motor
controller are described in an EDS file.
For the CMMP-AS-...-M3, there is a separate EDS file, depending on the version.
Type
File
CMMP-AS-C2-3A-M3
CMMP-AS-C5-3A-M3
CMMP-AS-C5-11A-P3-M3
CMMP-AS-C10-11A-P3-M3
CMMP-AS-C2-3A-M3_1p1.eds
CMMP-AS-C5-3A-M3_1p1.eds
CMMP-AS-C5-11A-P3-M3_1p1.eds
CMMP-AS-C10-11A-P3-M3_1p1.eds
Tab. 5.5
EDS files
By using an appropriate configuration tool, you can configure a device within a network. The EDS files
for EtherNet/IP are included on a CD-ROM supplied with the motor controller.
You can find the most current version of the EDS under www.festo.com
The way in which you configure your network depends on the configuration software used. Follow the
instructions of the controller manufacturer for registering the EDS file of the motor controller
CMMP-AS-...-M3.
Data types
The following data types corresponding to the EtherNet/IP specification are used:
Type
Signed
Unsigned
8 bit
16 bit
32 bit
SINT
INT
DINT
USINT
UINT
UDINT
Tab. 5.6
Data types
Identity Object (Class Code: 0x01)
The identity object includes identification and general information about the motor controller.
Instance 1 identifies the total motor controller. This object is used to identify the motor controller in the
network.
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EtherNet/IP with FHPP
Instance
Attribute
Name
Description
0
1
2
Revision
Max. Instance
6
Max. Class Attribute
7
Max. Instance Attribute
1
2
3
Vendor ID
Device Type
Product code
4
Major Revision
MinorRevision
Status
Serial number
Product name
Revision of this object
Maximum instance number of an object currently created in this class
level of the device.
The attribute ID number of the last
class attribute of the class definition
implemented in the device.
The attribute ID number of the last
instance attribute of the class definition implemented in the device.
Device manufacturer’s Vendor ID.
Device Type of product.
Product Code assigned with respect
to device type.
Major device revision.
Minor device revision.
Current status of device.
Serial number of device.
Human readable description of
device.
Current state of device.
Contents identify configuration of
device.
1
Class
Instance Attributes
5
6
7
8
9
Tab. 5.7
State
Configuration Consistency
Value
Identity object
Message Router Object (Class Code: 0x02)
The Message Router Object offers a message connection with which a client can address a service to an
object class or instance within the device. No services are offered from the Message Route Object.
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EtherNet/IP with FHPP
Assembly Object (Class Code: 0x04)
The Assembly Object links attributes or several objects that allow sending or receiving data from an
object. Assembly Objects can be used to link input or output data. The terms “Input” and “Output” are
defined from the network perspective.
Instance
Attribute
Name
Description
0
Class
1
2
Revision
Max. Instance
1-x
Instance
Attributes
3
4
Data
Size
Revision of this object.
Maximum instance number of an
object currently created in this class
level of the device.
Data
Number of bytes in Attribute 3.
Tab. 5.8
Assembly Object
Connection Manager Object (Class Code: 0x06)
The Connection Manager Object is used to set up a connection and must always be supported. The
Connection Manager Object is instanced only once.
TCP/IP Interface Object (Class Code: 0xF5)
The TCP/IP Object is used to configure a TCP/IP network. For example, IP address, subnet mask and
gateway address
Instance
Attribute
Name
Description
0
Class
1
2
Revision
Max. Instance
1
Instance
Attributes
1
2
3
4
5
Status
Configuration Capacity
Configuration Control
Physical Link Object
Interface Configuration
Revision of this object.
Maximum instance number of an
object currently created in this class
level of the device.
Interface status.
Interface capability flags.
Interface control flags.
Path to physical link object.
TCP/IP network interface
configuration.
The device’s IP address.
The device’s network mask.
Default gateway address.
IP Address
Network Mask
Gateway
Address
6
Tab. 5.9
Name Server
Primary name server.
Name Server 2 Secondary name server.
Domain Name Default domain name.
Host Name
Host Name
TCP/IP Interface Object
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EtherNet/IP with FHPP
Ethernet Link Object (Class Code: 0xF6)
The Ethernet Link Object includes link-specific counters and status information for an Ethernet IEEE
802.3 communication interface. Each instance of an Ethernet Link Object corresponds exactly to an
Ethernet IEEE 802.3 communication interface.
Instance
Attribute
Name
Description
0
1
2
Revision
Max. Instance
3
Number of Instances
1
Interface Speed
2
3
4
Interface Flags
Physical Address
Interface Counters
5
6
Media Counters
Interface Control
Revision of this object.
Maximum instance number of an
object currently created in this class
level of the device.
Number of object instances currently
created at this class level of the
device.
Interface speed currently in use;
speed in Mbps
(e. g. 0, 10, 100, 1000, usw.).
Interface status flags
MAC layer address.
Contains counters relevant to the
receipt of packets on the interface.
Media-specific counters.
Configuration for physical interface.
1-x
Tab. 5.10
62
Class
Instance
Attributes
Ethernet Link Object
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EtherNet/IP with FHPP
Device Level Ring Object (Class Code: 0x47)
The DLR object is used to configure a network with the ring topology corresponding to the DLR (Device
Level Ring) specification of EtherNet/IP.
Instance
Attribute
Name
Description
0
1
1
1
Revision
Network Topology
2
Network Status
10
Active Supervisor Address
12
Capability Flags
Revision of this object.
Current network topology mode
0 indicates “Linear”
1 indicates “Ring”
Current status of network
0 indicates “Normal”
1 indicates “Ring Fault”
2 indicates “Unexpected Loop
Detected”
3 indicates “Partial Network
Fault”
4 indicates “Rapid Fault/Restore
Cycle”
IP and/or MAC address of the active
ring supervisor.
Describes the DLR capabilities of the
device.
Tab. 5.11
Class
Instance
Attributes
Device Level Ring Object
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EtherNet/IP with FHPP
QOS Object (Class Code: 0x48)
The Quality of Service Object offers mechanisms that can occupy the transmission stream with various
priorities.
Instance
Attribute
Name
Description
0
Class
1
2
Revision
Max. Instance
1-x
Instance
Attributes
1
802.1Q Tag Enable
4
DCCP Urgent
5
DCSP Scheduled
6
High
7
Low
8
Explicit
Revision of this object.
Maximum instance number of an
object currently created in this class
level of the device.
Enables or disables sending 802.1Q
frames on CIP and IEEE 1588 messages.
DSCP value for CIP transport class
0/1 Urgent priority messages.
DSCP value for CIP transport class
0/1 Scheduled priority messages.
DSCP value for CIP transport class
0/1 High priority messages.
DSCP value for CIP transport class
0/1 low priority messages.
DSCP value for CIP explicit messages
(transport class 2/3 and UCMM).
Tab. 5.12
64
QOS Object
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DeviceNet with FHPP
6
DeviceNet with FHPP
6.1
Overview
This part of the documentation describes connection and configuration of the motor controller CMMPAS-...-M3 in a DeviceNet network. It is directed at people who are already familiar with this bus protocol.
DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association)
as an open fieldbus standard based on the CAN protocol. DeviceNet belongs to the CIP-based networks. CIP (Common Industrial Protocol) forms the application layer of DeviceNet and defines the exchange of
– explicit messages with low priority, e.g.for configuration or diagnostics
– I/O messages, e.g. time-critical process data
The Open DeviceNet Vendor Association (ODVA) is the user organisation for DeviceNet.
Publications concerning the DeviceNet/CIP specification are available at ODVA
(Open DeviceNet Vendor Association) http://www.odva.org
DeviceNet is a machine-oriented network which enables connections between simple industrial devices
(sensors, actuators) and higher-order devices (controllers). DeviceNet is based on the CIP protocol
(Common Industrial Protocol) and shares all common aspects of CIP with adaptations enabling the
frame size of messages to be adapted to that of DeviceNet. Fig. 6.1 shows an example of a typical
DeviceNet network.
3
2
3
3
1
1
1
1
1
1
1
2
1
1
DeviceNet stations or nodes
Terminating resistor 121 Ohm
Fig. 6.1
2
1
3
1
1
Multiple-port tap
DeviceNet network
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
DeviceNet offers:
– a low-cost solution for networks at the device level
– Access to information in devices at a lower level
– Possibility for master/slave and peer-to-peer
DeviceNet pursues two main objectives:
– Transporting control-orientated information, which is in connection with devices of the lower level
(I/O connection).
– Transporting further information which is indirectly connected with the closed-loop system, such as
configuration parameters (Explicit Messaging Connection).
6.1.1
I/O connection
Some types of I/O connection are defined by DeviceNet. At present only Poll Command /Response
Message with 16 bytes of input data and 16 bytes of output data are supported with FHPP. This means
that the master periodically sends 16 bytes of data to the slave and the slave also replies with 16 bytes.
6.1.2
Optional use of FHPP+
Besides the control or status bytes and the FPC, additional I/O data can be transmitted section C.2.
This is set via the FCT (page fieldbus, tab FHPP+ editor).
The meaning of the data is determined by the FHPP user protocol.
6.1.3
Explicit Messaging
The Explicit Messaging protocol is used for transporting configuration data and for configuring a system. Explicit Messaging is also used for setting up an I/O connection. Explicit Messaging connections
are always point-to-point connections. An end point sends a request, the other end point replies with
an answer. The answer may be a success message or an error message.
Explicit messaging makes various services possible. The most common services are:
– opening the explicit messaging connection,
– closing the explicit messaging connection,
– get single attribute (read parameter),
– get single attribute (save parameter).
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DeviceNet with FHPP
6.2
DeviceNet interface CAMC-DN
The DeviceNet interface for the motor controllers CMMP-AS-...-M3 is implemented through the
CAMC-DN interface. The interface is mounted in the Ext1 slot. The DeviceNet connection is designed as
a 5-pin open connector.
6.2.1
1
2
Display and control elements at the CAMC-DN interface
Open connector
(5-pin)
DeviceNet LED
(green/red)
1
2
Fig. 6.2
Connection and display elements at the DeviceNet interface
6.2.2
DeviceNet LED
A two-colour LED shows information about the device and the communication status. It has been designed as a combined module/network status (MSN) LED. The combined module and network status
LED supplies limited information on the device and the communication status.
LED
Status
Shows:
is off
Device is not online.
Flashes green
Ready for operation and online,
Not connected or
Online and requires commissioning
Ready to operate and online,
connected
The device has not yet finished
initialisation or has no power supply.
The device works in a normal status
and is online without established
connection.
The device works in a normal status
and is online with established
connections.
Lights up green
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DeviceNet with FHPP
LED
Status
Shows:
Flashes red-green
Communication failed and receives an
Identify Comm Fault Request
Flashes red
Minor error
or
connection interrupted (time-out)
Critical error
or
critical connection error
The device has ascertained a network
access error and is in the status
“Communication Faulted”. The device
then received and accepted an
“Identify Communication Faulted
Request”.
Normal behaviour during
commissioning.
Correctable error and / or at least one
I/O connection is in the time-out
status.
The device has an error which cannot
be corrected. The device has
ascertained an error which makes
communication in the network
impossible (e.g. bus off, double
MAC-ID).
Lights up red
Tab. 6.1
6.2.3
Plug
Tab. 6.2
DeviceNet LED
Pin allocation
Pin no.
Designation
Value
Description
1
2
3
4
5
V+
CAN-H
Drain / shield
CAN-L
V–
24 V
0V
CAN transceiver supply voltage
Positive CAN signal (dominant high)
Screening
Negative CAN signal (dominant low)
Reference potential CAN transceiver
Pin assignment: DeviceNet interface
Next to the contacts CAN_L and CAN_H for the network connection, 24 V DC must be connected to V+
and V- in order to supply the CAN transceiver.
The cable screening is connected to the Drain/Shield contact.
In order to connect the DeviceNet interface correctly to the network, consult the very detailed “Planning
and Installation Manual” on the ODVA homepage. The different types of network supply are also represented in detail there.
68
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
6
6.3
DeviceNet with FHPP
Configuration DeviceNet participants
Several steps are required in order to produce an operational DeviceNet interface. Some of these settings should or must be carried out before the DeviceNet communication is activated. This section
provides an overview of the steps required by the slave for parameterisation and configuration. As
some parameters are only effective after saving and reset of the controller, we recommend that commissioning with the FCT should be carried out first without connection to the DeviceNet.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the DeviceNet interface, the user must therefore make these determinations. Only
then should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured. With
correct parameterisation, the application is ready immediately without communication errors.
We recommend the following procedure:
1. Set the offset of the MAC ID and activate the bus communication via DIP switches.
The status of the DIP switches is read one time at Power On / Reset.
The CMMP-AS-...-M3 takes over changes to the switch setting in ongoing operation only
at the next RESET or restart
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In addition, the following settings on the fieldbus page:
– For MAC IDs > 31: base address of the MAC ID
– Physical units (Factor Group tab)
– Optional use of FPC and FHPP+ (FHPP+ editor tab)
Observe that parameterisation of the DeviceNet function remains intact after a reset only
if the parameter set of the motor controller was saved.
3. Configuration of the DeviceNet master section 6.4.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
6.3.1
Setting the MAC ID with DIP switches and FCT
A unique MAC ID must be assigned to each device in the network. The MAC ID can be set via the DIP
switches 1 … 5 on the module in slot Ext3 or in the FCT.
The resulting MAC ID consists of the base address (FCT) and the offset (DIP switches).
Permissible values for the MAC ID lie in the range 0 … 63.
Setting the offset of the MAC ID with DIP switches
A MAC ID in the range 0 … 31 can be set using the DIP switches 1 … 5. The offset of the MAC ID set via
DIP switches 1…5 is displayed in the program FCT on the fieldbus page in the operating parameters tab.
DIP switch
Value
1
2
3
4
5
Total of 1 … 5 = MAC ID
ON
1
2
4
8
16
0 … 31 1)
1)
Example
OFF
0
0
0
0
0
ON
OFF
OFF
ON
ON
Value
1
0
0
8
16
25
A MAC ID larger than 31 must be set with the FCT.
Tab. 6.3
Setting the offset of the MAC ID
Setting the base address of the MAC ID with FCT
With the Festo Configuration Tool (FCT), the MAC ID is set as base address on the fieldbus page in the
operating parameters tab.
Default setting = 0 (that means offset = MAC ID).
If a MAC-ID greater than 63 is set, the value is set automatically to 63.
6.3.2
Setting of the transmission rate using DIP switches
The transmission rate must be set with DIP switches 6 and 7 on the module in slot Ext3. The status of
the DIP switches is read one time at Power On / Reset. The CMMP-AS-...-M3 takes over changes to the
switch setting in ongoing operation only at the next RESET.
Transmission rate
125
250
500
500
Tab. 6.4
70
[Kbit/s]
[Kbit/s]
[Kbit/s]
[Kbit/s]
DIP switch 6
DIP switch 7
OFF
ON
OFF
ON
OFF
OFF
ON
ON
Setting of the transmission rate
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
6
DeviceNet with FHPP
6.3.3
Activation of DeviceNet communication
After the MAC-ID und the transmission rate have been set, DeviceNet communication can be activated.
Please note that the above-mentioned parameters can only be revised when the protocol is deactivated.
DeviceNet communication
DIP switch 8
Disabled
Enabled
OFF
ON
Tab. 6.5
Activation of DeviceNet communication
Please observe that DeviceNet communication can only be activated after the parameter set (the FCT
project) has been saved and a Reset carried out.
6.3.4
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units (e.g.
mm, mm/s, mm/s2) with the motor controller, they must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
6.3.5
Setting of the optional use of FPC and FHPP+
Besides the control or status bytes and the FPC, additional I/O data can be transmitted sections C.1
and C.2.
This is set via the FCT (page fieldbus, tab FHPP+ editor).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
6.4
Electronic data sheet (EDS)
You can use an EDS file to configure the DeviceNet master.
The EDS file is included on the CD-ROM supplied with the motor controller.
You will find the most current version under www.festo.com
EDS files
Description
CMMP-AS-...-M3_2p11.eds
Motor controller CMMP-AS-...-M3 with protocol “FHPP”
(static for Beckhoff PLC)
Motor controller CMMP-AS-...-M3 with protocol “FHPP”
(modular for Rockwell PLC)
CMMP-AS-...-M3_2p11_RS.eds
Tab. 6.6
EDS files for FHPP with DeviceNet
The way in which you configure your network depends on the configuration software used. Follow the
instructions of the controller manufacturer for registering the EDS file of the motor controller.
This chapter describes only the implemented DeviceNet object model, i.e. how you can access the
FHPP parameters via DeviceNet.
Data types
The following data types corresponding to the DeviceNet specification are used:
Type
Signed
Unsigned
8 bit
16 bit
32 bit
SINT
INT
DINT
USINT
UINT
UDINT
Tab. 6.7
Data types
Device Data Object (Object Class ID , Number of Instances )
This object supplies information to identify a device.
Object class ID: 100
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Version
Manufacturer hardware version
Firmware version
Version FHPP
0x01
0x02
0x03
100.1
101.1
102.1
UINT
UINT
UINT
72
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
6
DeviceNet with FHPP
Allocation
Name
Attribute
FHPP-PNU
Type
Identification
Project identifier
Serial number controller
Manufacturer device name
User device name
Drive manufacturer
http address manufacturer
Festo order number
I/O Control + FCT Control
Data Memory Control: Load default
Data Memory Control: Save
Data Memory Control: SW reset
Encoder Data Memory Control
0x07
0x08
0x09
0x0A
0x0B
0x0C
0x0D
0x0E
0x14
0x15
0x16
0x19
113.1
114.1
120.1
121.1
122.1
123.1
124.1
125.1
127.1
127.2
127.3
127.6
UDINT
UDINT
SHORT_STRING
SHORT_STRING
SHORT_STRING
SHORT_STRING
SHORT_STRING
USINT
USINT
USINT
USINT
USINT
Data Memory
Control
Tab. 6.8
Device Data Object
Process Data Object.
This object supplies demand and actual values for position, speed and torque. The digital inputs and
outputs can also be controlled.
Object Class ID: 103
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Position
Position: Actual value
Position: Setpoint
Position: Actual deviation
Torque: Actual value, “mNm”
Torque: Setpoint, “mNm”
Torque: Actual deviation
Digital Inputs: DIN 0 … 7
Digital Inputs: DIN 8 … 11
Dig. inputs: EA88_1: DIN1 … 8
Digital Outputs: DOUT 0 … 3
Dig. outputs: EA88_1: DOUT1…8
Demand record number
Actual record number
Record status byte
Operating hours meter, “s”
0x01
0x02
0x03
0x04
0x05
0x05
0x0A
0x0B
0x0C
0x14
0x15
0x20
0x21
0x22
0x23
300.1
300.2
300.3
301.1
301.2
301.3
303.1
303.2
303.4
304.1
304.3
400.1
400.2
400.3
305.3
DINT
DINT
DINT
DINT
DINT
DINT
USINT
USINT
USINT
USINT
USINT
USINT
USINT
USINT
UDINT
Torque
Digital
Inputs/outputs
Record control
Operating hour
counter
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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6
DeviceNet with FHPP
Allocation
Name
Speed
Velocity: Actual value
Velocity: Demand value
Velocity: Actual deviation
Remaining Distance
Remaining distance for remaining
distance message
Status
State signal outputs
Signal outputs
Trigger state
Other axis parameters Torque feed forward
Setup speed
Speed override
Tab. 6.9
Attribute
FHPP-PNU
Type
0x24
0x25
0x26
0x38
310.1
310.2
310.3
1230.1
DINT
DINT
DINT
UDINT
0x3A
0x3B
0x64
0x65
0x65
311.1
311.2
1080.1
1081.1
1082.1
UDINT
UDINT
DINT
USINT
USINT
Process Data Object
Project Data Object
This object supplies project information, i.e. common parameters for all devices of a machine.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
General project data
Project zero point
Negative position limit
Positive position limit
Max. speed
Max. acceleration
Max. jerk-free filter time, “ms”
Teach target
0x01
0x02
0x03
0x04
0x05
0x07
0x14
500.1
501.1
501.2
502.1
503.1
505.1
520.1
DINT
DINT
DINT
UDINT
UDINT
UDINT
USINT
Teach
Tab. 6.10
Project Data Object
Jog Mode Object
This object supplies information on the jog mode.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Jog mode
Jog mode: Speed slow (phase 1)
Jog mode: Speed fast (phase 2)
Jog mode: Acceleration
Jog mode: Deceleration
Jog mode: Time for phase 1, “ms”
0x1E
0x1F
0x20
0x21
0x22
530.1
531.1
532.1
533.1
534.1
DINT
DINT
UDINT
UDINT
UDINT
Tab. 6.11
74
Jog Mode Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Direct Mode Position Object
This object supplies information on the project via the direct mode position control.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Direct mode position
Direct mode pos:
Base speed
Direct mode pos:
Acceleration
Direct mode pos:
Deceleration
Direct mode pos:
Jerk-free filter time, “ms”
0x28
540.1
DINT
0x29
541.1
UDINT
0x2A
542.1
UDINT
0x2E
546.1
UDINT
Tab. 6.12
Direct Mode Position Object
Direct Mode Torque Object
This object supplies information on the project via the direct mode torque object.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Direct mode torque
Direct mode torque:
Base torque ramp, “mNm/s”
Direct mode torque:
Force target window, “mNm”
Direct mode torque:
Time window, “ms”
Direct mode torque:
speed limit
0x32
550.1
UDINT
0x34
552.1
UINT
0x35
553.1
UINT
0x36
554.1
UDINT
Tab. 6.13
Direct Mode Torque Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Direct Mode Speed Object
This object supplies information on the project via the direct mode speed control.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Direct mode speed:
Direct mode speed:
Base speed ramp
Direct mode speed:
Velocity window
Direct mode speed:
Velocity window time, “ms”
Direct mode speed:
Velocity threshold
Direct mode speed:
Velocity threshold time, “ms”
Direct mode speed:
Torque limit, “mNm”
0x3C
560.1
UDINT
0x3D
561.1
UINT
0x3E
562.1
UINT
0x3F
563.1
UINT
0x40
564.1
UINT
0x41
565.1
UDINT
Tab. 6.14
Direct Mode Speed Object
Direct Mode General Object
This object supplies general information on the project through the direct mode.
Object Class ID: 105
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Direct mode general
Direct mode general:
Torque limit selector
Direct mode general:
Torque limit, “mNm”
0x50
580.1
SINT
0x51
581.1
UDINT
Tab. 6.15
76
Direct Mode General Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Axis Parameter Object
This object supplies axis information, i.e. parameters for an individual device in a machine.
Object Class ID: 107
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Mechanics
Polarity
Encoder resolution: Increments
Encoder resolution: Motor revolutions
Gear ratio: Motor revolutions
Gear ratio: Shaft revolutions
Feed constant: Feed
Feed constant: Shaft revolutions
Position factor: Numerator
Position factor: Divisor
Axis parameter: X2A gear numerator
Axis parameter: X2A gear divisor
Velocity encoder factor: Numerator
Velocity encoder factor: Divisor
Acceleration factor: Numerator
Acceleration factor: Divisor
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0B
0x0C
0x0F
0x10
0x11
0x12
1000.1
1001.1
1001.2
1002.1
1002.2
1003.1
1003.2
1004.1
1004.2
1005.2
1005.3
1006.1
1006.2
1007.1
1007.2
USINT
UDINT
UDINT
UDINT
UDINT
UDINT
UDINT
UDINT
UDINT
DINT
DINT
UDINT
UDINT
UDINT
UDINT
Tab. 6.16
Axis Parameter Object
Homing Object
This object supplies information on the project via homing.
Object Class ID: 107
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Homing
Offset axis zero point
Homing method
Homing: Speed (search for switch)
Homing: Speed (search for zero)
Homing: Acceleration
Homing required
Homing max. torque, “%”
0x14
0x15
0x16
0x17
0x18
0x19
0x1A
1010.1
1011.1
1012.1
1012.2
1013.1
1014.1
1015.1
DINT
SINT
UDINT
UDINT
UDINT
USINT
USINT
Tab. 6.17
Homing Object
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DeviceNet with FHPP
Controller Parameters Object
This object supplies information on the project via the controller.
Object Class ID: 107
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Controller parameters
Halt option code
Position window
Position window time, “ms”
Gain position controller
Gain speed controller
Time speed controller, “μs”
Gain current controller
Time current controller “μs”
Save position
Festo serial number +
motor’s serial number
I2t time motor, “ms”
Power stage temperature
Max. power stage temperature
Nominal motor current, “mA”
Current limit
(thousandths of nominal motor current)
Controller serial number
0x1E
0x20
0x21
0x22
0x23
0x24
0x25
0x26
0x28
0x2C
1020.1
1022.1
1023.1
1024.18
1024.19
1024.20
1024.21
1024.22
1024.32
1025.1
UINT
UDINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UDINT
0x2D
0x31
0x32
0x33
0x34
1025.3
1026.1
1026.2
1026.3
1026.4
UINT
UDINT
UDINT
UDINT
UDINT
0x37
1026.7
UDINT
Motor data
Drive data
Tab. 6.18
Controller Parameters Object
Electronic Identification Plate Object
This object supplies information on the project via the electronic type plate.
Object Class ID: 107
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Type plate data
Max. current
Motor rated current, “mA”
Motor rated torque, “mNm”
Torque constant, “mNm/A”
Following error window
0x40
0x41
0x42
0x43
0x48
1034.1
1035.1
1036.1
1037.1
1044.1
UINT
UDINT
UDINT
UDINT
UDINT
Following error timeout, “ms”
0x49
1045.1
UINT
Axis parameter,
following error
monitoring
Tab. 6.19
78
Electronic Identification Plate Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Standstill Object
This object supplies information on the project via the standstill monitoring.
Object Class ID: 107
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Standstill monitoring
Position demand value
Position actual value
Standstill position window
Standstill timeout, “ms”
0x44
0x45
0x46
0x47
1040.1
1041.1
1042.1
1043.1
DINT
DINT
UDINT
UINT
Tab. 6.20
Standstill Object
Fault Buffer Administration Parameters Object
This object supplies information on the project via the diagnostic memory.
Object Class ID: 102
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Error
Error buffer:
Incoming/outgoing error
Error buffer:
Resolution time stamp
Error buffer:
Number of entries
Warning buffer:
Incoming/outgoing warning
Warning buffer:
Resolution time stamp
Warning buffer:
Number of entries
0x01
204.1
USINT
0x02
204.2
USINT
0x04
204.4
USINT
0x05
214.1
USINT
0x06
214.2
USINT
0x08
214.4
USINT
Warnings
Tab. 6.21
Fault Buffer Administration Parameters Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Error Record List Object
This object represents the error memory.
An individual object group is available for each sub-Index (x) from 1 … 32.
Object Class ID: 101
Number of Instances: 32
Allocation
Name
Attribute
FHPP-PNU
Type
Diagnostic memory
Diagnosis
Error number
Time stamp “s”
Additional information
0x01
0x02
0x03
0x04
200 x
201.x
202 x
203 x
USINT
UINT
UDINT
UDINT
Tab. 6.22
Error Record List Object
Warning Record List Object
This object represents the warning memory.
An individual object group is available for each sub-index (x) from 1 … 16.
Object Class ID: 108
Number of Instances: 16
Allocation
Name
Attribute
FHPP-PNU
Type
Warning memory
Diagnosis
Warning number
Time stamp “s”
Additional information
0x01
0x02
0x03
0x04
210.x
211.x
212.x
213.x
USINT
UINT
UDINT
UDINT
Tab. 6.23
80
Warning Record List Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Record List Object
This object represents the data record list. Data records can be processed automatically and also
linked to each other.
An individual object group is available for each sub-index (x) from 1 … 250.
Object Class ID: 104
Number of Instances: 250
Allocation
Name
Attribute FHPP-PNU
Type
Record data
Record Control Byte 1
Record Control Byte 2
Setpoint
Velocity
Acceleration
Deceleration
Speed limit (in torque control)
Jerk-free filter time, “ms”
Following Position
Torque limitation “mNm”
CAM disc number
Remaining distance for message
Record Control Byte 3
0x01
0x02
0x04
0x06
0x07
0x08
0x0C
0x0D
0x10
0x12
0x13
0x14
0x15
USINT
USINT
DINT
UDINT
UDINT
UDINT
UDINT
UDINT
USINT
UDINT
USINT
UDINT
USINT
Tab. 6.24
401.x
402.x
404.x
406.x
407.x
408.x
412.x
413.x
416.x
418.x
419.x
420.x
421.x
Record List Object
FHPP+ Data
This object represents the output and input data of the controller.
An individual object group is available for each sub-index (x) from 1 … 10.
Object Class ID: 115
Number of Instances: 16
Allocation
Name
Attribute FHPP-PNU
Type
FHPP+ Data
FHPP_Receive_Telegram
FHPP_Respond_Telegram
0x01
0x02
UDINT
UDINT
Tab. 6.25
40.x
41.x
FHPP+ Data List Object
FHPP+ Status
This object represents the status of the FHPP+ data.
Object Class ID: 116
Number of Instances: 1
Allocation
Name
Attribute FHPP-PNU
Type
FHPP+ Status
FHPP_Rec_Telegram_State
FHPP_Resp_Telegram_State
0x01
0x01
UDINT
UDINT
Tab. 6.26
42.1
43.1
FHPP+ Status List Object
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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DeviceNet with FHPP
Safety
This object represents the safety status of the motor controller.
Object Class ID: 107
Number of Instances: 1
Allocation
Safety Status
Tab. 6.27
Name
Attribute
FHPP-PNU
Type
safety state
0x01
280.0
UDINT
Safety Status List Object
Operation Data
This object represents the function data of the cam disc function.
Object Class ID: 113
Number of Instances: 1
Allocation
Name
Attribute
FHPP-PNU
Type
Cam disc number
Cam disc number
Position: Setpoint virtual master
Sync.: Input configuration
Sync.: Gear ratio (Motor Revolutions)
Sync.: Gear ratio (Shaft Revolutions)
Encoder emulation:
Output configuration
Position trigger control
0x01
0x03
0x0B
0x0C
0x0D
0x15
700.1
300.4
710.1
711.1
711.2
720.1
USINT
DINT
UDINT
UDINT
UDINT
UDINT
0x1F
730.1
UDINT
Synchronisation
Encoder:
Trigger
Tab. 6.28
Operation Data List Object
Trigger Parameters
This object represents the trigger information.
An individual object group is available for each sub-index (x) from 1 … 4.
Object Class ID: 114
Number of Instances: 4
Allocation
Name
Attribute
FHPP-PNU
Type
Trigger Parameter
Position trigger low
Position trigger high
Rotor Position trigger high
Rotor Position trigger high
0x20
0x21
0x22
0x23
731.x
732.x
733.x
734.x
DINT
DINT
DINT
DINT
Tab. 6.29
82
Trigger Parameters List Object
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7.1
Overview
This part of the documentation describes connection and configuration of the motor controller CMMPAS-...-M3 in an EtherCAT network. It is directed at people who are already familiar with the bus protocol.
The EtherCAT fieldbus system means “Ethernet for Controller and Automation Technology” and was
developed by Beckhof Industrie. It is managed by the international EtherCAT Technology Group (ETG)
organisation and supports and is designed as an open technology, which is standardised by the
International Electrotechnical Commission (IEC).
EtherCAT is a fieldbus system based on Ethernet, which sets new speed standards and can be handled
like a fieldbus, thanks to flexible topology (line, tree, star) and simple configuration.
The EtherCAT protocol is transported with a special standardised Ethernet type directly in the Ethernet
frame in accordance with IEEE802.3. The slaves can broadcast, multicast and communicate laterally.
Abbreviation
Significance
CoE
CANopen over EtherCAT protocol
ESC
EtherCAT Slave Controller
PDI
Tab. 7.1
Process Data Interface
EtherCAT-specific abbreviations
Festo supports the CoE protocol (CANopen over EtherCAT) in the CMMP with the Beckhoff
FPGA ESC20. DS402 and FHPP are supported as data profiles.
EtherCAT CAMC-EC interface characteristics
The EtherCAT interface has the following performance characteristics:
– Can be mechanically fully integrated into the CMMP-AS-...-M3 series motor controllers
– EtherCAT conforming to IEEE-802.3u (100Base-TX) with 100Mbps (full-duplex)
– Star and line topology
– Plug connector: RJ45
– Electrically isolated EtherCAT interface
– Communication cycle : min. 1 ms
– Max. 127 slaves
– EtherCAT slave implementation based on the Beckhoff FPGA ESC20
– Support of the “Distributed Clocks” feature for time-synchronous setpoint value transfer
– LED displays for ready status and link detect
– SDO communication corresponding to CANopen CiA 402 description CiA 402
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7.2
EtherCAT CAMC-EC interface
The EtherCAT interface is implemented for the motor controllers CMMP-AS-...-M3 through the optional
interface CAMC-EC. The interface is mounted in slot Ext2. The EtherCAT connection is designed in the
form of two RJ45 sockets at the interface CAMC-EC.
7.2.1
1
2
3
4
Connection and display components
LED 1 (Port 1, Run)
LED 2 (Port 2)
Interface X1 (Port 1)
Interface X2 (Port 2)
2
1
3
4
Fig. 7.1
Connection and display components at the EtherCAT interface
The EtherCAT CAMC-EC interface allows the CMMP motor controller to be connected to the EtherCAT
fieldbus system. Communication over the EtherCAT interface (IEEE 802.3u) takes place with an
EtherCAT standard cabling.
7.2.2
EtherCAT LEDs
The EtherCAT LEDs display the communication status.
LED
Status:
Meaning:
LED 1
Off
Lights up red
Lights up green
Off
Lights up red
No connection to Port 1
Connection active at Port 1
Run
No connection at Port 2
Connection active at Port 2
LED 2
Tab. 7.2
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EtherCAT LEDs
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EtherCAT with FHPP
7.2.3
Pin allocation and cable specifications
Design of plug connectors X1 and X2
Function
RJ45 sockets
X1 (RJ45 socket on top)
Uplink to the master or a previous station of a series connection
(e.g. multiple motor controllers)
X2 (RJ45 socket underneath) Uplink to the master, end of a series connection or connection of
additional downstream stations
Tab. 7.3
RJ45 sockets
Allocation of the plug connectors X1 and X2
Tab. 7.4
Pin
Specification
1
Receiver signal– ( RX– )
Wire pair 3
2
Receiver signal+ ( RX+ )
Wire pair 3
3
Transmission signal- ( TX- )
Wire pair 2
4
–
Wire pair 1
5
–
Wire pair 1
6
Transmission signal+ ( TX+ )
Wire pair 2
7
–
Wire pair 4
8
–
Wire pair 4
Allocation of the plug connectors X1 and X2
EtherCAT interface specification
Value
Function
EtherCAT interface, signal level
EtherCAT interface, differential voltage
0 … 2.5 V DC
1.9 … 2.1 V DC
Tab. 7.5
RJ45 sockets
Type and design of cable
Shielded twisted-pair STP, Cat.5 cables must be used for cabling.
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EtherCAT with FHPP
The listed cable names refer to cables made by LAPP and Lütze. They have proven themselves in practice and are successfully in use in many applications. However, comparable cables by other manufacturers can also be used.
Cable length
Order number
EtherCAT cable from LAPP
0.5 m
90PCLC50000
1m
90PCLC500010
2m
90PCLC500020G
5m
90PCLC500050G
EtherCAT cable from Lütze
0.5 m
192000
1m
19201
5m
Tab. 7.6
19204
EtherCAT cable
Errors due to inappropriate bus cable
As very high baud rates can occur, we recommend that you use only the standardised
cables and plug connectors. In some cases, they have additional diagnostics options and
allow the fieldbus interface to be analysed rapidly in the event of errors.
When setting up the EtherCAT network, you must unconditionally follow the advice in the
relevant literature or the subsequent information and instructions in order to maintain a
stable, trouble-free system. If the system is not cabled properly, EtherCAT bus malfunctions can occur during operation. These can cause the CMMP motor controller to shut off
with an error for safety reasons.
Bus termination
No external bus terminations are required. The EtherCAT interface monitors its two ports and terminates the bus automatically (loop-back function).
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EtherCAT with FHPP
7.3
Configuration of EtherCAT stations
Several steps are required in order to produce an operational EtherCAT interface. This section provides
an overview of the steps required by the slave for parameterisation and configuration. As some parameters are only effective after saving and reset of the controller, we recommend that commissioning
with the FCT should be carried out first without connection to the EtherCAT bus.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the EtherCAT interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be undertaken first. Then the master should be configured. With
correct parameterisation, the application is ready immediately without communication errors.
We recommend the following procedure:
1. Activation of the bus communication via DIP switches.
The status of the DIP switches is read one time at Power ON / RESET.
The CMMP-AS-...-M3 takes over changes to the switch setting in ongoing operation only
at the next RESET or restart
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In addition, the following settings on the fieldbus page:
– Festo FHPP cycle time (Operation Parameters tab)
– Festo FHPP protocol (Operation Parameters tab)
– Physical units (Factor Group tab)
– Optional use of FHPP+ (FHPP+ Editor tab)
Observe that the parameterisation of the EtherCAT function only remains intact after a
reset if the parameter set of the motor controller was saved.
3. Configuration of the EtherCAT master section 7.4.
7.3.1
Activation of EtherCAT communication with DIP switches
EtherCAT communication
DIP switch 8
Disabled
Enabled
OFF
ON
Tab. 7.7
Activation of EtherCAT communication
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EtherCAT with FHPP
7.3.2
Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
7.3.3
Setting of the optional use of FPC and FHPP+
Besides the control or status bytes and the FPC, additional I/O data can be transmitted section C.2.
This is set via the FCT (page Fieldbus, tab FHPP+ Editor).
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EtherCAT with FHPP
7.4
FHPP with EtherCAT
The FHPP data are divided among several process data objects for CANopen communication. Mapping
is automatically determined through parameterisation with the FCT (page Fieldbus, tab FHPP+ Editor).
Supported process
data objects
Parameterisation1)
PDO assignment
Data mapping of the FHPP data
TxPDO 1
Standard
0x0001
TxPDO 2
optional
or
Optional
0x0002
FHPP standard
8 bytes control data
FPC parameter channel
Request to read/write FHPP parameter values
FHPP+ data
Mapping = 8 bytes of FHPP+ data
TxPDO 3
Optional
0x0004
TxPDO 4
Optional
0x0005
RxPDO 1
Standard
0x0010
RxPDO 2
optional
or
0x0011
Optional
0x0012
RxPDO 3
Optional
0x0013
RxPDO 4
Optional
0x0014
1)
0x0003
FHPP+ data
Mapping = 8 bytes of FHPP+ data
FHPP+ data
Mapping = 8 bytes of FHPP+ data
FHPP standard
8 bytes of status data
FPC parameter channel
Transmission of requested FHPP parameter
values
FHPP+ data
Mapping = 8 bytes of FHPP+ data
FHPP+ data
Mapping = 8 bytes of FHPP+ data
FHPP+ data
Mapping = 8 bytes of FHPP+ data
Optional if parameterised through the FCT (page Fieldbus – tab FHPP+ Editor)
Tab. 7.8
Cyclical process data objects
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EtherCAT with FHPP
7.5
Configuration EtherCAT Master
In order to connect EtherCAT slave devices easily to an EtherCAT master, there must be a description
file for every EtherCAT slave device. This description file is comparable to the EDS files for the CANopen
fieldbus system or the GSD files for Profibus. In contrast to the latter, the EtherCAT description file is in
the XML format, as is often used for internet and web applications, and contains information on the
following features of the EtherCAT slave devices:
– Information on the device manufacturer
– Name, type and version number of the device
– Type and version number of the protocol to be used for this device (e.g. CANopen over Ethernet, ...)
– Parameterisation of the device and configuration of the process data
This file contains the complete parameterisation of the slave, including the parameterisation of the
Sync Manager and the PDOs. For this reason, the configuration of the slave can be changed through
this file.
The XML file is included on a CD-ROM supplied with the motor controller.
XML file
Description
Festo_CMMP-AS_V3p0.xml
Tab. 7.9
motor controller CMMP-AS-...-M3
XML file
You can find the most current version under: www.festo.com
Its contents will now be described in more detail to permit users to adapt this file to their application.
The available device description file supports both the CiA 402 profile and the FHPP profile via separately selectable modules.
7.5.1
Fundamental structure of the XML device description file
The EtherCAT device description file is in the XML format. This format has the advantage that it can be
read and edited in a standard text editor. An XML file always describes a tree structure. It defines the
individual branches via nodes. These nodes have a start and end marking. Each node can contain any
number of sub-nodes.
EXAMPLE: Rough explanation of the fundamental structure of an XML file:
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<EtherCATInfo Version=“0.2“>
<Vendor>
<Id>#x1D</Id>
<Name>Festo AG</Name>
<ImageData16x14>424DD60200......</ImageData16x14>
</Vendor>
<Descriptions>
<Groups>
<Group SortOrder=“1“>
<Type>Festo Electric-Drives</Type>
<Name LcId=“1033“>Festo Electric-Drive</Name>
</Group>
</Groups>
<Devices>
<Device Physics=“YY“>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
The following brief rules must be observed for the structure of an XML file:
– Each node must have a unique name.
– Each node opens with <node name> and closes with </node name>.
The device description file for the CMMP-AS-...-M3 motor controller under EtherCAT CoE is divided into
the following sub-items:
Node name
Significance
Adaptable
Vendor
This node includes the name and the ID of the manufacturer of
the device to which this description file belongs. It also contains the binary code of a bitmap with the manufacturer's logo.
No
Description
This sub-item contains the actual device description including
the configuration and initialisation.
Partial
Group
This node contains the assignment of the device to a device
group. These groups are specified and may not be changed by
the user.
No
Devices
This sub-item contains the actual description of the device.
Partial
Tab. 7.10 Nodes of the device description file
The following table describes only the subnodes of the “Description” node required for parameterisation of the CMMP-AS-...-M3 motor controller under CoE. All other nodes are fixed and may not be
changed by the user.
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EtherCAT with FHPP
Node name
Significance
Adaptable
RxPDO Fixed=...
This node contains the PDO Mapping and the assignment of the
PDO to the Sync Manager for Receive PDOs.
Yes
TxPDO Fixed=...
This node contains the PDO Mapping and the assignment of the
PDO to the Sync Manager for Transmit PDOs.
Yes
Mailbox
This node allows commands to be defined that are transmitted
to the slave via SDO transfers by the master during the phase
transition from “Pre-Operational” to “Operational”.
Yes
Tab. 7.11 Subnode of the “Descriptions” node
As only the nodes from the table above are important for users to adapt the device description file, they
are described in detail in the following chapters. The remaining content of the device description file is
fixed and may not be changed by the user.
Important:
If changes are made to nodes and content other than the RxPDO, TxPDO and Mailbox
nodes in the device description file, error-free operation of the device can no longer be
guaranteed.
7.5.2
Receive PDO configuration in the RxPDO node
The RxPDO node is used to specify the mapping for the Receive PDOs and their assignment to a channel
of the Sync Manager. A typical entry in the device description file for the CMMP-AS-...-M3 motor controller can be as follows:
<RxPDO Fixed=”1” Sm=”2”>
<Index>#x1600</Index>
<Name>Outputs</Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode_Of_Operation</Name>
<DataType>USINT</DataType>
</Entry>
</RxPDO>
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As the example above shows, the entire mapping of the Receive PDO is described in detail in such
entries. The first large block specifies the object number of the PDO and its type. This is followed by a
list of all CANopen objects which are to be mapped to the PDO.
The table below describes the individual entries in greater detail:
Node name
Significance
Adaptable
RxPDO
Fixed=“1”
Sm=“2”
This node describes the properties of the Receive PDO directly
and its assignment to the Sync Manager. The Fixed=“1” entry
indicates that the object mapping cannot be revised. The
Sm=“2” entry indicates that the PDO is to be allocated to Sync
channel 2 of the Sync Manager.
No
Index
This entry contains the object number of the PDO. The first
Receive PDO under object number 0x1600 is configured here.
Yes
Name
The name indicates that this PDO is a Receive PDO (outputs) or
a Transmit PDO (inputs).
This value must always be set to “Output” for a Receive PDO.
No
Entry
Each Entry node contains a CANopen object to be mapped to
the PDO. An Entry node contains the index and sub-index of the
CANopen object to be mapped, as well as their name and data
type.
Yes
Tab. 7.12 Elements of the node “RxPDO”
The sequence and mapping of the individual CANopen objects for the PDO correspond to the sequence
in which they are specified via the “Entry” entries in the device description file. The individual sub-items
of an “Entry” node are specified in the following table:
Node name
Significance
Adaptable
Index
This entry specifies the index of the CANopen object to be
mapped to the PDO.
Yes
Sub-index
This entry specifies the sub-index of the CANopen object to be
mapped.
Yes
BitLen
This entry specifies the size of the object to be mapped in bits.
This entry must always correspond to the type of the object to
be mapped.
Allowed: 8 Bit / 16 Bit / 32 Bit.
Yes
Name
This entry specifies the name of the object to be mapped as a
string.
Yes
Data Type
This entry specifies the data type of the object to be mapped.
This can be taken from the respective description for the individual CANopen objects.
Yes
Tab. 7.13 Elements of the node “Entry”
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7.5.3
Transmit PDO configuration in the TxPDO node
The TxPDO node is used to specify the mapping for the Transmit PDOs and their assignment to a channel of the Sync Manager. The configuration corresponds to that of the Receive PDOs from section 7.5.2
“Receive PDO configuration in node RxPDO” with the difference that the node “Name” of the PDO must
be set to “Inputs”, not “Outputs”.
7.5.4
Initialisation commands via the “Mailbox" node
The “Mailbox” node in the device description file is used to describe CANopen objects via the master in
the slave during the initialisation phase. The commands and objects to be described there are specified
via special entries. These entries specify the phase transition at which this value is to be written. Furthermore, such entries contain the object number (index and sub-index) as well as the data value to be
written and comments.
A typical entry has the following form:
<InitCmd>
<Transition>PS</Transition>
<Index#x6060</Index>
<SubIndex>0</SubIndex>
<Data>03</Data>
<Comment>velocity mode</Comment>
</InitCmd>
In the example above, status transition PS from “Pre-Operational” to “Safe Operational” sets the operating mode in the CANopen object “modes_of_operation” to “Speed adjustment”. The individual subnodes have the following significance:
Node name
Significance
Adaptable
Transition
Name of the status transition for which this command should
be executed ( chapter 7.7
“Communication finite state machine”)
Yes
Index
Index of the CANopen object to be written
Yes
Sub-index
Sub-index of the CANopen object to be written
Yes
Data
Data value to be written, as a hexadecimal value
Yes
Comment
Comment on this command
Yes
Tab. 7.14 Elements of the node “InitCmd”
Important:
In a device description file for the CMMP-AS-...-M3 motor controller, some entries in this
section are already assigned. These entries must remain as they are and may not be
changed by the user.
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7.6
EtherCAT with FHPP
CANopen communication interface
User protocols are tunnelled via EtherCAT. For the CANopen over EtherCAT protocol (CoE) supported by
the CMMP-AS-...-M3, most objects for the communication layer are supported by EtherCAT in accordance with CiA 301. This primarily involves objects for setting up communication between masters and
slaves.
In general, the following services and object groups are supported by the EtherCAT CoE implementation
in the CMMP-AS-...-M3 motor controller:
Services/object groups
Function
SDO
PDO
EMCY
Used for normal parameterisation of the motor controller.
Fast exchange of process data (e.g. actual speed) possible.
Transmission of error messages.
Service Data Object
Process Data Object.
Emergency Message
Tab. 7.15 Supported services and object groups
The individual objects which can be addressed via the CoE protocol in the CMMP-AS-...-M3 motor controller are internally forwarded to the existing CANopen implementation and processed there.
However, some new CANopen objects are added under the CoE implementation under EtherCAT, which
are required for special connection via CoE. This is the result of the revised communication interface
between the EtherCAT protocol and the CANopen protocol. A so-called Sync Manager is used to control
the transmission of PDOs and SDOs via the two EtherCAT transfer types (mailbox and process data
protocol).
This Sync Manager and the necessary configuration steps for operation of the CMMP-AS-...-M3 under
EtherCAT-CoE are described in chapter 7.6.1 “Configuration of the Communication Interface”. The additional objects are described in chapter 7.6.2 “New and revised objects under CoE”.
Also, some CANopen objects of theCMMP-AS-...-M3, which are available under a normal CANopen connection, are not supported via a CoE connection over EtherCAT.
A list of the CANopen objects not supported under CoE is provided in chapter 7.6.3
“Objects not supported under CoE”.
7.6.1
Configuration of the Communication Interface
As already described in the previous chapter, the EtherCAT protocol uses two different transfer types
for transmission of the device and user protocols, such as the CANopen-over-EtherCAT protocol (CoE)
used by CMMP-AS-...-M3. These two transfer types are the mailbox telegram protocolfor acyclic data
and the process data telegram protocol for transmission of cyclic data.
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EtherCAT with FHPP
These two transfer types are used for the different CANopen transfer types for the CoE protocol. They
are used as follows:
Telegram protocol
Description
Reference
Mailbox
This transfer type is used to transmit the Service Data
Objects (SDOs) defined under CANopen. They are
transmitted to EtherCAT in SDO frames.
This transfer type is used to transmit the Process Data
Objects (PDOs) defined under CANopen, which are
used to exchange cyclic data. They are transmitted to
EtherCAT in PDO frames.
chapter 7.8
“SDO Frame”
Process Data
chapter 7.9
“PDO Frame”
Tab. 7.16 Telegram protocol – description
In general, these two transfer types allow all PDOs and SDOs to be used exactly as they are defined for
the CANopen protocol for CMMP-AS-...-M3.
However, parameterisation of PDOs and SDOs for sending objects via EtherCAT is different from the
settings which must be made under CANopen. In order to link the CANopen objects to be exchanged via
PDO or SDO transfers between masters and slaves into the EtherCAT protocol, a so-called Sync Manager is implemented under EtherCAT.
This Sync Manager is used to link the data of the PDOs and SDOs to be sent to the EtherCAT telegrams.
To accomplish this, the Sync Manager provides multiple Sync channels which can each implement a
CANopen data channel (Receive SDO, Transmit SDO, Receive PDO or Transmit PDO) on the EtherCAT
telegram.
The figure shows how the Sync Manager is linked to the system:
SYNC channel 0
Receive SDO
SYNC channel 1
Transmit SDO
SYNC channel 2
Receive PDO (1/2/3/4)
SYNC channel 3
Transmit PDO (1/2/3/4)
EtherCAT Bus
Fig. 7.2
96
Sample mapping of the SDOs and PDOs to the Sync channels
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EtherCAT with FHPP
All objects are sent via so-called Sync channels. The data from these channels is automatically linked to
the EtherCAT data flow and transmitted. The EtherCAT implementation in the CMMP-AS-...-M3 motor
controller supports four such Sync channels.
For this reason, additional mapping of the SDOs and PDOs to the Sync channels is required compared
with CANopen. This occurs via the so-called Sync Manager objects (objects 1C00h and 1C10h … 1C13h
chapter 7.6.2). These objects are described in more detail below.
These Sync channels are permanently allocated to the individual transfer types and cannot be changed
by the user. The allocation is as follows:
– Sync channel 0: Mailbox telegram protocol for incoming SDOs (Master => Slave)
– Sync channel 1: Mailbox telegram protocol for outgoing SDOs (Master <= Slave)
– Sync channel 2: Process data telegram protocol for incoming PDOs (Master => Slave).
The object 1C12h must be observed here.
– Sync channel 3: Process data telegram protocol for outgoing PDOs (Master <= Slave).
The object 1C13h must be observed here.
The parameterisation of the individual PDOs is set via objects 1600h to 1603h (Receive PDOs) and
1A00h to 1A03h (Transmit PDOs). Parameterisation of the PDOs is carried out as described in
chapter 2.5 “Access procedure”.
Fundamentally, the Sync channels can only be set and the PDOs only configured in the
“Pre-Operational” status.
It is not intended to parameterise the slave under EtherCAT. The device description files
are available for this purpose. They prescribe the total parameterisation, including PDO
parameterisation, which is used by the master during initialisation.
All changes to the parameterisation should therefore not be made by hand, but in the
device description files. For this purpose, sections of the device description files that are
important for the user are described in more detail in section 7.5.
The Sync channels described here are NOT the same as the Sync telegrams familiar from
CANopen. CANopen Sync telegrams can still be transmitted as SDOs via the SDO interface
implemented under CoE, but do not directly influence the Sync channels described above.
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7.6.2
New and revised objects under CoE
The following table contains an overview of the indices and subindices used for CANopen-compatible
communication objects, which are inserted in the range from 1000h to 1FFFh for the EtherCAT fieldbus
system. These primarily replace the communication parameters in accordance with CiA 301.
Object
Significance
Permitted with
1000h
Device type
Device control identifier
1018h
Identity object
Vendor ID, product code, revision, serial number
1100h
EtherCAT fixed station address
Fixed address assigned to the slave during
initialisation by the master
1600h
1. RxPDO Mapping
Identifier of the 1th Receive PDO
1601h
2. RxPDO Mapping
Identifier of the 2th Receive PDO
1602h
3. RxPDO Mapping
Identifier of the 3th Receive PDO
1603h
4. RxPDO Mapping
Identifier of the 4th Receive PDO
1A00h
1. TxPDO Mapping
Identifier of the 1th Transmit PDO
1A01h
2. TxPDO Mapping
Identifier of the 2th Transmit PDO
1A02h
3. TxPDO Mapping
Identifier of the 3th Transmit PDO
1A03h
4. TxPDO Mapping
Identifier of the 4th Transmit PDO
1C00h
Sync Manager Communication
Type
Object for configuring the individual Sync channels
(SDO or PDO Transfer)
1C10h
Sync Manager PDO Mapping
for Sync Channel 0
Assignment of the Sync channel 0 to a PDO/SDO
(Channel 0 is always reserved for Mailbox Receive
SDO Transfer)
1C11h
Sync Manager PDO Mapping
for Sync Channel 1
Assignment of the Sync channel 1 to a PDO/SDO
(Channel 1 is always reserved for Mailbox Send SDO
Transfer)
1C12h
Sync Manager PDO Mapping
for Sync Channel 2
Assignment of the Sync channel 2 to a PDO
(Channel 2 is reserved for Receive PDOs)
1C13h
Sync Manager PDO Mapping
for Sync Channel 3
Assignment of the Sync channel 3 to a PDO
(Channel 3 is reserved for Transmit PDOs)
Tab. 7.17
New and revised communication objects
The subsequent chapters describe the objects 1C00h and 1C10h … 1C13h more precisely, as they are
only defined and implemented under the EtherCAT CoE protocol and therefore are not documented in
the CANopen manual for the CMMP-AS-...-M3.
The motor controller CMMP-AS-...-M3 with the EtherCAT interface supports four Receive
PDOs (RxPDO) and four Transmit PDOs (TxPDO).
Objects 1008h, 1009h and 100Ah are not supported by CMMP-AS-...-M3, as plain text
strings cannot be read from the motor controller.
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Object 1100h - EtherCAT fixed station address
This object allocates a unique address to the slave during the initialisation phase. The object has the
following significance:
Index
1100h
Name
EtherCAT fixed station address
Object Code
Var
Data Type
uint16
Access
ro
PDO mapping
no
Value Range
0 … FFFFh
Default Value
0
Object 1C00h - Sync Manager Communication Type
This object allows the transfer type for the various channels of the EtherCAT Sync Manager to be read.
As the CMMP-AS-...-M3 only supports the first four Sync channels under the EtherCAT CoE protocol, the
following objects are only readable (of the type “read only”).
That means that the configuration of the Sync Manager for CMMP-AS-...-M3 is fixed. The objects have
the following significance:
Index
1C00h
Name
Sync Manager Communication Type
Object Code
Array
Data Type
uint8
Sub-Index
00h
Description
Number of Used Sync Manager Channels
Access
ro
PDO mapping
no
Value Range
4
Default Value
4
Sub-Index
01h
Description
Communication Type Sync Channel 0
Access
ro
PDO mapping
no
Value Range
2: Mailbox Transmit (Master => Slave)
Default Value
2: Mailbox Transmit (Master => Slave)
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Sub-Index
02h
Description
Communication Type Sync Channel 1
Access
ro
PDO mapping
no
Value Range
2: Mailbox Transmit (Master <= Slave)
Default Value
2: Mailbox Transmit (Master <= Slave)
Index
03h
Description
Communication Type Sync Channel 2
Access
ro
PDO mapping
no
Value Range
0: unused
3: Process Data Output (RxPDO / Master => Slave)
Default Value
3
Sub-Index
04h
Description
Communication Type Sync Channel 3
Access
ro
PDO mapping
no
Value Range
0: unused
4: Process Data Input (TxPDO/Master <= Slave)
Default Value
4
Object 1C10h - Sync Manager Channel 0 (Mailbox Receive)
This object allows a PDO to be configured for Sync channel 0. As Sync channel 0 is always allocated to
the mailbox telegram protocol, the user cannot change this object. The object therefore always has the
following values:
Index
1C10h
Name
Sync Manager Channel 0 (Mailbox Receive)
Object Code
Array
Data Type
uint8
Sub-Index
00h
Description
Number of assigned PDOs
Access
ro
PDO mapping
no
Value Range
0 (no PDO assigned to this channel)
Default Value
0 (no PDO assigned to this channel)
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The name “Number of assigned PDOs” assigned by the EtherCAT specification for Sub-index 0 of these objects is confusing here, as Sync Manager channels 0 and 1 are always
allocated through the mailbox telegram. SDOs are always transmitted in this telegram
type under EtherCAT CoE. Sub-index 0 of these two objects is therefore unused.
Object 1C11h - Sync Manager Channel 1 (Mailbox Send)
This object allows a PDO to be configured for Sync channel 1. As Sync channel 1 is always allocated to
the mailbox telegram protocol, the user cannot change this object. The object therefore always has the
following values:
Index
1C11h
Name
Sync Manager Channel 1 (Mailbox Send)
Object Code
Array
Data Type
uint8
Sub-Index
00h
Description
Number of assigned PDOs
Access
ro
PDO mapping
no
Value Range
0 (no PDO assigned to this channel)
Default Value
0 (no PDO assigned to this channel)
Object 1C12h - Sync Manager Channel 2 (Process Data Output)
This object allows a PDO to be configured for Sync channel 2. Sync channel 2 is permanently assigned
for the reception of Receive PDOs (Master => Slave). In this object, the number of PDOs assigned to this
Sync channel must be set under sub-index 0.
The object number of the PDO to be allocated to the channel is subsequently entered in sub-indices 1
to 4. Only the object numbers of the previously configured Receive PDOs can be used for this (object
1600h … 1603h).
In the current implementation, the data of the objects below is not evaluated further by the firmware of
the motor controller.
The CANopen configuration of the PDOs is used for evaluation under EtherCAT.
Index
1C12h
Name
Sync Manager Channel 2 (Process Data Output)
Object Code
Array
Data Type
uint8
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Sub-Index
00h
Description
Number of assigned PDOs
Access
rw
PDO mapping
no
Value Range
0: no PDO assigned to this channel
1: one PDO assigned to this channel
2: two PDOs assigned to this channel
3: three PDOs assigned to this channel
4: four PDOs assigned to this channel
Default Value
0: no PDO assigned to this channel
Sub-Index
01h
Description
PDO mapping object number of assigned RxPDO
Access
rw
PDO mapping
no
Value Range
1600h: first Receive PDO
Default Value
1600h: first Receive PDO
Sub-Index
02h
Description
PDO mapping object number of assigned RxPDO
Access
rw
PDO mapping
no
Value Range
1601h: second Receive PDO
Default Value
1601h: second Receive PDO
Sub-Index
03h
Description
PDO mapping object number of assigned RxPDO
Access
rw
PDO mapping
no
Value Range
1602h: third Receive PDO
Default Value
1602h: third Receive PDO
Sub-Index
04h
Description
PDO mapping object number of assigned RxPDO
Access
rw
PDO mapping
no
Value Range
1603h: fourth Receive PDO
Default Value
1603h: fourth Receive PDO
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Object 1C13h - Sync Manager Channel 3 (Process Data Input)
This object allows a PDO to be configured for Sync channel 3. Sync channel 3 is permanently assigned
for sending Transmit PDOs (Master <= Slave). In this object, the number of PDOs assigned to this Sync
channel must be set under sub-index 0.
The object number of the PDO to be allocated to the channel is subsequently entered in sub-indices 1
to 4. Only the object numbers of the previously configured Transmit PDOs can be used for this (1A00h
to 1A03h).
Index
1C13h
Name
Sync Manager Channel 3 (Process Data Input)
Object Code
Array
Data Type
uint8
Sub-Index
00h
Description
Number of assigned PDOs
Access
rw
PDO mapping
no
Value Range
0: no PDO assigned to this channel
1: one PDO assigned to this channel
2: two PDOs assigned to this channel
3: three PDOs assigned to this channel
4: four PDOs assigned to this channel
Default Value
0: no PDO assigned to this channel
Sub-Index
01h
Description
PDO mapping object number of assigned TxPDO
Access
rw
PDO mapping
no
Value Range
1A00h: first Transmit PDO
Default Value
1A00h: first Transmit PDO
Sub-Index
02h
Description
PDO mapping object number of assigned TxPDO
Access
rw
PDO mapping
no
Value Range
1A01h: second Transmit PDO
Default Value
1A01h: second Transmit PDO
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EtherCAT with FHPP
Sub-Index
03h
Description
PDO mapping object number of assigned TxPDO
Access
rw
PDO mapping
no
Value Range
1A02h: third Transmit PDO
Default Value
1A02h: third Transmit PDO
Sub-Index
04h
Description
PDO mapping object number of assigned TxPDO
Access
rw
PDO mapping
no
Value Range
1A03h: fourth Transmit PDO
Default Value
1A03h: fourth Transmit PDO
7.6.3
Objects not supported under CoE
When connecting the CMMP-AS-...-M3 under “CANopen over EtherCAT”, some CANopen objects, which
are available under a direct connection of the CMMP-AS-...-M3 via CiA 402, are not supported. These
objects are listed in the table below:
Identifier
Name
Significance
1008h
Manufacturer Device Name (String)
Device name (object is not available)
1009h
Manufacturer Hardware Version (String)
HW version (object is not available)
100Ah
Manufacturer Software Version (String)
SW version (object is not available)
6089h
position_notation_index
Specifies the number of decimal places for
displaying the position values in the controller. The object is only available as a
data container. The firmware is not evaluated further.
608Ah
position_dimension_index
Specifies the unit for displaying the position values in the controller. The object is
only available as a data container. The
firmware is not evaluated further.
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EtherCAT with FHPP
Identifier
Name
Significance
608Bh
velocity_notation_index
Specifies the number of decimal places for
displaying the velocity values in the controller. The object is only available as a
data container. The firmware is not evaluated further.
608Ch
velocity_dimension_index
Specifies the unit for displaying the velocity values in the controller. The object is
only available as a data container. The
firmware is not evaluated further.
608Dh
acceleration_notation_index
Specifies the number of decimal places for
displaying the acceleration values in the
controller. The object is only available as a
data container. The firmware is not evaluated further.
608Eh
acceleration_dimension_index
Specifies the unit for displaying the acceleration values in the controller. The object
is only available as a data container. The
firmware is not evaluated further.
Tab. 7.18 Unsupported communication objects
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7.7
Communication finite state machine
As in almost all fieldbus interfaces for motor controllers, the connected slave (in this case the motor
controller CMMP-AS-...-M3) must first be initialised by the master before it can be used by the master in
an application. For this purpose, a finite state machine is defined for communication, to specify a fixed
sequence of actions for this initialisation process.
A finite state machine is also defined for the EtherCAT interface. Changes between the individual
statuses of the finite state machine may only occur between specific statuses, and are always initiated
by the master. Slaves may not implement status changes independently. The individual statuses and
the permitted status changes are described in the following tables and figures.
Status
Description
Power ON
The device has been switched on. It initialises itself and switches directly to the
“Init” status.
Init
In this status, the EtherCAT fieldbus is synchronised by the master. This includes
setting up the asynchronous communication between master and slave (mailbox
telegram protocol). There is no direct communication between the master and
slave yet.
The configuration starts, saved values are loaded. When all devices are connected to the bus and configured, the status switches to “Pre-Operational”.
Pre-Operational
In this status, asynchronous communication between the master and slave is
active. The master uses this status to set up possible cyclic communication via
PDOs and use acyclic communication for necessary parameterisation.
If this status runs without errors, the master switches to the “Safe-Operational”
status.
Safe-Operational
This status is used to set all equipment connected to the EtherCAT bus to a safe
status. The slave sends up-to-date actual values to the master but ignores new
setpoint values from the master and uses safe default values instead.
If this status runs without errors, the master switches to the “Operational”
status.
Operational
In this status, both acyclic and cyclic communication are active. Masters and
slaves exchange target and actual value data. In this status, the
CMMP-AS-...-M3 can be enabled and travel via the CoE protocol.
Tab. 7.19 Statuses of communication finite state machine
Only transitions in accordance with Fig. 7.3 are permitted between the individual statuses of the communication finite state machine:
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EtherCAT with FHPP
Init
(IP)
(PI)
Pre-Operational
(SI)
(PS)
(OI)
(SP)
Safe-Operational
(OP)
(SO)
(OS)
Operational
Fig. 7.3
Communication finite state machine
The transitions are described individually in the following table.
Status transition
Status
IP
Start of acyclic communication (mailbox telegram protocol)
PI
Stop of acyclic communication (mailbox telegram protocol)
PS
Start Inputs Update: start of cyclic communication (process data telegram
protocol) Slave sends actual values to master. The slave ignores setpoint values
from the master and uses internal default values.
SP
Stop Input Update: stop of cyclic communication (process data telegram
protocol). The slave no longer sends actual values to the master.
SO
Start Output Update: The slave evaluates up-to-date setpoint specifications
from the master.
OS
Stop Output Update: The slave ignores setpoint values from the master and
uses internal default values.
OP
Stop Output Update, Stop Input Update:
stop of cyclic communication (process data telegram protocol). The slave no
longer sends actual values to the master, and the master no longer sends
setpoint values to the slave.
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EtherCAT with FHPP
Status transition
Status
SI
Stop Input Update, Stop Mailbox Communication:
Stop of cyclic communication (process data telegram protocol) and stop of acyclic communication (mailbox telegram protocol). The slave no longer sends actual
values to the master, and the master no longer sends setpoint values to the
slave.
OI
Stop Output Update, Stop Input Update, Stop Mailbox Communication:
Stop of cyclic communication (process data telegram protocol) and stop of acyclic communication (mailbox telegram protocol). The slave no longer sends actual
values to the master, and the master no longer sends setpoint values to the
slave.
Tab. 7.20 Status transitions
In the EtherCAT finite state machine, the “Bootstrap” status is also specified in addition
to the statuses listed here. This status is not implemented for the motor controller
CMMP-AS-...-M3.
7.7.1
Differences between the finite state machines of CANopen and EtherCAT
When operating the CMMP-AS-...-M3 via the EtherCAT-CoE protocol, the EtherCAT finite state machine
is used instead of the CANopen NMT finite state machine. This differs from the CANopen finite state
machine in several aspects. These different characteristics are listed below:
– No direct transition from Pre-Operational after Power On
– No Stopped status, direct transition to the INIT status
– Additional status: Safe-Operational
The following table compares the different statuses:
EtherCAT State
CANopen NMT State
Power ON
Init
Safe-Operational
Operational
Power-On (initialisation)
Stopped
–
Operational
Tab. 7.21 Comparison of the statuses for EtherCAT and CANopen
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7.8
SDO Frame
All data of an SDO transfer are transmitted via SDO frames in CoE. These frames have the following
structure:
6 bytes
2 bytes
Mailbox Header
CoE Header
1 byte
SDO Control Byte
Mandatory Header
Fig. 7.4
2 bytes 1 byte
Index
Sub-index
4 bytes 1...n bytes
Data
Standard CANopen SDO Frame
Data
Optional
SDO Frame: telegram structure
Element
Description
Mailbox Header
CoE Header
SDO Control Byte
Index
Sub-index
Data
Data (optional)
Data for mailbox communication (length, address and type)
Identifier of the CoE service
Identifier for a read or write command
Main index of the CANopen communication object
Sub-index of the CANopen communication object
Data content of the CANopen communication object
Additional optional data. This option is not supported by the CMMP-AS-...-M3
motor controller, as only standard CANopen objects can be addressed.
The maximum size of these objects is 32 bits.
Tab. 7.22 SDO Frame: elements
In order to transmit a standard CANopen object via one of these SDO frames, the actual CANopen SDO
frame is packaged in an EtherCAT SDO frame and transmitted.
Standard CANopen SDO frames can be used for:
– Initialisation of the SDO download
– Download of the SDO segment
– Initialisation of the SDO upload
– Upload of the SDO segment
– Abort of the SDO transfer
– SDO upload expedited request
– SDO upload expedited response
– SDO upload segmented request (max. 1 segment with 4 bytes of user data)
– SDO upload segmented response (max. 1 segment with 4 bytes of user data)
All above-mentioned transfer types are supported by the CMMP-AS-...-M3 motor controller.
As the use of the CoE implementation of the CMMP-AS-...-M3 only allows the standard
CANopen objects to be addressed, whose size is restricted to 32 bits (4 bytes), only transfer types with a maximum data length of up to 32 bits (4 bytes) are supported.
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EtherCAT with FHPP
7.9
PDO Frame
Process Data Objects (PDO) are used for cyclic transmission of setpoint values and actual values
between master and slave. They must be configured in the “Pre-Operational” status by the master
before the slave is operated. They are then transmitted in PDO frames. These PDO frames have the
following structure:
All data of a PDO transfer are transmitted via PDO frames in CoE. These frames have the following structure:
1...8 bytes
Process Data
Standard CANopen PDO Frame
Fig. 7.5
1...n bytes
Process Data
Optional
PDO Frame: telegram structure
Element
Description
Process Data
Process Data
(optional)
Data content of the PDO (Process Data Object)
Optional data content of additional PDOs
Tab. 7.23 PDO Frame: elements
To transmit a PDO via the EtherCAT-CoE protocol, in addition to the PDO configuration (PDO Mapping),
the Transmit and Receive PDOs must be assigned to a transmission channel of the Sync Manager
( chapter 7.6.1 “Configuration of the Communication Interface”). The data exchange of PDOs for the
CMMP-AS-...-M3 motor controller takes place exclusively via the EtherCAT process data telegram protocol.
The transfer of CANopen process data (PDOs) via acyclic communication (mailbox
telegram protocol) is not supported by the CMMP-AS-...-M3 motor controller.
As all data exchanged via the EtherCAT CoE protocol are forwarded directly to the internal CANopen
implementation in the CMMP-AS-...-M3 motor controller, the PDO mapping is also implemented as
described in chapter 2.5.2 “PDO Message”. The figure below depicts this process:
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Mapping Object
Object Dictionary
Object Contents
Index
Sub
1ZZZh
01h
6TTTh TTh
1ZZZh
02h
6UUUh UUh
8
1ZZZh
03h
6WWWh WWh
16
8
PDO Length: 32 bit
PDO1
Application Object
6TTTh
TTh
Object B
6VVVh
Object C
6WWWh WWh
Object D
6XXXh
XXh
Object E
6YYYh
YYh
Object F
6ZZZh
ZZh
Object G
Fig. 7.6
Object B
Object D
Object A
6UUUh UUh
VVh
Object A
PDO Mapping
The simple forwarding of the data received via CoE to the CANopen protocol implemented in
CMMP-AS-...-M3 means that the “Transmission Types” of the PDOs available for the CANopen protocol
for the CMMP-AS-...-M3 can be used in addition to CANopen object mapping for the PDOs to be
parameterised.
The CMMP-AS-...-M3 motor controller also supports the “Sync Message” transmission type. However,
the Sync Message does not have to be sent via EtherCAT.
It is used either for the arrival of the telegram or the hardware synchronisation pulse of the “Distributed
Clocks” mechanism (see below) for data transfer.
The EtherCAT interface for CMMP-AS-...-M3 supports synchronisation via the “Distributed Clocks”
mechanism specified under EtherCAT through the use of FPGA module ESC20. The current regulator of
the CMMP-AS-...-M3 motor controller is synchronised to this pulse, and the PDOs configured accordingly are evaluated or sent.
The CMMP-AS-...-M3 motor controller with the EtherCAT interface supports the following functions:
– Cyclic PDO frame telegram via the process data telegram protocol.
– Synchronous PDO frame telegram via the process data telegram protocol.
The motor controller CMMP-AS-...-M3 with the EtherCAT interface supports four Receive PDOs (RxPDO)
and four Transmit PDOs (TxPDO).
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EtherCAT with FHPP
7.10
Error Control
The EtherCAT CoE implementation for the CMMP-AS-...-M3 motor controller monitors the following
error statuses of the EtherCAT fieldbus:
– FPGA is not ready when the system is started.
– A bus error has occurred.
– An error has occurred on the mailbox channel. The following errors are monitored here:
– An unknown service is requested.
– A protocol other than CANopen over EtherCAT (CoE) is to be used.
– An unknown Sync Manager is addressed.
All of these errors are defined as corresponding error codes for the CMMP-AS-...-M3 motor controller. If
one of the above-mentioned errors occurs, it is transmitted to the controller via a “Standard Emergency
Frame”. See also Chapter 7.11 “Emergency Frame” and Chapter D “ Diagnostic messages”.
The CMMP-AS-...-M3 motor controller with the EtherCAT interface supports the following function:
– Application Controller determines a defined error message number as a result of an event (Error
Control Frame telegram from the controller).
7.11
Emergency Frame
The master and slaves exchange error messages via the EtherCAT CoE emergency frame. The CoE
emergency frames are used for direct transfer of the “Emergency Messages” defined under CANopen.
The CANopen telegrams are simply tunnelled through the CoE emergency frames, as is the case for
SDO and PDO transmission.
6 bytes
Mailbox Header
2 bytes
CoE Header
2 bytes
Error Code
Mandatory Header
Fig. 7.7
1 byte
Error Register
5 bytes
Data
Standard CANopen Emergency Frame
1...n bytes
Data
Optional
Emergency Frame: telegram structure
Element
Description
Mailbox Header
CoE Header
ErrorCode
Error Register
Data
Data (optional)
Data for mailbox communication (length, address and type)
Identifier of the CoE service
Error Code of the CANopen EMERGENCY Message Chapter 2.5.5
Error Register of the CANopen EMERGENCY Message Tab. 2.14
Data content of the CANopen EMERGENCY Message
Additional optional data. As only the standard CANopen Emergency Frames are
supported in the CoE implementation for the CMMP-AS-...-M3 motor controller,
the “Data (optional)” field is not supported.
Tab. 7.24 Emergency Frame: elements
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EtherCAT with FHPP
As the “Emergency Messages” received and sent via CoE are simply forwarded to the CANopen protocol
implemented in the motor controller, all error messages can be looked up in the chapter D.
7.12
Synchronisation (Distributed Clocks)
Time synchronisation is implemented via so-called “Distributed Clocks” in EtherCAT. Each EtherCAT
slave receives a real-time clock, which is synchronised in all slaves by the clock master during the initialisation phase. The clocks in all slaves are then adjusted during operation. The clock master is the
first slave in the network.
This provides a uniform time base in the entire system with which the individual slaves can synchronise.
The Sync telegrams provided for this purpose under CANopen are unnecessary under CoE.
The FPGA ESC20 used in the CMMP-AS-...-M3 motor controller supports Distributed Clocks. This facilitates extremely precise time synchronisation. The cycle time of the EtherCAT Frame must exactly match
the cycle time tp of the controller-internal interpolator. If necessary, the interpolator time must be adjusted via the object included in the device description file.
In the present implementation, synchronous transfer of PDO data and synchronisation of the controllerinternal PLL to the synchronous data framework of the EtherCAT Frame can be implemented even
without Distributed Clocks. For this purpose, the firmware uses the arrival of the EtherCAT Frame as a
time base.
The following restrictions apply:
– The master must be able to send the EtherCAT Frames with an extremely low jitter.
– The cycle time of the EtherCAT Frame must exactly match the cycle time tp of the controller-internal
interpolator.
– The Ethernet must be available exclusively for the EtherCAT Frame. It may be necessary to synchronise other telegrams to the grid, as they may not block the bus.
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8
I/O data and sequence control
8
I/O data and sequence control
8.1
Setpoint specification (FHPP operation modes)
The FHPP operating modes differ as regards their contents and the meaning of the cyclic I/O data and in
the functions which can be accessed in the controller.
Operating
mode
Description
Record selection
A specific number of positioning records can be saved in the controller. A record
contains all the parameters which are specified for a positioning job. The record
number is transferred to the cyclic I/O data as the nominal or actual value.
The positioning task is transferred directly in the I/O telegram. The most important
setpoint values (position, velocity, torque) are transmitted here. Supplementary
parameters (e.g. acceleration) are defined by the parameterisation.
Direct mode
Tab. 8.1
Overview of FHPP operating modes in CMM...
8.1.1
Switching the FHPP operating mode
The FHPP operating mode is switched by the CCON control byte (see below) and a feedback signal returned in the SCON status word. Switching between record selection and direct mode is only permitted
in the “ready” status section 8.6, Fig. 8.1.
8.1.2
Record selection
Each controller has a specific number of records, which contain all the information needed for one positioning job. The record number that the controller is to process at the next start is transferred into the
output data of the PLC. The input data contains the record number that was processed last. The positioning job itself does not need to be active.
The controller does not support any automatic mode, i.e. no user program. The controller cannot accomplish any useful tasks in a stand alone situation - close coupling to the PLC is always necessary.
However, depending on the controller, it is also possible to concatenate various records and execute
them one after the other with the help of a start command. It is also possible - dependent on the controller - to define record chaining before the target position is reached.
Complete parameterisation of record chaining (“path program”), such as of the subsequent record, is only possible through the FCT.
In this way, positioning profiles can be created without the inactive times (which arise
from the transfer in the fieldbus and the PLC's cycle time) having an effect.
8.1.3
Direct mode
In the direct mode, positioning tasks are formulated directly in the PLC's output data.
The typical application calculates the nominal target values dynamically. This makes it possible to adjust the system to different workpiece sizes, for example, without having to re-parameterise the record
list. The positioning data is managed completely in the PLC and sent directly to the controller.
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I/O data and sequence control
8.2
Configuration of the I/O data
8.2.1
Concept
The FHPP protocol essentially provides 8 bytes of input data and 8 bytes of output data. Of these, the
first byte is fixed (the first 2 bytes in the FHPP operating modes record selection and direct mode). It is
retained in each operating mode and controls the enabling of the controller and the FHPP operating
modes. The other bytes are dependent on the selected FHPP operating mode. Additional control or
status bytes and target and actual values can be transmitted here.
In the cyclic data, additional data are permissible to transmit parameters according to the FPC protocol
or FHPP+.
A PLC exchanges the following data with the FHPP:
– 8-byte control and status data:
– control and status bytes,
– record number or setpoint position in the output data,
– feedback of actual position and record number in the input data,
– additional mode-dependent setpoint and actual values,
– If required, an additional 8 bytes of input and 8 bytes of output data for FPC parameterisation,
section C.1.
– If supported, up to 24 (without FPC) or 16 (with FPC) additional bytes of I/O data for parameter
transfer via FHPP+, if required, section C.2.
If applicable, observe the specification in the bus master for the representation of words
and double words (Intel/Motorola). For example, when sending via CANopen, in the “little
endian” representation (lower-value byte first).
8.2.2
I/O data in the various FHPP operating modes (control view)
Record selection
Byte 1
Output
data
Input
data
Byte 2
Byte 3
Byte 4
CCON
CPOS
Reserved Reserved
SCON
SPOS
Record
no.
Record
no.
RSB
Actual position
Byte 2
Byte 3
Byte 4
Byte 5
CCON
CPOS
CDIR
Setpoint value2
SCON
SPOS
SDIR
Setpoint
value1
Actual
value1
Direct mode
Byte 1
Output
data
Input
data
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Byte 5
Byte 6
Byte 6
Byte 7
Byte 8
Byte 7
Byte 8
Actual value2
115
8
I/O data and sequence control
Additional 8 bytes of I/O data for parameterisation as per FPC ( section C.1):
Festo FPC
Byte 1
Output
data
Input
data
Byte 2
Byte 3
Reserved Sub-index
Reserved Sub-index
Byte 4
Byte 5
Task identifier +
parameter number
Reply identifier +
parameter number
Byte 6
Byte 7
Byte 8
Parameter value
Parameter value
Additional bytes of I/O data for FHPP+ ( section C.2):
FHPP+
FHPP with FPC
1
2
3
4
5
6
7
8
Status bytes
Control bytes
2
Output data FHPP+ (8 or 16 bytes)
Input data FHPP+ (8 or 16 bytes)
FHPP+
3
4
5
6
Status bytes
Control bytes
116
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
Parameter channel FPC
Parameter channel FPC
FHPP
1
9
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
FHPP+ (8, 16 or max. 24 bytes)
FHPP+ (8, 16 or max. 24 bytes)
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.3
Assignment of the control bytes and status bytes (overview)
Assignment of the control bytes (overview)
CCON
(all)
B7
B6
OPM2
OPM1
FHPP operating mode
selection
CPOS
(all)
B7
–
–
CDIR
(Direct
mode)
B7
FUNC
Execute
function
Tab. 8.2
B5
B4
LOCK
–
Block FCT –
access
B6
B5
CLEAR
TEACH
Delete
Teach
remainvalue
ing path
B6
B5
FGRP2
FGRP1
Function group
B4
JOGN
Jog negative
B3
RESET
Acknowledge
malfunction
B2
BRAKE
Release
brake
B3
JOGP
Jog positive
B2
HOM
Start
homing
B1
STOP
Stop
B0
ENABLE
Enable
drive
B1
START
Start positioning
task
B2
B1
COM2
COM1
Control mode
(position, torque,
speed, ...)
B0
HALT
Halt
B3
FAULT
Malfunction
B2
WARN
Warning
B0
ENABLED
Drive enabled
B3
TEACH
Acknowledge
teach or
sample
B2
MC
Motion
Complete
B4
B3
FNUM2
FNUM1
Function number
B0
ABS
Absolute/
relative
Overview, assignment of the control bytes
Assignment of the status bytes (overview)
SCON
(all)
B7
B6
OPM2
OPM1
Feedback on FHPP
operating mode
SPOS
(all)
B7
REF
Drive referenced
SDIR
(Direct
mode)
B7
FUNC
Function
is executed
Tab. 8.3
B5
FCT/MMI
FCT
device
control
B6
B5
STILL
DEV
Standstill Following
monitor- error
ing
B4
24VL
Load
voltage
applied
B4
MOV
Axis is
moving
B6
B5
FGRP2
FGRP1
Function group
acknowledgment
B4
B3
FNUM2
FNUM1
Function number
acknowledgment
B1
OPEN
Operation enabled
B1
ACK
Acknowledge
start
B2
B1
COM2
COM1
Control mode
acknowledgment
(position, torque,
speed)
B0
HALT
Halt
B0
ABS
Absolute/
relative
Overview, assignment of the status bytes
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
117
8
I/O data and sequence control
8.4
Description of the control bytes
8.4.1
Control byte 1 (CCON)
Control byte 1 (CCON)
Bit
DE
EN
Description
B0
Enable drive
ENABLE
B1
Stop
STOP
Enable Drive
= 1:
= 0:
= 1:
= 0:
B2
BRAKE
Release brake
Open Brake
B3
RESET
B4
–
B5
LOCK
Acknowledge
malfunction
–
Reset Fault
Block FCT access
Lock software
access
B6
OPM1
B7
OPM2
Operating
mode
selection
Select Operating Mode
Tab. 8.4
Stop
–
Enable drive (controller).
Drive (controller) blocked.
Enable operation.
STOP active (cancel positioning job + stop with
emergency ramp). The drive stops with maximum
braking ramp, the positioning job is reset.
= 1: Release brake.
= 0: Activate brake.
Note: it is only possible to release the brake if the
controller is blocked. As soon as the controller is
enabled, it has priority over the brake control system.
A malfunction is acknowledged with a rising edge and
the malfunction value is deleted.
Reserved, must be at 0.
Controls access to the local (integrated)
parameterisation interface of the controller.
= 1: The software can only observe the controller; the
software cannot take over device control (HMI
control) from the software.
= 0: The software may take over the device control (in
order to modify parameters or to control inputs).
Determining the FHPP operating mode.
No. Bit 7 Bit 6 Operating mode
0
0
0
Record selection
1
0
1
Direct mode
2
1
0
Reserved
3
1
1
Reserved
Control byte 1
CCON controls statuses in all FHPP operation modes. For more information, description of the drive
functions, chapter 10.
118
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.4.2
Control byte 2 (CPOS)
Control byte 2 (CPOS)
Bit
DE
EN
Description
B0
HALT
Halt
Halt
= 1:
= 0:
B1
START
Start
positioning
task
Start homing
Start
Positioning
task
Start Homing
A rising edge transfers the current nominal data and
starts a positioning process (also, for example, record 0
= homing!).
A rising edge starts homing with the set parameters.
Jog positive
Jog positive
B4
JOGN
Jog negative
Jog negative
B5
TEACH
Teach value
Teach actual
value
The drive moves at the specified speed or rotational
speed in the direction of larger actual values, as long as
the bit is set. The movement begins with the rising edge
and ends with the falling edge.
The drive moves at the specified speed or rotational
speed in the direction of smaller actual values, as long
as the bit is set. The movement begins with the rising
edge and ends with the falling edge.
With a falling edge, the current actual value is
transferred to the nominal value register of the currently
addressed positioning record. The teach target is
defined with PNU 520. The type is determined by the
record status byte (RSB) section 9.5.
B6
CLEAR
Delete
remaining
path
–
Clear
remaining
position
–
B2
HOM
B3
JOGP
B7
–
Tab. 8.5
Halt is not requested.
Halt activated (cancel positioning job + halt with
braking ramp). The axis stops with a defined
braking ramp; the positioning job remains active
(with CPOS.CLEAR, the remaining path can be
deleted).
In the “Halt” state, a rising edge causes the positioning
task to be deleted and a transition to the “Ready” state.
Reserved, must be at 0.
Control byte 2
CPOS controls the positioning sequences in the “record selection” and “direct mode” FHPP operating
modes, as soon as the drive is enabled.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
119
8
I/O data and sequence control
8.4.3
Control byte 3 (CDIR) – Direct mode
Control byte 3 (CDIR) – Direct mode
Bit
DE
EN
B0
ABS
B1
COM1
B2
COM2
B3
FNUM1
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
1)
Description
Absolute / Rel- = 1: Nominal value is relative to the last nominal value.
ative
= 0: Nominal value is absolute.
Control Mode No. Bit 2 Bit 1 Control mode
0
0
0
Position control.
1
0
1
Force mode (torque, current).
2
1
0
Speed control (rotational speed).
3
1
1
Reserved.
Only position code mode is permissible for the cam disc
function.
Function
Function Num- Without cam disc function (CDIR.FUNC = 0): No function,
number
ber
= 0!
With cam disc function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function number 1)
0
0
0
Reserved.
1
0
1
Synchronisation on external input.
2
1
0
Synchronisation on external input
with cam disc function.
3
1
1
Synchronisation on virtual master
with cam disc function.
Function group Function
Without cam disc function (CDIR.FUNC = 0): No function,
Group
= 0!
With cam disc function (CDIR.FUNC = 1):
No. Bit 6 Bit 5 Function group
0
0
0
Synchronisation with/without cam
disc.
All other values (no. 1 ... 3) are reserved.
Function
Function
= 1: Execute cam disc function, bit 3 ... 6 = function
number and group.
= 0: Normal job.
Absolute/
relative
Control mode
With function numbers 1 and 2 (synchronisation on an external input), the bits CPOS.ABS and CPOS.COMx are not relevant. With
function number 3 (virtual master, internal), the bits CPOS.ABS and CPOS.COMx determine the reference and control mode of the
master.
Tab. 8.6
Control byte 3 – direct mode
In direct mode, CDIR specifies the type of positioning job.
120
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.4.4
Bytes 4 and 5 ... 8 – Direct mode
Control byte 4 (setpoint value 1) – Direct mode
Bit
DE
EN
Description
B0 … 7
Speed
–
Speed ramp
Tab. 8.7
Velocity
–
Velocity ramp
Preselection depends on the control mode (CDIR.COMx):
Position control:
Speed as % of base value (PNU 540)
Force mode:
No function, = 0!
Speed control:
Velocity ramp as % of base value
(PNU 560)
Control byte 4 – direct mode
Control bytes 5 … 8 (setpoint value 2) – Direct mode
Bit
DE
EN
Description
B0 … 31
Tab. 8.8
Position
Position
Torque
Torque
Speed
Velocity
Preselection depends on control mode (CDIR.comX),
in each case 32-bit number, low byte first:
Position control
Position in positioning unit,
appendix A.1
Force mode
Torque setpoint as % of the nominal
torque (PNU 1036)
Speed control
Speed in units of velocity
appendix A.1
Control bytes 5 … 8 – Direct mode
8.4.5
Bytes 3 and 4 ... 8 – record selection
Control byte 4 (setpoint value 1) – Record selection
Bit
DE
EN
Description
B0 … 7
Tab. 8.9
Record
number
Record
number
Preselection of the record number.
Control byte 4 – Record selection
Control byte 5 … 8 (setpoint value 2) – Record selection
Bit
DE
EN
Description
B0 … 31 –
Tab. 8.10
–
Reserved (= 0)
Control bytes 5 … 8 – Record selection
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
121
8
I/O data and sequence control
8.5
Description of the status bytes
8.5.1
Status byte 1 (SCON)
Status byte 1 (SCON)
Bit
DE
EN
Description
B0
ENABLED
B1
OPEN
B2
WARN
B3
FAULT
Drive enabled
Drive enabled
Operation
enabled
Warning
Operation
Enabled
Warning
Malfunction
Fault
= 1:
= 0:
= 1:
= 0:
= 1:
= 0:
= 1:
= 0:
B4
VLOAD
B5
FCT/MMI
Load voltage
applied
Device control
by FCT/MMI
B6
OPM1
B7
OPM2
Operating
mode
acknowledge
ment
Load Voltage
is Applied
Software
Access by
FCT/MMI
Display
Operating
Mode
Tab. 8.11
122
Drive (controller) is enabled.
Drive blocked, controller not active.
Operation enabled, positioning possible.
Stop active.
Warning applied.
No warning present.
Malfunction present.
Malfunction not present or malfunction reaction
active.
= 1: Load voltage applied.
= 0: No load voltage.
Device control (refer to PNU 125, section B.4.4)
= 1: Device control through fieldbus not possible.
= 0: Device control through fieldbus possible.
Feedback on FHPP operating mode.
No. Bit 7 Bit 6 Operating mode
0
0
0
Record selection
1
0
1
Direct mode
2
1
0
Reserved
3
1
1
Reserved
Status byte 1
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.5.2
Status byte 2 (SPOS)
Status byte 2 (SPOS)
Bit
DE
EN
Description
B0
HALT
B1
ACK
B2
MC
Halt
Halt
Acknowledge
start
Motion Complete
Acknowledge
Start
Motion Complete
= 1:
= 0:
= 1:
= 0:
= 1:
B3
TEACH
Acknowledge
teaching /
sampling
Acknowledge
Teach/
Sampling
B4
MOV
B5
DEV
B6
STILL
B7
REF
Axis is moving
Axis is Moving
1)
Following error Drag (Deviation) Error
Standstill
StandstillConmonitoring
trol
Drive
Axis Referreferenced
enced
Halt is not active; axis can be moved.
Halt is active.
Start executed (homing, jogging, positioning)
Ready for start (homing, jogging, positioning)
Positioning job completed, where applicable with
error
= 0: Positioning job active
Note: MC is set after device is switched on (status “Drive
blocked”).
Depending on the setting in PNU 354:
PNU 354 = 0: Display of teach status:
= 1: Teaching carried out, actual value has been
transferred
= 0: Ready for teaching
PNU 354 = 1: Display of the sampling status: 1)
= 1: Edge detected. New position value available.
= 0: Ready for sampling
= 1: Speed of the axis >= limit value
= 0: Speed of the axis < limit value
= 1: Following error active
= 0: No following error
= 1: Axis has left the tolerance window after MC
= 0: After MC, axis remains in tolerance window
= 1: Homing information available, homing does not
need to be carried out
= 0: Homing must be executed
Position sampling section 9.9.
Tab. 8.12
Status byte 2
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
123
8
I/O data and sequence control
8.5.3
Status byte 3 (SDIR) – Direct mode
The SDIR status byte acknowledges positioning mode.
Status byte 3 (SDIR) – Direct mode
Bit
DE
EN
B0
ABS
B1
COM1
B2
COM2
B3
FNUM1
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
Tab. 8.13
124
Absolute/
relative
Control mode
acknowledgment
Description
Absolute / Relative
Control Mode
Feedback
= 1: Nominal value is relative to the last nominal value.
= 0: Nominal value is absolute.
No. Bit 2 Bit 1 Control mode
0
0
0
Position control.
1
0
1
Force mode (torque, current).
2
1
0
Speed control (rotational speed).
3
1
1
Reserved.
Function num- Function Num- Without cam disc function (CDIR.FUNC = 0): No function,
ber acknowber Feedback
= 0.
ledgment
With cam disc function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function number
0
0
0
CAM-IN / CAM-OUT / Change active.
1
0
1
Synchronisation on external input.
2
1
0
Synchronisation on external input
with cam disc function.
3
1
1
Synchronisation on virtual master
with cam disc function.
Function group Function
Without cam disc function (CDIR.FUNC = 0): No function,
acknowledgGroup
=0
ment
Feedback
With cam disc function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function group
0
0
0
Synchronisation with/without cam
disc.
All other values (no. 1 ... 3) are reserved.
Function
Function
= 1: Cam disc function is executed, bit 3 ... 6 = funcfeedback
Feedback
tion number and group.
= 0: Normal job
Status byte 3 – Direct mode
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.5.4
Bytes 4 and 5 ... 8 – Direct mode
Status byte 4 (actual value 1) – Direct mode
Bit
DE
EN
Description
B0 … 7
Tab. 8.14
Speed
Velocity
Torque
Torque
–
–
Feedback depends on the control mode (CDIR.COMx):
Position control
Speed as % of base value
(PNU 540)
Force mode
Torque as percentage of the rated
torque (PNU 1036)
Speed control
no function, = 0
Status byte 4 – Direct mode
Status bytes 5 … 8 (actual value 2) – Direct mode
Bit
DE
EN
Description
B0 … 31
Tab. 8.15
8.5.5
Position
Position
Position
Position
Speed
Velocity
Feedback depends on control mode (CDIR.COMx),
in each case 32-bit number, low byte first:
Position control
Position in positioning
unit, appendix A.1
Force mode
Position in positioning
unit, appendix A.1
Speed control
Speed as an absolute value in unit
of velocity
Status bytes 5 … 8 – Direct mode
Bytes 3, 4 and 5 ... 8 – record selection
Status byte 3 (record number) – Record selection
Bit
DE
EN
Description
B0 … 7
Tab. 8.16
Record
number
Record
number
Feedback of record number.
Control byte 4 – Record selection
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
125
8
I/O data and sequence control
Status byte 4 (RSB) – record selection
Bit
DE
EN
Description
B0
RC1
= 1:
= 0:
1st record
chaining
executed
Record
chaining
completed
1st Record
Chaining Done
B2
–
B3
FNUM1
B4
FNUM2
–
–
Function number acknowledgment
Function
Number
Feedback
B5
FGRP1
B6
FGRP2
Function group Function
acknowledgGroup
ment
Feedback
B7
FUNC
Function
feedback
B1
RCC
Tab. 8.17
Record
Chaining
Complete
Function
Feedback
The first step enabling condition was achieved.
A step enabling condition was not configured or
not achieved.
Valid, as soon as MC present.
= 1: Record chain was processed to the end of the
chain.
= 0: Record chaining aborted. At least one step
enabling condition has not been met.
Reserved, = 0.
Without cam disc function (CDIR.FUNC = 0): No function,
= 0.
With cam disc function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function number
0
0
0
CAM-IN / CAM-OUT / Change active.
1
0
1
Synchronisation on external input.
2
1
0
Synchronisation on external input
with cam disc function.
3
1
1
Synchronisation on virtual master
with cam disc function.
Without cam disc function (CDIR.FUNC = 0): No function,
=0
With cam disc function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function group
0
0
0
Synchronisation with/without cam
disc.
All other values (no. 1 ... 3) are reserved.
= 1: Cam disc function is executed, bit 3 ... 6 =
function number and group.
= 0: Normal job
Status byte 4 – record selection
Status bytes 5 … 8 (position) – record selection
Bit
DE
EN
Description
B0 … 31 Position
Tab. 8.18
126
Position
Feedback on the position in position unit
appendix A.1. 32-bit number, low byte first.
Status bytes 5 … 8 – Record selection
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.6
FHPP finite state machine
From all statuses
Switched off
T7* always has the
T7*
highest priority.
S1
Controller
S5
switched on
to malfunctions
Reaction
T1
T8
S2
Drive
T11
S6
T9
Malfunction
blocked
T5
T2
T10
S3
Drive
T6
enabled
T4
SA5
Jog
TA9
positive
TA10
SA6
Jog
TA11
negative
TA12
T3
SA1
Ready
TA7
SA4
Homing is being
TA8
carried out
TA13
SA7
Prepare cam disc
TA14
TA19
TA2
TA5
TA6
TA1
SA2
Positioning job
TA16
TA15
SA8
Cam disc active and
being run
active
TA18
TA4
TA17
TA3
SA9
SA3
Cam disc intermedi-
Intermediate stop
ate stop
S4
Operation enabled
Fig. 8.1
Finite state machine
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
127
8
I/O data and sequence control
Notes on the “Operation enabled”
status
The transition T3 changes to status
S4, which itself contains its own
sub-finite state machine, the
statuses of which are marked with
“SAx” and the transitions with “TAx”
Fig. 8.1.
This enables an equivalent circuit
diagram ( Fig. 8.2) to be used, in
which the internal states SAx are
omitted.
Transitions T4, T6 and T7* are executed from every sub-status SAx
and automatically have a higher priority than any transition TAx.
Switched off
From all statuses
T7*
S1
S5
S5
Controller
T1
S2
T8
T9
Drive
Reaction
to malfunctions
switched on
S6
T11
Malfunction
blocked
T5
S3
T6
T2
T10
Drive
enabled
T4
S4
T3
Operation
enabled
Fig. 8.2
Finite state machine equivalent circuit diagram
Reaction to malfunctions
T7 (“malfunction recognised”) has the highest priority (“*”). T7 is then executed from S5 + S6 if an
error with a higher priority occurs. This means that a serious error can displace a less serious error.
128
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.6.1
Establishing the ready status
To create the ready status, additional input signals may be required, depending on the
controller, at DIN4, DIN5, DIN13, etc., for example.
More detailed information can be found in the Hardware description,
GDCP-CMMP-M3-HW-...
T
Internal conditions
T1
Drive is switched on.
An error cannot be ascertained.
T2
Load voltage applied.
Higher-order control with PLC.
Actions of the user 1)
“Enable drive” = 1
CCON = xxx0.xxx1
T3
“Stop” = 1
CCON = xxx0.xx11
T4
“Stop” = 0
CCON = xxx0.xx01
T5
“Enable drive” = 0
CCON = xxx0.xxx0
T6
“Enable drive” = 0
CCON = xxx0.xxx0
T7*
Malfunction recognised.
T8
Reaction to malfunction completed, drive stopped.
T9
There is no longer a malfunction.
It was a serious error.
“Acknowledge malfunction” =
0→1
CCON = xxx0.Pxxx
T10
There is no longer a malfunction.
It was a simple error.
“Acknowledge malfunction” =
0→1
CCON = xxx0.Pxx1
T11
Malfunction still exists.
“Acknowledge malfunction” =
0→1
CCON = xxx0.Pxx1
1)
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.19
Status transitions while achieving ready status
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
129
8
I/O data and sequence control
8.6.2
Positioning
In principle: The transitions T4, T6 and T7* always have priority!
T
Internal conditions
Actions of the user 1)
TA1
Homing is present.
Start positioning job = 0 → 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2
Motion Complete = 1
The current record is completed. The next record is not to
be carried out automatically
“Halt” status is any
CCON = xxx0.xx11
CPOS = 0xxx.xxxx
TA3
Motion Complete = 0
Halt = 1 → 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA4
TA5
Halt = 1
Start positioning job = 0 → 1
Delete remaining path = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
Record selection:
– A single record is finished.
– The next record is processed automatically.
CCON = xxx0.xx11
CPOS = 0xxx.xxx1
Direct mode:
– A new positioning job has arrived.
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6
Delete remaining path = 0 → 1
CCON = xxx0.xx11
CPOS = 0Pxx.xxxx
TA7
Start homing = 0 → 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA8
Referencing finished or stopped.
TA9
1)
Halt = 1 → 0 (only for halt)
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
Jog positive = 0 → 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.Pxx1
Legend: P = rising edge (positive), N = falling edge (negative), x = any
130
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
T
Internal conditions
Actions of the user 1)
TA10
Either
Jog positive = 1 → 0
– CCON = xxx0.xx11
– CPOS = 0xxx.Nxx1
or
Halt = 1 → 0
– CCON = xxx0.xx11
– CPOS = 0xxx.xxxN
TA11
Jog negative = 0 → 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xxP.0xx1
TA12
Either
Jog negative = 1 → 0
– CCON = xxx0.xx11
– CPOS = 0xxN.xxx1
or
Halt = 1 → 0
– CCON = xxx0.xx11
– CPOS = 0xxx.xxxN
1)
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.20
Status transitions at positioning
There are additional transitions if the cam disc function is used
section 8.6.3.
FHPP operating
mode
Notes on special features
Record selection
Direct mode
No restrictions.
TA2: The condition that no new record may be processed no longer applies.
TA5: A new record can be started at any time.
Tab. 8.21
Special features dependent on FHPP operating mode
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
131
8
I/O data and sequence control
8.6.3
TA
TA13
TA14,
TA19
Extended finite state machine with cam disc function
Description
Prepare cam disk
(activate)
Deactivate cam
disc
Occurrence with
Record selection
Secondary condition
Direct mode
“Rising” edge
(change) of record
number.
–
Old record: FUNC = 0
New record: FUNC = 1
–
Rising edge at FUNC.
–
Rising edge at STOP or ENABLE (activation of
controller enable).
FUNC = 1
“Rising” edge
(change) of record
number.
–
Old record: FUNC = 1
New record: FUNC = 0
–
Falling edge at FUNC.
–
STOP or withdrawal of ENABLE.
None, FUNC = any
Drive is in TA 13.
TA15
Cam disc active
and being run
Rising edge at START.
TA16
Change cam disc
Rising edge at START.
–
Changed cam disc
number in PNU 419 or
PNU 700.
FUNC = 1
“Rising” edge
(change) of record
number and rising
edge at START.
–
Changed cam disc
number in PNU 419 or
PNU 700.
FUNC = 1
–
Rising edge at START,
starts the virtual master automatically.
PNU 700 has been
changed.
FUNC = 1
TA17
Intermediate stop
HALT = 0
TA18
End intermediate
stop
HALT = 1
Intermediate stop
with virtual master
only.
Tab. 8.22
132
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
8.6.4
Examples of control and status bytes
On the following pages you will find typical examples of control and status bytes:
1. Establish readiness to operate – Record selection, Tab. 8.23
2. Establish readiness to operate – Direct mode, Tab. 8.24
3. Malfunction handling, Tab. 8.25
4. Homing, Tab. 8.26
5. Positioning record selection, Tab. 8.27
6. Positioning direct mode, Tab. 8.28
Information about the finite state machine section 8.6.
For all examples: Additional digital I/Os are required for CMM... controller and regulator
enabling Hardware description, GDCP-CMMP-M3-HW-...
1. Establish ready status - Record selection
Step/description
Control bytes (job) 1)
1.1 Initial status
CCON
CPOS
1.2 Disable device control CCON.LOCK
for software
1.3 Enable drive, enable
CCON.ENABLE
operation (Record selecCCON.STOP
tion)
CCON.OPM1
CCON.OPM2
CPOS.HALT
1)
Status bytes (response) 1)
= 0000.0x00b
= 0000.0000b
=1
SCON
SPOS
SCON.FCT/MMI
= 0001.0000b
= 0000.0100b
=0
=1
=1
=0
=0
=1
SCON.ENABLED
SCON.OPEN
SCON.OPM1
SCON.OPM2
SPOS.HALT
=1
=1
=0
=0
=1
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.23
Control and status bytes - “Establish ready status – Record selection”
Description of 1. Establish ready status:
1.1 Initial status of the drive when the supply voltage has been switched on. } Step 1.2 or 1.3
1.2 Disable device control by software.
Optionally, acceptance of device control by the software can be disabled with CCON.LOCK = 1.
} Step 1.3
1.3 Enable drive in record selection mode. } Homing: Example 4, Tab. 8.26.
If there are malfunctions after switching on or after setting CCON.ENABLE:
} Malfunction handling: example 3, Tab. 8.25.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
133
8
I/O data and sequence control
2.Establish ready status – Direct mode
Step/description
Control bytes (job) 1)
2.1 Initial status
CCON
CPOS
2.2 Disable device control CCON.LOCK
for software
2.3 Enable drive, enable
CCON.ENABLE
operation (Record selecCCON.STOP
tion)
CCON.OPM1
CCON.OPM2
CPOS.HALT
1)
Status bytes (response) 1)
= 0000.0x00b
= 0000.0000b
=1
SCON
SPOS
SCON.FCT/MMI
= 0001.0000b
= 0000.0100b
=0
=1
=1
=1
=0
=1
SCON.ENABLED
SCON.OPEN
SCON.OPM1
SCON.OPM2
SPOS.HALT
=1
=1
=1
=0
=1
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.24
Control and status bytes “Establish ready status - Direct mode”
Description of 2. Establish ready status:
2.1 Initial status when the supply voltage has been switched on. } Step 2.2 or 2.3
2.2 Disable device control by software. Optionally, acceptance of device control by the software can
be disabled with CCON.LOCK = 1. } Step 2.3
2.3 Enable drive in direct mode. } Homing: Example 4, Tab. 8.26.
If there are malfunctions after switching on or after setting CCON.ENABLE:
} Malfunction handling: example 3, Tab. 8.25.
Warnings do not have to be acknowledged; these are automatically deleted after some
seconds when their cause has been remedied.
3. Malfunction handling
Step/description
Control bytes (job) 1)
Status bytes (response) 1)
3.1 Errors
CCON
CPOS
CCON
CPOS
CCON.ENABLE
CCON.RESET
SCON
SPOS
SCON
SPOS
SCON.ENABLED
SCON.FAULT
SCON.WARN
SPOS.ACK
SPOS.MC
3.1 Warning
3.3 Acknowledge
malfunction
with CCON.RESET
1)
= xxx0.xxxxb
= 0xxx.xxxxb
= xxx0.xxxxb
= 0xxx.xxxxb
=1
=P
= xxxx.1xxxb
= xxxx.x0xxb
= xxxx.x1xxb
= xxxx.x0xxb
=1
=0
=0
=0
=1
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.25
134
Control and status bytes “Malfunction handling”
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
Description of 3. Malfunction handling
3.1 An error is shown with SCON.FAULT. } Positioning job is no longer possible.
3.2 A warning is shown with SCON.WARN. } Positioning job remains possible.
3.3 Acknowledge malfunction with rising edge at CCON.RESET. } Malfunction bit SCON.B3 FAULT or
SCON.B2 WARN is reset, } SPOS.MC is set, } drive is ready for operation
Errors and warnings can be also acknowledged with a falling edge at DIN5 (controller
enable) Hardware description, GDCP-CMMP-M3-HW-...
4. Homing (requires status 1.3 or 2.3)
Step/description
Control bytes (job) 1)
Status bytes (response) 1)
4.1 Start homing
CCON.ENABLE
CCON.STOP
CPOS.HALT
CPOS.HOM
=1
=1
=1
=P
4.2 Homing is running
4.3 Homing ended
CPOS.HOM
CPOS.HOM
=1
=0
SCON.ENABLED
SCON.OPEN
SPOS.HALT
SPOS.ACK
SPOS.MC
SPOS.MOV
SPOS.MC
SPOS.REF
1)
=1
=1
=1
=1
=0
=1
=1
=1
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.26
Control and status bytes “Homing”
Description of 4. Homing:
4.1 A rising edge at CPOS.HOM, (Start homing) starts homing. The start is confirmed with SPOS.ACK
(Acknowledge start) as long as CPOS.HOM is set.
4.2 Movement of the axis is shown with SPOS.MOV (axis moves).
4.3 After successful homing, SPOS.MC (Motion complete) and SPOS.REF are set.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
135
8
I/O data and sequence control
5. Positioning record selection (requires status 1.3/2.3 and possibly 4.3)
Step/description
Control bytes (job) 1)
Status bytes (response) 1)
5.1 Record number
preselection
(control byte 3)
5.2 Start job
Record no.
0 ... 250
Previous record
no.
0 ... 250
CCON.ENABLE
CCON.STOP
CPOS.HALT
CPOS.START
=1
=1
=1
=P
5.3 Job is running
CPOS.START
Record no.
CPOS.START
=1
0 ... 250
=0
SCON.ENABLED
SCON.OPEN
SPOS.HALT
SPOS.ACK
SPOS.MC
SPOS.MOV
Current record no.
SPOS.ACK
SPOS.MC
SPOS.MOV
=1
=1
=1
=1
=0
=1
0 ... 250
=0
=1
=0
5.4 Job ended
1)
Legend: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 8.27
Control and status bytes “Positioning record selection”
Description of 5. Positioning record selection:
(Steps 5.1 .... 5.4 conditional sequence)
When the ready status is established and homing has been carried out, a positioning job can be started.
5.1 Preselect record number: byte 3 of the output data
0
= Homing
1 ... 250 = Programmable positioning records
5.2 With CPOS.B1 (START, start job) the preselected positioning job will be started. The start is confirmed with SPOS.ACK (Acknowledge start) as long as CPOS.START is set.
5.3 Movement of the axis is shown with SPOS.MOV (axis moves).
5.4 At the end of the positioning task, SPOS.MC will be set.
136
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
8
I/O data and sequence control
6. Positioning direct mode (requires status 1.3/2.3 and possibly 4.3)
Step/description
Control bytes (job) 1)
Status bytes (response) 1)
6.1 Preselect position
(byte 4) and speed
(bytes 5...8)
6.2 Start job
Speed
preselection
Setpoint position
CCON.ENABLE
CCON.STOP
CPOS.HALT
CPOS.START
0 ... 100 (%)
CDIR.ABS
CPOS.START
CPOS.START
=S
=1
=0
Speed
acknowledgment
Actual position
SCON.ENABLED
SCON.OPEN
SPOS.HALT
SPOS.ACK
SPOS.MC
SDIR.ABS
SPOS.MOV
SPOS.ACK
SPOS.MC
SPOS.MOV
6.3 Job is running
6.4 Job ended
1)
Position units
=1
=1
=1
=P
0 ... 100 (%)
Position units
=1
=1
=1
=1
=0
=S
=1
=0
=1
=0
Legend: P = rising edge (positive), N = falling edge (negative), x = any, S= travel condition: 0= absolute; 1 = relative
Tab. 8.28
Control and status bytes for “Positioning direct mode”
Description of positioning direct mode:
(Step 6.1 ... 6.4 conditional sequence)
When the ready status is achieved and homing has been carried out, a setpoint position must be
preselected.
6.1 The setpoint position is transferred in positioning units in bytes 5...8 of the output word.
The setpoint speed is transferred in % in byte 4 (0 = no speed; 100 = max. speed).
6.2 With CPOS.START, the preselected positioning task will be started. The start is confirmed with
SPOS.ACK as long as CPOS.START is set.
6.3 Movement of the axis is shown with SPOS.MOV.
6.4 At the end of the positioning task, SPOS.MC is set.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
137
9
Drive functions
9
Drive functions
9.1
Reference system for electric drives
Reference system for electric linear drives
2
1
d
e
a
REF
LSE
b
AZ
c
PZ
TP/AP
LES
USE
HES
Positions increasing in size, “positive” travel
REF
AZ
PZ
LSE
USE
LES
HES
TP
AP
a
b
c
d, e
1
2
Tab. 9.1
138
Homing point (reference point)
Axis zero point
Project zero point
Lower software end position
Upper software end position
Lower end switch
Higher end switch
Target position
Actual position
Offset axis zero point
Offset project zero point
Offset target/actual position
Offset software end positions
Effective stroke
Nominal stroke
Reference system for electric linear drives
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
9
Drive functions
Reference system for electric rotary drives
Rotation axis: Example with negative reference switch homing method
1
REF
AZ
PZ
d
a
b
e
REF
AZ
PZ
a
b
c
d, e
1
Tab. 9.2
9.2
Homing point (reference point)
Axis zero point
Project zero point
Offset axis zero point
Offset project zero point
Offset target/actual position
Offset software end positions (optional: endless positioning possible)
Effective stroke
Reference system for electric rotary drives
Calculating specifications for the measuring reference system
Reference point
Calculation rule
Axis zero point
Project zero point
Lower software end position.
Upper software end position.
Target/actual position
AZ
PZ
LSE
USE
TP, AP
Tab. 9.3
= REF + a
= AZ + b
= AZ + d
= AZ + e
= PZ + c
= REF + a + b
= REF + a + d
= REF + a + e
= AZ + b + c
= REF + a + b + c
Calculation rules for the measuring reference system with incremental measuring systems
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
139
9
Drive functions
9.3
Homing
In the case of drives with incremental measuring system, homing must always be carried out after the
drive is switched on.
This is defined drive-specifically with the parameter “Homing required” (PNU 1014).
For a description of the homing modes, see section 9.3.2.
9.3.1
Homing for electric drives
The drive homes against a stop, a limit switch or a reference switch. An increase in the motor current
indicates that a stop has been reached. Since the drive must not continuously home against the stop, it
must move at least one millimetre back into the stroke range.
Process:
1. Search for the homing point corresponding to the configured method.
2. Run relative to the reference point around the “Offset axis zero point”.
3. Set at current position = 0 – offset project zero point.
Overview of parameters and I/Os in homing
Parameters involved
Section B.4.18
Start (FHPP)
Acknowledgement (FHPP)
Requirement
Tab. 9.4
140
Parameters
Offset axis zero point
Homing method
Homing speeds
Homing accelerations
Homing required
Homing maximum torque
CPOS.HOM = rising edge: start homing
SPOS.ACK = rising edge: Start acknowledgment
SPOS.REF = drive homed
Device control by PLC/fieldbus
Controller in status “Operation enabled”
No command for jogging
PNU
1010
1011
1012
1013
1014
1015
Parameters and I/Os in homing
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
9
Drive functions
9.3.2
Homing methods
The homing methods are oriented towards CANopen DS402.
With some motors (those with absolute encoders, single/multi-turn) the drive may be
permanently referenced. In such cases, methods involving homing to an index pulse (=
zero pulse) might not cause homing to be carried out; rather the drive will move directly
to the axis zero point (if it has been entered in the parameters).
Homing methods
hex
dec
Description
01h
02h
1
2
Negative limit switch with index pulse 1)
1. If negative limit switch inactive:
Run at search speed in negative direction to
the negative limit switch.
2. Travel at creep speed in positive direction until
the limit switch becomes inactive, then continue to the first index pulse. This position is
taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Positive limit switch with index pulse 1)
1. If positive limit switch inactive:
Run at search speed in positive direction to
the positive limit switch.
2. Travel at creep speed in negative direction until the limit switch becomes inactive, then continue to the first index pulse. This position is
taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Index pulse
Negative limit switch
Index pulse
Positive limit switch
1)
Only possible for motors with encoder/resolver with index pulse.
2)
Limit switches are ignored during travel to the stop.
3)
Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
141
9
Drive functions
Homing methods
hex
dec
Description
07h
0B
11h
7
11
17
Reference switch in positive direction with index
pulse 1)
1. If reference switch inactive:
Travel at search speed in positive direction to
the reference switch.
If the stop or limit switch is approached:
Travel at search speed in positive direction to
the reference switch.
2. Travel at creep speed in negative direction until the reference switch becomes inactive, then
continue to the first index pulse. This position
is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Reference switch in negative direction with index
pulse 1)
1. If reference switch inactive: Travel at search
speed in negative direction to the reference
switch.
If the stop or limit switch is approached:
Travel at search speed in positive direction to
the reference switch.
2. Travel at creep speed in positive direction until
the reference switch becomes inactive, then
continue to the first index pulse. This position
is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Negative limit switch
1. If negative limit switch inactive:
Run at search speed in negative direction to
the negative limit switch.
2. Travel at creep speed in positive direction until
the limit switch becomes inactive. This position is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Index pulse
Reference
switch
Index pulse
Reference
switch
Negative limit switch
1)
Only possible for motors with encoder/resolver with index pulse.
2)
Limit switches are ignored during travel to the stop.
3)
Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
142
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
9
Drive functions
Homing methods
hex
dec
Description
12h
17h
1Bh
18
23
27
Positive limit switch
1. If positive limit switch inactive:
Run at search speed in positive direction to
the positive limit switch.
2. Travel at creep speed in negative direction until the limit switch becomes inactive. This position is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Reference switch in positive direction
1. If reference switch inactive:
Travel at search speed in positive direction to
the reference switch.
If the stop or limit switch is approached:
Travel at search speed in positive direction to
the reference switch.
2. Travel at creep speed in negative direction until the reference switch becomes inactive. This
position is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Reference switch in negative direction
1. If reference switch inactive: Travel at search
speed in negative direction to the reference
switch.
If the stop or limit switch is approached:
Travel at search speed in positive direction to
the reference switch.
2. Travel at creep speed in positive direction until
the reference switch becomes inactive. This
position is taken as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Positive limit switch
Reference
switch
Reference
switch
1)
Only possible for motors with encoder/resolver with index pulse.
2)
Limit switches are ignored during travel to the stop.
3)
Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
143
9
Drive functions
Homing methods
hex
dec
Description
21h
22h
33
34
23h
35
FFh
-1
FEh
-2
Index pulse in a negative direction 1)
1. Travel at creep speed in negative direction until the index pulse. This position is taken as
the homing point.
2. If this is parameterised: travel at positioning
speed to the axis zero point.
Index pulse in a positive direction 1)
1. Travel at creep speed in positive direction up
to the index pulse. This position is taken as
the homing point.
2. If this is parameterised: travel at positioning
speed to the axis zero point.
Current position
1. The current position is taken as the reference
position.
2. If this is parameterised: travel at positioning
speed to the axis zero point.
Note: Through shifting of the reference system,
travel to the limit switch or fixed stop is possible.
For that reason this method is mostly used for
axes of rotation.
Negative stop with index pulse 1) 2)
1. Travel at search speed in negative direction to
the stop.
2. Travel at creep speed in positive direction until
the next index pulse. This position is taken as
the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Positive stop with index pulse 1) 2)
1. Travel at search speed in positive direction to
the stop.
2. Travel at creep speed in negative direction until the next index pulse. This position is taken
as the homing point.
3. If this is parameterised: travel at positioning
speed to the axis zero point.
Index pulse
Index pulse
Index pulse
Index pulse
1)
Only possible for motors with encoder/resolver with index pulse.
2)
Limit switches are ignored during travel to the stop.
3)
Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
144
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
9
Drive functions
Homing methods
hex
dec
Description
EFh
-17
EEh
-18
E9h
-23
E5h
-27
Negative stop 1) 2) 3)
1. Travel at search speed in negative direction to
the stop. This position is taken as the homing
point.
2. If this is parameterised: travel at positioning
speed to the axis zero point.
Positive stop 1) 2) 3)
1. Travel at search speed in positive direction to
the stop. This position is taken as the homing
point.
2. If this is parameterised: travel at positioning
speed to the axis zero point.
Reference switch in positive direction with travel
to stop or limit switch.
1. Run at search speed in positive direction to
stop or limit switch.
2. Travel at search speed in negative direction to
the reference switch.
3. Travel at creep speed in negative direction until the reference switch becomes inactive. This
position is taken as the homing point.
4. If the axis zero point ≠ 0: Travel at positioning
speed to the axis zero point.
Reference switch in negative direction with
travel to stop or limit switch
1. Run at search speed in negative direction to
stop or limit switch.
2. Travel at search speed in positive direction to
the reference switch.
3. Run at crawl speed in positive direction until
reference switch becomes active. This position is taken as the homing point.
4. If this is parameterised: travel at positioning
speed to the axis zero point.
Reference
switch
Reference
switch
1)
Only possible for motors with encoder/resolver with index pulse.
2)
Limit switches are ignored during travel to the stop.
3)
Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
Tab. 9.5
Overview of homing methods
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
145
9
Drive functions
9.4
Jog mode
In the “Operation enabled” state, the drive can be traversed by jogging in the positive/negative directions. This function is usually used for:
– Approaching teach positions,
– Running the drive out of the way (e.g. after a system malfunction),
– Manual traversing as a normal operating mode (manually operated feed).
Process
1. When one of the signals “Jog positive / Jog negative” is set, the drive starts to move slowly. Due to
the slow speed, a position can be defined very accurately.
2. If the signal remains set for longer than the configured “phase 1 period” the speed is increased until
the configured maximum speed is reached. In this way large strokes can be traversed quickly.
3. If the signal changes to 0, the drive is braked with the pre-set maximum deceleration.
4. Only if the drive is referenced:
If the drive reaches a software end position, it will stop automatically. The software end position is
not exceeded; the path for stopping is taken into account according to the ramp set. The jog mode
can be exited here with Jogging = 0.
2
Speed v(t)
1
1
4
2
3
t [s]
CPOS.JOGP or
CPOS.JOGN (Jog
positive/negative)
1
3
4
5
Low speed phase 1
(slow travel)
Maximum speed for
phase 2
Acceleration
Deceleration
Time period in phase 1
0
5
Fig. 9.1
146
Sequence chart for jog mode
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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Drive functions
Overview of parameters and I/Os in jog mode
Parameters involved
Section B.4.9
Start (FHPP)
Acknowledgement (FHPP)
Requirement
Tab. 9.6
9.5
Parameters
PNU
Jog mode speed phase 1
530
Jog mode speed phase 2
531
Jog mode acceleration
532
Jog mode deceleration
533
Jog mode time period phase 1 (T1)
534
CPOS.JOGP = rising edge: jog positive (larger actual values)
CPOS.JOGN = rising edge: jog negative (smaller actual values)
SPOS.MOV = 1: Drive moves
SPOS.MC = 0: (motion complete)
Device control by PLC/fieldbus
Controller in status “Operation enabled”
Parameters and I/Os during jog mode
Teaching via fieldbus
Position values can be taught via the fieldbus. Previously taught position values will then be overwritten.
Note: The drive must not stand still for teaching. However, with the typical cycle times of the PLC + fieldbus + controller, there will be inaccuracies of several millimetres even at a speed of only 100 mm/s.
Process
1. The drive will be moved to the desired position by the jogging mode or manually. This can be accomplished in jogging mode by positioning (or by moving manually in the “Drive blocked” status in the
case of motors with an encoder).
2. The user must make sure that the desired parameter is selected. For this, the parameter “Teach
target” and, if applicable, the correct record address must be entered.
Teach target (PNU
520)
Is taught
= 1 (specification)
Setpoint position in the
positioning record.
=2
=3
=4
=5
Axis zero point
Project zero point
Lower software end position.
Upper software end position.
Tab. 9.7
Record selection: Positioning record after
control byte 3
Direct mode: Positioning record after
PNU=400
Overview of teach targets
3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS:
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Drive functions
Teach value
CPOS.TEACH
1
2
3
4
1
0
Acknowledgement
SPOS.TEACH
1
0
1
Fig. 9.2
PLC: Prepare teaching
Controller: Ready for teaching
PLC: Teach now
Controller: Value transferred
2
3
4
Handshake during teaching
Overview of parameters and I/Os when teaching
Parameters involved
Sections B.4.8, B.4.9
Start (FHPP)
Acknowledgement (FHPP)
Requirement
Tab. 9.8
148
Parameters
Teach target
Record number
Offset project zero point
Software end positions
Axis zero point offset (electric drives)
CPOS.TEACH = Falling edge: Teach value
SPOS.TEACH = 1: Value transferred
Device control by PLC/fieldbus
Controller in status “Operation enabled”
PNU
520
400
500
501
1010
Parameters and I/Os when teaching
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Drive functions
9.6
Carry out record (Record selection)
A record can be started in the “Operation enabled” status. This function is usually used for:
– selection-free approach to positions in the record list by the PLC,
– processing of a positioning profile by linking records,
– known target positions that seldom change (recipe change).
Process
1. Set the desired record number in the output data of the PLC. Until the start, the controller replies
with the number of the record last processed.
2. With a rising edge at CPOS.START, the controller accepts the record number and starts the positioning job.
3. The controller signals with the rising edge at Start Acknowledgment that the PLC output data has
been accepted and that the positioning job is now active. The positioning command continues to be
executed, even if CPOS.START is reset to zero.
4. When the record is concluded, SPOS.MC is set.
Causes of errors in application:
– No homing was carried out (where necessary, see PNU 1014).
– the target position and/or the preselect position cannot be reached.
– Invalid record number.
– Record not initialised.
With conditional record switching/record chaining (see section 9.6.3):
If a new speed and/or a new target position is specified in the movement, the remaining
path to the target position must be large enough to reach a standstill with the braking
ramp that was set.
Overview of parameters and I/Os in record selection
Parameters involved
Section B.4.8
Start (FHPP)
Acknowledgement (FHPP)
Requirement
Tab. 9.9
Parameters
Record number
All parameters of the record data, see section 9.6.2,
Tab. 9.10
CPOS.START = rising edge: Start
Jogging and referencing have priority.
SPOS.MC = 0: Motion Complete
SPOS.ACK = rising edge: Start acknowledgment
SPOS.MOV = 1: Drive moves
Device control by PLC/fieldbus
Controller in status “Operation enabled”
Record number must be valid
PNU
400
401 ... 421
Parameters and I/Os with record selection
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Drive functions
9.6.1
Record selection flow diagrams
Fig. 9.3, Fig. 9.4 and Fig. 9.5 show typical flow diagrams for starting and stopping a record.
Record start / stop
Setpoint record
number
output data
1
N-1
N
N+1
0
1
Stop
CCON.STOP
0
6
Start
CPOS.START
Start acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Axis is moving
SPOS.MOV
Actual record number
input data
1
2
3
3
0
2
1
0
1
4
5
1
0
1
0
1
N-1
N
N+1
0
Requirement: “Start acknowledgement” = 0
A rising edge at “Start” causes the new
record number N to be accepted and “Start
acknowledgment” to be set
As soon as “Start acknowledgement” is
recognised by the PLC, “Start” may be set to
0 again
Fig. 9.3
150
1
4
5
6
The controller reacts with a falling edge at
“Start acknowledgment”
As soon as “Start acknowledgment” is
recognized by the PLC, it can create the next
record number
A currently running positioning task can be
stopped with “Stop”.
Flow diagram Record start/stop
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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Drive functions
Stop record with halt and continue
Setpoint record
number
output data
N-1
N
N+1
0
1
Halt
CPOS.HALT
1
0
Start
CPOS.START
Acknowledge Halt
SPOS.HALT
Start acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Axis is moving
SPOS.MOV
Actual record number
input data
1
1
1
2
0
1
0
1
0
1
0
1
0
1
N-1
N
0
Record is stopped with “Halt”, actual record
number N is retained, “Motion Complete”
remains reset
Fig. 9.4
2
Rising edge at “Start” starts record N again,
“Confirm halt” is set
Flow diagram for Stop record with halt and continue
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Drive functions
Stop record with halt and delete remaining path
Setpoint record
number
output data
N+1
1
Delete remaining
path
CPOS.CLEAR
Acknowledge Halt
SPOS.HALT
Start acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Axis is moving
SPOS.MOV
Actual record number
input data
152
N
0
Start
CPOS.START
Stop record
Fig. 9.5
N-1
0
1
Halt
CPOS.HALT
1
1
1
0
1
2
0
1
0
1
0
1
0
1
0
1
N-1
N+1
N
0
2
Delete remaining path
Flow diagram for stop record with halt and delete remaining path
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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Drive functions
9.6.2
Record structure
A positioning task in record select mode is described by a record made up of setpoint values. Every
setpoint value is addressed by its own PNU. A record consists of the setpoint values with the same
subindex.
PNU
Name
Description
401
Record control byte 1
Setting for positioning task
absolute/relative, position/torque control, ...
402
Record control byte 2
Record control:
Settings for conditional record switching and record chaining.
404
Setpoint value
Setpoint value corresponding to record control byte 1.
406
Speed
Setpoint speed.
407
Acceleration
Setpoint acceleration during start up.
408
Deceleration
Setpoint acceleration during braking.
413
Jerk-free filter time
Filter time for smoothing the profile ramps.
416
Record following
position/record control
Record number that is jumped to if the step enabling condition is
met.
418
Torque limitation
limitation of the maximum torque.
419
Cam disc number
Number of the cam disc to be executed with this record.
Requires configuration of PNU 401 (virtual master).
420
Remaining path
message
Path in front of the target position where a display can be
triggered via a digital output to show it has been reached.
421
Record control byte 3
Settings for specific behaviour of the record.
Tab. 9.10
Parameters for positioning record
9.6.3
Conditional record switching / record chaining (PNU 402)
Record selection mode allows multiple positioning jobs to be concatenated. This means that, starting
at CPOS.START, several records are automatically executed one after the other. This allows a travel
profile to be defined, such as switching to another speed after a position is reached.
To do this, the user sets a (decimal) condition in RCB2 to define that the subsequent record is automatically executed after the current record.
Complete parameterisation of record chaining (“path program”), such as of the subsequent record, is only possible through the FCT.
If a condition was defined, it is possible to prohibit automatic continuation by setting the B7 bit. This
function should be used for debugging using FCT and not for normal control purposes.
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Drive functions
Record control byte 2 (PNU 402)
Bit 0 ... 6
Bit 7
Tab. 9.11
Numerical value 0...128: step enabling condition as a list, see Tab. 9.12
= 0:
Record switching (bit 0 ... 6) is not blocked (default)
= 1:
Record switching blocked
Settings for conditional record switching and record chaining
Step enabling conditions
Value Condition
Description
0
–
No automatic continuation
4
Rest
Continuation occurs once the drive comes to rest and the time T1 specified
as the preselected value has expired. (Run to block!).
6
Input
Pos. edge
Continuation occurs to the next record if a rising edge is identified at the
local input. The preselected value includes the bit address of the input.
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
7
Input
Neg. edge
Continuation occurs to the next record if a falling edge is identified at the
local input. The preselected value includes the bit address of the input.
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
9
Input
Pos. edge
waiting
Continuation occurs to the next record after the current record ends if a
rising edge is identified at the local input. The preselected value includes the
number of the input:
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
10
Input
Neg. edge
waiting
Continuation occurs to the next record after the current record ends if a falling edge is identified at the local input. The preselected value includes the
number of the input:
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
154
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Drive functions
Step enabling conditions
Value Condition
Description
11
Position (relative)
This switching is the
same as type 2 except
that the specified position is not specified absolutely but relative to the
last setpoint position 2.
Continuation occurs as
soon as the current actual position exceeds the
preselected value in the
direction of travel 1 .
Important: For the chaining position to be reproducible, the specification
must be calculated relative to the last target position and not relative to the
actual position.
12
Tab. 9.12
Internal MC
condition
Like condition 1, but
without an external MC
signal between the individual records. An external MC signal (SPOS.MC) is
only set after the last record in the continuation
chain is set!
Step enabling conditions
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9
9.7
Drive functions
Direct mode
In the status “Operation enabled” (Direct mode) a task is formulated directly in the I/O data and is
transmitted via the fieldbus. Some of the setpoint values for the position are reserved in the PLC.
The function is used in the following situations:
– Selection-free approach to positions within the effective stroke.
– The target positions are unknown during designing or change frequently (e.g. several different
workpiece positions).
– A positioning profile through linking of records (G25 function) is not necessary.
– The drive should follow a nominal value continuously.
If short wait times are not critical, it is possible to implement a positioning profile
externally PLC-controlled by linking records.
Causes of errors in application
– No homing was carried out (where necessary, see PNU 1014).
– Target position cannot be reached or lies outside the software end positions.
– Load torque is too large.
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9
Drive functions
Overview of parameters and I/Os in direct mode
Parameters involved
Position specifications
B.4.12
Torque specifications
B.4.13
Rotational speed specifications
B.4.14
Start (FHPP)
Acknowledgement (FHPP)
Requirement
1)
Parameters
Basic value speed 1)
Direct mode acceleration
Direct mode deceleration
Jerk-free filter time
Base value torque ramp 1)
Torque target window
Damping time
Permissible speed during torque control
Base value acceleration ramp 1)
Speed target window
Damping time target window
Standstill target window
Standstill target window damping time
Torque limitation
CPOS.START = rising edge: Start
CDIR.ABS = setpoint position absolute/relative
CDIR.B1/B2 = control mode (see section 8.4.3)
SPOS.MC = 0: Motion Complete
SPOS.ACK = rising edge: Start acknowledgment
SPOS.MOV = 1: Drive moves
Device control by PLC/fieldbus
Controller in status “Operation enabled”
PNU
540
541
542
546
550
552
553
554
560
561
562
563
563
565
The PLC transfers a percentage value in the control bytes, which is multiplied by the base value in order to get the final setpoint
value
Tab. 9.13
Parameters and I/Os in direct mode
9.7.1
Position control process
1. The user sets the desired setpoint value (position) and the positioning condition (absolute/relative,
percentage speed) in his or her output data.
2. With a rising edge at Start (CPOS.START), the controller accepts the setpoint values and starts the
positioning job. After the start, a new setpoint value can be started at any time. There is no need to
wait for MC.
3. Once the last setpoint position is reached, MC (SPOS.MC) is set.
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9
Drive functions
Starting the positioning job
Setpoint position
Output data
N-1
N+1
N
N+2
0
1
Start
CPOS.START
0
Start acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Fig. 9.6
1
1
0
1
0
Start the positioning task
The sequence of the remaining control and status bits as well as the functions Hold and
Stop react corresponding to the record select function, see Fig. 9.3, Fig. 9.4 and Fig. 9.5.
9.7.2
Sequence for force mode (torque, current control)
Force mode is prepared by switching over the control mode with the bits CDIR - COM1/2. The drive
stands with the position controlled.
After the setpoint specification, the start signal (start bit) creates the torque/moment using the torque
ramp in the direction indicated by the prefix of the setpoint value and the active torque control mode is
displayed via the SDIR - COM1/2 bits.
The speed is limited to the value in the parameter “Maximum speed”.
Once the setpoint value has been reached, taking into account the target window and the time window,
the “MC” signal is set. Torque/moment continue to be controlled.
Causes of errors in application
– No homing was carried out (where necessary, see PNU 1014).
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Drive functions
Setpoint specification / actual value query in direct mode in force mode:
CCON.OPM1 = 1, CCON.OPM2 = 0
CDIR.COM1 = 1, CDIR.COM2 = 0
Direct mode
Byte 1
Output
data
Input
data
Tab. 9.14
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
CCON
CPOS
CDIR
SCON
SPOS
SDIR
Setpoint value
1 (reserved)
Actual value 1
(actual torque)
Setpoint value 2
(torque)
Actual value 2
(Actual position)
Byte 7
Byte 8
Control and status bytes for force mode direct mode
Data
Significance
Unit
Setpoint
value 1
Setpoint
value 2
Actual value
1
Actual value
2
Reserved (no function, = 0)
–
Setpoint torque
Percentage of nominal torque (PNU 1036)
Actual torque
Percentage of nominal value (PNU 1036)
Actual position
Positioning unit, see appendix A.1
Tab. 9.15
Setpoint and actual values for force mode direct mode
9.7.3
Speed adjustment process
Speed adjustment is requested by switching the control mode. The drive remains in the operation
mode that was set previously. After setpoint specification, the start signal (start bit) switches the
system to the speed adjustment operating mode and the speed setpoint value comes into effect.
The torque is limited here to the value set in the “torque limiting” parameter (PNU 565).
The signal “MC” (Motion Complete) is used in this control mode to mean “target speed reached”:
Motion Complete / standstill notification
The same comparator type is used to determine “speed reached” and “speed 0” and it behaves in a
manner corresponding to Fig. 9.7, see Tab. 9.16.
Setpoint
value
Specifications for reaching MC (Motion Complete)
≠0
Target speed:
Tolerance:
Settling time
Target speed:
Tolerance:
Settling time
=0
Tab. 9.16
Setpoint value in accordance with input data
Speed target window (PNU 561)
Damping time speed target window (PNU 562)
Setpoint value in accordance with input data
Standstill target window (PNU 563)
Standstill target window damping time (PNU 564)
Motion Complete / standstill notification specifications
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
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9
Drive functions
Speed
Target speed + tolerance
Target speed
Target speed - tolerance
Timer
Damping time
Motion complete (SPOS.MC)
or standstill monitoring
(SPOS.STILL)
Fig. 9.7
9.8
1
0
Motion complete / standstill notification
Standstill monitoring
Standstill monitoring responds when the drive leaves the target position window when at a standstill.
Standstill monitoring is based on position control only.
When the target position has been reached and MC is signaled in the status word, the drive switches to
the “standstill” state and bit SPOS.STILL (standstill monitor) is reset. If, in this status, the drive is removed from the standstill position window for a defined time due to external forces or other influences,
the bit SPOS.STILL will be set.
As soon as the drive is in the standstill position window again for the standstill monitoring time, the bit
SPOS.STILL will be reset.
The standstill monitoring cannot be switched on or off explicitly. It becomes inactive when the standstill
position window is set to “0”.
160
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Drive functions
1
5
6
1
2
3
4
5
2
8
8
1
3
6
7
8
0
Target position
Actual position
Standstill monitoring
(SPOS.STILL)
Motion complete
(SPOS.MC)
Standstill position
window
Target position window
Monitoring time
(position window time)
Standstill monitoring
time
1
4
0
7
Fig. 9.8
Standstill monitoring
Overview of parameters and I/Os in standstill monitoring
Parameters involved
Section B.4.18
Start (FHPP)
Acknowledgement (FHPP)
Requirement
Tab. 9.17
Parameters
PNU
Target position window
1022
Adjustment time for position
1023
Setpoint position
1040
Current position
1041
Standstill position window
1042
Standstill monitoring time
1043
SPOS.MC = rising edge: Motion complete
SPOS.STILL = 1: Drive has moved out of standstill position window
Device control by PLC/fieldbus
Controller in status “Operation enabled”
Parameters and I/Os in standstill monitoring
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9
Drive functions
9.9
Flying measurement (position sampling)
To find out whether this function is supported by the controller you are using and its firmware version, see the help for the associated FCT plug-in.
The local digital inputs can be used as fast sample inputs: With every rising and falling edge at the configured sample input (only possible using the FCT), the current position value is written into a register of
the controller and can afterwards be read out (PNU 350:01/02) by the higher-order controller (PLC/
IPC).
Parameters for position sampling (flying measurement)
PNU
Position value for a rising edge in user-defined units
Position value for a falling edge in user-defined units
350:01
350:02
Tab. 9.18
9.10
Parameters for flying measurement
Operation of cam discs
The CMMP-AS-...-M3 has the option of operating 16 cam discs each with 4 cam tracks assigned to it.
For this function, you will need the software GSPF-CAM-MC-...
The CMMP-AS-...-M3 provides the following functionality for this purpose via FHPP:
– Operation in synchronisation with an external input, slave mode.
– Operation in synchronisation with an external input with cam disc, slave mode.
– Virtual master (internal) with cam disc.
Control is possible in the following operating modes:
– Record selection.
– Direct mode, positioning.
The cam discs are parameterised via the FCT plug-in. For information about
parameterisation, see the help for the CMMP-AS-...-M3 plug-in.
For complete information on the cam disc function, see the special cam disc manual.
9.10.1
Cam disc function in direct mode operating mode
Synchronisation with an external master controller with cam disc (slave operation)
Synchronisation operation allows a slave controller to follow a master controller via an additional external input in accordance with parameterised rules.
This can be purely position synchronisation or it can be done with an additional cam disc function, the
CAM function.
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Drive functions
Activating synchronisation operation in the direct mode:
Synchronised operation can be selected with control byte 3, CDIR by setting CDIR.FUNC, and the desired functionality can be selected in the function group and the function number, CDIR.FNUM1/2 and
CDIR.FGRP1/2.
Synchronised operation is then activated with a rising edge at the bit CPOS.START. The bit CCON.STOP
stops synchronisation operation. The bit CPOS.HALT has no intermediate stop function (changes to
ready with a stop ramp). The negative edge of CPOS.START also stops synchronisation operation.
Setpoint and actual values according to the function numbers
Function number
Allocation of the setpoint/actual values
FNUM = 0: reserved
FNUM = 1, FNUM = 2:
synchronisation
operation without/with
cam disc
–
Setpoint value
1:
Setpoint value
2:
Actual value 1:
Actual value 2:
FNUM = 3: Virtual
master (internal) with
cam disc
Tab. 9.19
Setpoint value
1:
Setpoint value
2:
Actual value 1:
Actual value 2:
No importance, since the position setpoint comes via the
external input.
No importance, since the position setpoint comes via the
external input.
Actual speed of the slave as in position mode (after the
cam disc)
Actual position of the slave as in position mode (after the
cam disc)
Setpoint speed of the master, dependent on the operating
mode of the master
Setpoint position of the master, dependent on the
operating mode of the master
Actual speed of the slave (after the cam disc)
Actual position of the slave (after the cam disc)
Allocation of setpoint/actual values
The cam disc is selected through PNU 700.
FHPP+ can be used to map this selection to the process data.
9.10.2
Cam disc function in record selection mode
In record selection, the type of record is defined with the record control byte in the record list. The expansion to the cam disc operation can be activated as in direct mode with the bit provided for general
function expansion, bit 7 (FUNC) in record control byte 1.
The cam disc number is selected with PNU 419. If PNU 419 = 0, the contents of PNU 700 are used.
9.10.3
Parameters for the cam disc function
The parameters for the cam disc function can be found in section B.4.16.
9.10.4
Extended finite state machine with cam disc function
Information on the finite state machine for the cam disc function can be found in section 8.6.3
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Malfunction behaviour and diagnostics
10
Malfunction behaviour and diagnostics
10.1
Classification of malfunctions
We differentiate between the following types of malfunctions:
– warnings,
– malfunction type 1 (output stage is not switched off ),
– malfunction type 2 (output stage is switched off ).
Classification of the possible malfunctions can be partially parameterised column appendix D.
The controllers signal errors or malfunctions by appropriate error messages or warnings. These can be
evaluated via the following options:
– display,
– status bytes (see section 10.4),
– bus-specific diagnostics (see fieldbus-specific chapter),
– diagnostic memory (see section 10.2),
– FCT (see FCT help).
The list of diagnostic messages can be found in appendix D.
10.1.1
Warnings
A warning is information for the user, which has no influence on the behaviour of the drive.
Behaviour in the event of warnings
– Controller and output stage remain active.
– The current positioning is not interrupted.
– Dependent on the malfunction number, a new positioning task may be possible.
– The SCON.WARN bit is set.
– If the cause of the warning disappears, the SCON.WARN bit is automatically deleted again.
– The warning numbers are logged in the warning register (PNU 211).
Causes of warnings
– Parameters cannot be written or read (not permissible in the operating status, invalid PNU, ...).
– Following error, drive has exceeded the tolerance after Motion Complete and similar minor control
errors.
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Malfunction behaviour and diagnostics
10.1.2
Malfunction type 1
In the event of an error, the performance that was requested cannot be provided. The drive switches
from its current status to the “Fault” status.
Behaviour in the event of type 1 malfunctions
– The output stage is not switched off.
– The current positioning task is interrupted.
– The speed is reduced on the emergency ramp.
– The sequence control switches to the Fault status. No new positioning task can be carried out.
– The SCON.FAULT bit is set.
– The “Fault” status can be exited through switch-off, through a positive edge at input CCON.RESET
or through resetting/setting DIN5 (controller enable).
– Holding brake is activated when the drive is stopped.
Causes of type 1 malfunctions
– Software end positions are violated.
– Motion Complete timeout.
– Following error monitoring.
10.1.3
Fault type 2
In the event of an error, the performance that was requested cannot be provided. The drive switches
from its current status to the “Fault” status.
Behaviour in the event of type 2 malfunctions
– The output stage is switched off.
– The current positioning task is interrupted.
– The drive runs down.
– The sequence control switches to the Fault status. No new positioning task can be carried out.
– The SCON.FAULT bit is set.
– The “Fault” status can be exited through switch-off, through a positive edge at input CCON.RESET
or through resetting/setting DIN5 (controller enable).
– Holding brake is activated when the drive is stopped.
Causes of type 2 malfunctions
– Load voltage is missing (e.g. if emergency off has been implemented).
– Hardware error:
– Measuring system error.
– Bus error.
– SD card error.
– Impermissible operating mode change.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
165
10
Malfunction behaviour and diagnostics
10.2
Diagnostic memory (malfunctions)
The diagnostic memory for malfunctions contains the codes of the last malfunction messages that
occurred. The diagnostic memory is protected against power failure, if possible. If the diagnostic
memory is full, the oldest element will be overwritten (FIFO principle).
Structure of the diagnostic memory
Parameters 1)
200
201
202
Format
uint8
uint16
uint32
Significance
Diagnostic event
Malfunction number
Time
Subindex 1
Most recent/current malfunction
Subindex 2
2nd stored malfunction
... 2)
...
Subindex 32
32nd stored malfunction
1)
See section B.4.5
Tab. 10.1
Structure of diagnostic memory
10.3
Warning memory
The warning memory contains the codes of the last warnings that occurred. It functions in the same way
as the diagnostic memory for malfunctions.
Structure of the warning memory
Parameters 1)
210
211
212
Format
uint8
uint16
uint32
Significance
Warning event
Warning number
Time
Subindex 1
Latest / current warning
Subindex 2
2nd stored warning
... 2)
...
Subindex 32
32nd stored warning
1)
See section B.4.5
Tab. 10.2
166
Structure of the warning memory
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
10
10.4
Malfunction behaviour and diagnostics
Diagnosis using FHPP status bytes
The controller supports the following diagnostics options using FHPP status bytes (see section 8.4):
– SCON.WARN – warning
– SCON.FAULT – malfunction
– SPOS.DEV – following error
– SPOS.STILL – standstill monitoring.
In addition, all diagnostic information available as PNU can be read (e.g. the diagnostic memory)
through FPC (Festo Parameter Channel section C.1) or FHPP+ ( appendix C.2).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
167
A
Technical appendix
A
Technical appendix
A.1
Conversion factors (factor group)
A.1.1
Overview
Motor controllers are used in a wide variety of applications: as direct drives, with downstream gear
units, for linear drives, etc.
In order to enable simple parameterisation for all applications, the motor controller can be parameterised with the parameters in the “Factor Group” (PNU 1001 to 1007, see section B.4.18) in such a way
that variables such as the rotational speed can be directly specified or read in the units of measurement required.
The motor controller then uses the factor group to calculate the entries in its internal units of measurement. One conversion factor is available for each of the physical parameters: position, speed and acceleration. These conversion factors adjust the user's units of measurement to the application in question.
Fig. A.1 clarifies the function of the factor group:
Factor group
User units
Internal controller
units
Position
±1
Position units
Position Factor
Speed
position_polarity_flag
1 revolution
4096 min
±1
Velocity units
Velocity factor
Acceleration
Acceleration units
Fig. A.1
Increments (Inc.)
±1
±1
velocity_polarity_flag)
1 revolution min
256 sec
Acceleration factor
Factor group
All parameters are always saved in the motor controller in its internal units of measurement and are
only converted (using the factor group) when the parameters are written or read out
For this reason, the factor group should be set first during parameterisation and should not be changed
again during parameterisation.
The factor group is set to the following units by default:
Size
Designation
Unit
Explanation
Length
Speed
Acceleration
Position units
Velocity units
Acceleration units
Increments
min-1
(min-1)/s
65536 increments per revolution
Revolutions per minute
Rotational speed increase per
second
Tab. A.1
168
Factor group presettings
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
A
Technical appendix
A.1.2
Objects in the factor group
Tab. A.2 shows the parameters in the factor group.
Name
PNU
Object
Type
Access
Polarity (reversal of direction)
Position Factor
Velocity factor
Acceleration factor
1000
1004
1006
1007
Var
Array
Array
Array
uint8
uint32
uint32
uint32
rw
rw
rw
rw
Tab. A.2
Overview of the factor group
Tab. A.3 shows the parameters involved in the conversion.
Name
PNU
Object
Type
Access
Encoder Resolution
Gear ratio
Feed constant
Axis parameter
1001
1002
1003
1005
Array
Array
Array
Array
uint32
uint32
uint32
uint32
rw
rw
rw
rw
Tab. A.3
Overview of parameters involved
A.1.3
Calculation of the position units
The position factor (PNU 1004, see section B.4.18) is used to convert all the length values from the
user's positioning units into the internal unit increments (65536 increments are equivalent to one
motor revolution). The position factor consists of a numerator and a denominator.
Motor with gearing
Axis
x in positioning unit
(e.g. “degrees”)
ROUT
RIN
Motor
Fig. A.2
Gear unit
x in positioning unit
(e.g. “mm”)
Calculation of the position units
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
169
A
Technical appendix
The following parameters are involved in the position factor's calculation formula:
Parameters
Description
Gear ratio
Gear ratio between revolutions at the input shaft (RIN) and revolutions at the
output shaft (ROUT).
Ratio between movement in position units at the drive and revolutions at the
drive-out of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Feed constant
Tab. A.4 Position factor parameters
The position factor is calculated in accordance with the following formula:
Position factor
=
gear ration * incrementsrevolution
feed constant
The position factor must be written to the motor controller separated into numerators and denominators. It can therefore be necessary to interpolate the fraction to integers.
Example
First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2).
In this way, all the values can be entered into the formula and the fraction can be calculated:
Position factor calculation sequence
Position units Feed constant Gear ratio
Degree,
1 DP
1/10 degree
1 ROUT =
1/1
3600 °
10
Formula
1
* 65536 Inc
1
3600 °
10
Result
shortened
=
65536 Inc
3600 °
10
num : 4096
div : 225
(°/10)
Fig. A.3
170
Position factor calculation sequence
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
A
Technical appendix
Examples of calculating the position factor
Position units Feed constant Gear ratio
1)
2)
3)
Increments,
0 DP
Inc.
Degree,
1 DP
1/10 degree
1 ROUT =
1/1
65536 Inc
1 ROUT =
Formula 4)
1
* 65536 Inc
1
65536 Inc
1/1
3600 °
10
1
* 65536 Inc
1
3600 °
10
Result
shortened
num : 1
div : 1
=
1 Inc
1 Inc
=
65536 Inc
3600 °
num : 4096
div : 225
65536 Inc
num : 16384
div :
25
10
(°/10)
Rev.,
2 DP
1/100 Rev.
1 ROUT =
100
2/3
(R/100)
mm,
1 DP
1/10 mm
(mm/10)
1/1
U
100
1 ROUT =
mm
631, 5
10
4/5
1
* 65536 Inc
1
1
100
100
2
* 65536 Inc
3
1
100
100
4
* 65536 Inc
5
mm
631, 5
10
=
=
=
100
1
100
131072 Inc
300
1
100
2621440 Inc
mm
31575
10
num : 32768
div :
75
num: 524288
div:
6315
1)
Desired unit at the drive-out
2)
Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3)
Revolutions at the drive in per revolutions at the drive-out (RIN per ROUT)
4)
Insert values into equation.
Tab. A.5
Examples of calculating the position factor
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
171
A
Technical appendix
A.1.4
Calculating the speed units
The speed factor (PNU 1006, see section B.4.18) is used to convert all the speed values from the user’s
units of speed into the internal unit revolutions per 4096 minutes.
The speed factor consists of a numerator and a denominator.
Calculation of the speed factor consists of two parts: a conversion factor from internal length units into
the user’s position units and a conversion factor from internal time units into user-defined time units
(e.g. from seconds to minutes). The first part corresponds to calculating the position factor, while for
the second part an additional factor comes into play:
Parameters
Description
Time factor_v
Gear ratio
The ratio between the internal time unit and the user-defined time unit.
Gear ratio between revolutions at the input shaft (RIN) and revolutions at the
output shaft (ROUT).
Ratio between movement in position units at the drive and revolutions at the
drive-out of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Feed constant
Tab. A.6
Speed factor parameters
The speed factor is calculated in accordance with the following formula:
Speed factor
=
gear ratio * time factor_v
feed constant
Like the position factor, the speed factor also has to be written to the motor controller separated into
numerators and denominators. It can therefore be necessary to interpolate the fraction to integers.
Example
First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2).
Then, the desired unit of time is converted into the motor controller's unit of time (column 3).
In this way, all the values can be entered into the formula and the fraction can be calculated:
Speed factor calculation sequence
Speed
Feed
Time constant
units
const.
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
Fig. A.4
172
mm
R
⇒
1 ROUT =
mm
631, 5
10
63, 15
1
1 s
Gear Equation
=
60 1
min
=
60 * 4096
1
4096 min
4/5
4
*
5
Result
shortened
1
4096 min
1
1
1966080
1s
4096 min num: 131072
=
mm
mm
div:
421
631, 5
6315
10
10s
60 * 4096
Speed factor calculation sequence
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
A
Technical appendix
Examples of calculating the speed factor
Speed
Feed
Time constant 3)
1)
2)
units
const.
1 ROUT =
R/min,
0 DP
R/min
1 ROUT
1
1
min
4096
Gear Equation 5)
=
1
4096 min
1/1
1
*
1
1
4096 min
1
1
min
4096
1
1 ROUT =
R/min,
R
2 DP
100
100
1/100 R/min
( R/100 min )
°/s,
1 DP
1/10 °/s
( °/10 s )
1 ROUT =
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
63, 15
3600 °
10
mm
R
⇒
1 ROUT =
mm
631, 5
10
1
1
min
=
4096
1
4096 min
1
1 s
=
60 1
min
=
60 * 4096
1
4096 min
1
1 s
2/3
1/1
=
60 1
min
=
60 * 4096
1
4096 min
Result
shortened
4)
4/5
=
1
4096 min
1
1
min
4096
1
4096 min
1
1
1
8192
min
4096 min
=
1
1
300
100
100
100 min
1
1
60 * 4096
4096 min
1
*
1
1
1
245760
1s
4096 min
=
3600 °
3600 °
10
10 s
1
1
60 * 4096
4
4096 min
*
1
5
1
1966080
1s
4096 min
=
mm
mm
631,5
6315
10 s
10
1
2
*
3
num: 4096
div:
1
4096
num: 2048
div:
75
num: 1024
div:
15
num: 131072
div:
421
1)
Desired unit at the drive-out
2)
Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3)
Time factor_v: desired time unit per internal time unit
4)
Gear factor: RIN per ROUT
5)
Insert values into equation.
Tab. A.7
Examples of calculating the speed factor
A.1.5
Calculating the acceleration units
The acceleration factor (PNU 1007, see section B.4.18) is used to convert all the acceleration values
from the user's units of acceleration into the internal unit revolutions per minute per 256 seconds.
The speed factor consists of a numerator and a denominator.
Calculation of the acceleration factor likewise consists of two parts: a conversion factor from internal
units of length into the user’s position units and a conversion factor from internal units of time into
user-defined units of time squared (e.g. from seconds² to minutes²). The first part corresponds to calculating the position factor, while for the second part an additional factor comes into play:
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
173
A
Technical appendix
Parameters
Description
Time factor_a
Ratio between internal times units squared and user-defined time unit squared
(e.g. 1 min² = 1 min * 1 min = 60 s * 1 min = 60/256 min * s).
Gear ratio between revolutions at the input shaft (RIN) and revolutions at the
output shaft (ROUT).
Ratio between movement in position units at the drive and revolutions at the
drive-out of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Gear ratio
Feed constant
Tab. A.8
Acceleration factor parameter
The acceleration factor is calculated using the following formula:
Acceleration factor
=
gear ratio * time factor_a
feed constant
Like the position and speed factors, the acceleration factor also has to be written to the motor controller separated into numerators and denominators. It can therefore be necessary to interpolate the fraction to integers.
Example
First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2).
Then, the desired unit of time² is converted into the motor controller’s unit of time² (column 3).
In this way, all the values can be entered into the formula and the fraction can be calculated:
Process of calculating the acceleration factor
Units of
Feed
Time constant
Gear Equation
acceleration const.
mm/s²,
1 DP
1/10 mm/s²
( mm/10 s² )
Fig. A.5
174
mm
R
⇒
1 ROUT =
mm
631, 5
10
63, 15
1
1
s2
60
=
1
min * s
60 * 256
=
4/5
4
*
5
1
256 min * s
1
1
1
122880 min
2
s
256 s
=
mm
mm
631, 5
6315
10
10s 2
Result
shortened
60 * 256
1
min
num: 8192
div: 421
256 * s
Process of calculating the acceleration factor
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
A
Technical appendix
Examples of calculating the acceleration factor
Acceleration Feed
Time constant 3) Gear Equation 5)
1)
2)
4)
units
const.
R/min,
0 DP
R/min s
1 ROUT =
°/s²,
1 DP
1 ROUT =
1 ROUT
1
1
min * s
1
min
256
3600 °
10
1/10 °/s²
( °/10 s² )
1
1 ROUT =
2 DP
1/100
²
R/
min
( R/100 min² )
100
R
100
1
s2
=
1
60
min * s
1
=
1/1
1
min
256 * s
1
min2
1
60
1/1
256 * s
60 * 256
R/min²,
=
=
2/3
1
min
1
256 min s
1
1
min
1
256
min * s
256* s
=
1
1
1
1 min
s
1
60 * 256
256 min * s
1
1
*
1
1
1
15360 min
s2
256 * s
=
3600 °
3600 °
10
10 s 2
1
1
*
1
2
*
3
256
256
=
s
1
100
1
256
60 256 * s
mm
631, 5
10
( mm/10 s² )
1
1
s2
60
=
1
min * s
60 * 256
1
256 min * s
1
60
min 2
100
1
min
mm
mm/s²,
63, 15
R
1 DP
⇒
1/10 mm/s² 1 ROUT =
=
4/5
Result
shortened
4
*
5
1
min
256 s
=
1
18000
100 min 2
512
1
256 min * s
1
1
1
122880 min
s2
256 s
=
mm
mm
631,5
6315
10
10 s 2
1
num: 256
div:
1
num: 64
div: 15
num: 32
div: 1125
60 * 256
1
min
256 * s
num: 8192
div: 421
1)
Desired unit at the drive-out
2)
Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3)
Time factor_v: desired time unit per internal time unit
4)
Gear factor: RIN per ROUT
5)
Insert values into equation.
Tab. A.9
Examples of calculating the acceleration factor
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
175
B
Reference parameter
B
Reference parameter
B.1
FHPP general parameter structure
A controller contains a parameter set with the following structure for each axis.
Group
Indices
Description
Administrative and
configuration data
1 … 99
Special objects, e.g. for FHPP+
Device Data
100 … 199
Device identification and device-specific settings, version
numbers, etc.
Diagnostics
200 … 299
Diagnostic events and diagnostic memory. fault numbers,
fault time, incoming/outgoing event.
Process Data
300 … 399
Current nominal and actual values, local I/Os, status data,
etc.
Record list
400 … 499
A record contains all the setpoint value parameters required
for a positioning procedure.
Project data
500 … 599
Basic project settings. Maximum speed and acceleration,
offset project zero point, etc.
These parameters are the basis for the record list.
Function data
700 … 799
Parameters for special functions, e.g. for the camming function.
Axis data
electric drives 1
1000 … 1099 All axis-specific parameters for electric drives: gear ratio,
feed constant, reference parameters …
Function parameters
for digital I/Os
1200 … 1239 Specific parameters for control and evaluation of the digital
I/Os.
Tab. B.1
B.2
Parameter structure
Access protection
The user can prevent the drive from being operated simultaneously by PLC and FCT. The CCON.LOCK bit
(FCT access blocked) and the SCON.FCT/MMI bit (FCT control sovereignty) are used for this.
Prevent operation through FCT: CCON.LOCK
By setting the CCON.LOCK control bit, the PLC prevents the FCT from taking over control sovereignty. So
if the LOCK is set, FCT cannot write parameters or control the drive, execute homing, etc.
The PLC is programmed not to issue this release until the user carries out the relevant action. This generally causes exit from automatic operation. This means that the PLC programmer can ensure that the
PLC always knows when it has control over the drive.
Important: The lock is active if the CCON.LOCK has a 1 signal. It us therefore not mandatory to set it. A
user who does not need this type of interlock can always leave it at 0.
176
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
Acknowledgment, higher-order control with FCT: SCON.FCT/MMI
This bit informs the PLC that the drive is controlled by the FCT and that the PLC no longer has any control over the drive. This bit does not need to be evaluated. A possible reaction of the PLC is transitioning
to stop or manual operation.
B.3
Overview of FHPP parameters
The following overview (Tab. B.2) shows the FHPP's parameters.
The parameters are described in sections B.4.2 to B.4.22.
General remarks on the parameter names: The names are mostly based on the CANopen
profile CIA 402. Some names may vary from product to product while the functionality
remains the same (e.g. in FCT). Examples: rotational speed and speed, or torque and
force.
Group / name
PNU
Sub-index
Type
FHPP Receive Telegram
(FHPP telegram received by controller)
40
1 … 10
uint32
FHPP Response Telegram
(FHPP telegram sent by controller)
41
1 … 10
uint32
FHPP Receive Telegram State
(status of FHPP telegram received by controller)
42
1
uint32
FHPP Response Telegram State
(status of FHPP telegram sent by controller)
43
1
uint32
Manufacturer Hardware Version
(hardware version of the manufacturer)
100
1
uint16
Manufacturer Firmware Version
(Firmware version of the manufacturer)
101
1
uint16
Version FHPP
(FHPP version)
102
1
uint16
Project Identifier
(project identification)
113
1
uint32
Controller Serial Number
(serial number of controller)
114
1
uint32
PNUs for the telegram entries FHPP+ section B.4.2
Device Data
Device data – standard parameter section B.4.3
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
177
B
Reference parameter
Group / name
PNU
Sub-index
Type
Manufacturer Device Name
(Device name of the manufacturer)
120
01 … 30
uint8
User Device Name
(Device name of the user)
121
01 … 32
uint8
Drive Manufacturer
(manufacturer name)
122
01 … 30
uint8
HTTP Drive Catalog Address
(HTTP address of manufacturer)
123
01 … 30
uint8
Festo Order Number
(order number of Festo)
124
01 … 30
uint8
Device Control
(Device control)
125
01
uint8
Data Memory Control
(Control of data storage)
127
01 … 03,
06
uint8
Diagnostic Event
(diagnosis event)
200
01 … 32
uint8
Fault Number
(malfunction number)
201
01 … 32
uint16
Fault Time Stamp
(Time stamp error)
202
01 … 32
uint32
Fault Additional Information
(Error additional information)
203
01 … 32
unt32
Diagnostics Memory Parameter
(Parameter, diagnostic memory)
204
01, 02, 04
uint8
Field Bus Diagnosis
(Feldbus diagnostics)
206
05
uint8
Device Warnings
(Device warnings)
210
01 … 16
uint8
Warning Number
(Warning number)
211
01 … 16
uint16
Warning Time Stamp
(Time stamp, warning)
212
01 … 16
uint32
Warning Additional Information
(Additional information for warning, error)
213
01 … 16
unt32
Warning Memory Parameter
(Parameter, warning memory)
214
01, 02, 04
uint8
Device data – extended parameters section B.4.4
Diagnostics section B.4.5
178
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
Group / name
PNU
Sub-index
Type
Safety State
(Safety status)
280
01
uint32
Position Values
(position values)
300
01 … 04
int32
Torque Values
(Torque values)
301
01 … 03
int32
Local Digital Inputs
(Local digital inputs)
303
01, 02, 04
uint8
Local Digital Outputs
(Local digital outputs)
304
01, 03
uint8
Maintenance Parameter
(Service parameter)
305
03
uint32
Velocity Values
(speed values)
310
01 … 03
int32
State Signal Outputs
(Status of signal outputs)
311
01, 02
uint32
350
01, 02
int32
Record Status
(Record status)
400
01 … 03
uint8
Record Control Byte 1
(Record control byte 1)
401
01 … 250
uint8
Record Control Byte 2
(Record control byte 2)
402
01 … 250
uint8
Record Setpoint Value
(Positioning record setpoint value)
404
01 … 250
int32
Record Velocity
(Positioning record speed)
406
01 … 250
uint32
Record Acceleration
(Positioning record acceleration)
407
01 … 250
uint32
Record Deceleration
(Deceleration positioning record)
408
01 … 250
uint32
Record Velocity Limit
(Positioning record speed limit)
412
01 … 250
uint32
Process data section B.4.6
Flying measurement section B.4.7
Position Value Storage
(Position value memory)
Record list section B.4.8
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
179
B
Reference parameter
Group / name
PNU
Sub-index
Type
Record Jerkfree Filter Time
(Positioning record jerk-free filter time)
413
01 … 250
uint32
Record Following Position
(Positioning record for record chaining)
416
01 … 250
uint8
Record Torque Limitation
(Positioning record torque limitation)
418
01 … 250
uint32
Record CAM ID
(positioning record cam disc number)
419
01 … 250
uint8
Record Remaining Distance Message
(Positioning record, remaining distance message)
420
01 … 250
uint32
Record Record Control Byte 3
(Record control byte 3)
421
01 … 250
uint8
Project Zero Point
(offset project zero point)
500
01
int32
Software End Positions
(Software end positions)
501
01, 02
int32
Max. Speed
(Max. permissible speed)
502
01
uint32
Max. acceleration
(Max. permissible acceleration)
503
01
uint32
Max. jerkfree filter time
(Max. jerk-free filter time)
505
01
uint32
520
01
uint8
Jog Mode Velocity Slow – Phase 1
(Inching operation speed slow – phase 1)
530
01
int32
Jog Mode Velocity Fast – Phase 2
(Inching operation speed fast – phase 2)
531
01
int32
Jog Mode Acceleration
(Inching operation acceleration)
532
01
uint32
Jog Mode Deceleration
(Inching operation deceleration)
533
01
uint32
Jog Mode Time Phase 1
(Inching operation time period phase 1)
534
01
uint32
Project Data
Project data – General project data section B.4.9
Project data – Teach section B.4.10
Teach Target
(Teach target)
Project data – Jog mode section B.4.11
180
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
Group / name
PNU
Sub-index
Type
Direct Mode Position Base Velocity
(Direct operation mode position base speed)
540
01
int32
Direct Mode Position Acceleration
(Direct operation mode position acceleration)
541
01
uint32
Direct Mode Position Deceleration
(Direct operation mode position deceleration)
542
01
uint32
Direct Mode Jerkfree Filter Time
(Direct operation mode position jerk-free filter time)
546
01
uint32
Direct Mode Torque Base Torque Ramp
(Direct operation mode torque, base value torque ramp)
550
01
uint32
Direct Mode Torque Target Torque Window
(Direct operation mode torque, target torque window)
552
01
uint16
Direct Mode Torque Time Window
(Direct operation mode torque, time window)
553
01
uint16
Direct Mode Torque Speed Limit
(Direct operation mode torque, speed limiting)
554
01
uint32
Direct Mode Velocity Base Velocity Ramp
(Direct operation mode, acceleration ramp)
560
01
uint32
Direct Mode Velocity Target Window
(Direct operation mode speed, speed target window)
561
01
uint16
Direct Mode Velocity Window Time
(Direct operation mode speed, damping time target window)
562
01
uint16
Direct Mode Velocity Threshold
(Direct operation mode speed, standstill target window)
563
01
uint16
Direct Mode Velocity Threshold Time
(Direct operation mode, speed damping time)
564
01
uint16
Direct Mode Velocity Torque Limit
(Direct operation mode speed, torque limit)
565
01
uint32
Direct Mode General Torque Limit Selector
(Direct operation mode general, torque limitation selector)
580
01
int8
Direct Mode General Torque Limit
(Direct operation mode general, torque limitation)
581
01
uint32
Project data – Direct mode position control section B.4.12
Project data – Direct mode torque control section B.4.13
Project data – Direct mode speed adjustment section B.4.14
Project data – Direct mode general section B.4.15
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
181
B
Reference parameter
Group / name
PNU
Sub-index
Type
CAM ID
(cam disc number)
700
01
uint8
Master Start Position Direkt Mode
(Master start position direct operation mode)
701
01
int32
Input Config Sync.
(Input configuration for synchronisation)
710
01
uint32
Gear Sync.
(Synchronisation gear ratio)
711
01, 02
uint32
Output Config Encoder Emulation
(Output configuration for encoder emulation)
720
01
uint32
Function data
Function data – Cam disc function section B.4.16
Function data – Position and rotor position switch section B.4.17
Position Trigger Control
(Position trigger selection)
730
01
uint32
Position Switch Low
(Position switch low)
731
01 … 04
int32
Position Switch High
(Position switch high)
732
01 … 04
int32
Rotor Position Switch Low
(Rotor position switch low)
733
01 … 04
int32
Rotor Position Switch High
(Rotor position switch high)
734
01 … 04
int32
Axis parameters electrical drives 1 – mechanical parameters
Axis parameters electric drives 1 – mechanical parameters section B.4.18
Polarity
(reversal of direction)
1000
01
uint8
Encoder Resolution
(Encoder resolution)
1001
01, 02
uint32
Gear Ratio
(Gear ratio)
1002
01, 02
uint32
Feed Constant
(Feed constant)
1003
01, 02
uint32
Position Factor
(Position factor)
1004
01, 02
uint32
Axis Parameter
(Axis parameter)
1005
02, 03
int32
182
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
Group / name
PNU
Sub-index
Type
Velocity Factor
(Speed factor)
1006
01, 02
uint32
Acceleration Factor
(Acceleration factor)
1007
01, 02
uint32
Polarity Slave
(Reversal of direction slave)
1008
01
uint8
Axis parameters electric drives 1 – homing parameters section B.4.19
Offset Axis Zero Point
(Offset axis zero point)
1010
01
int32
Homing Method
(Reference travel method)
1011
01
int8
Homing Velocities
(Reference travel speeds)
1012
01, 02
uint32
Homing Acceleration
(Reference travel acceleration)
1013
01
uint32
Homing Required
(Reference travel required)
1014
01
uint8
Homing Max. Torque
(Reference travel max. torque)
1015
01
uint8
Axis parameters electric drives 1 – controller parameters section B.4.20
Halt Option Code
(Halt option code)
1020
01
uint16
Position Window
(Tolerance window position)
1022
01
uint32
Position window time
(Adjustment time position)
1023
01
uint16
Control Parameter Set
(Parameters of the controller)
1024
18 … 22,
32
uint16
Motor Data
(Motor data)
1025
01, 03
uint32/
uint16
Drive Data
(Drive data)
1026
01 … 04,
07
uint32
Axis parameters electric drives 1 – electronic rating plate section B.4.21
Max. Current
(Maximum current)
1034
01
uint16
Motor Rated Current
(Motor nominal current)
1035
01
uint32
Motor Rated Torque
(Motor nominal torque)
1036
01
uint32
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
183
B
Reference parameter
Group / name
PNU
Sub-index
Type
Torque Constant
(Torque constant)
1037
01
uint32
Axis parameters electric drives 1 – Standstill monitoring section B.4.22
Position Demand Value
(Setpoint position)
1040
01
int32
Position Actual Value
(Current position)
1041
01
int32
Standstill Position Window
(Standstill position window)
1042
01
uint32
Standstill Timeout
(Standstill monitoring time)
1043
01
uint16
Axis parameters for electric drives 1 – Following error monitoring section B.4.23
Following Error Window
(Contouring error window)
1044
01
uint32
Following Error Timeout
(Contouring error time window)
1045
01
uint16
Axis parameters for electric drives 1 – Other parameters section B.4.24
Torque Feed Forward Control
(Torque pilot control)
1080
01
int32
Setup Velocity
(Setup speed)
1081
01
uint8
Velocity Override
(Speed override)
1082
01
uint8
1230
01
uint32
Function parameters for digital I/Os section B.4.25
Remaining Distance for Remaining Distance Message
(Remaining path for remaining path message)
Tab. B.2
184
Overview of FHPP parameters
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4
Descriptions of FHPP parameters
B.4.1
Representation of the parameter entries
3
1
PNU 1001
Subindex 01, 02
2
Encoder Resolution
Class: Struct
Data type:
uint32
from FW
4.0.1501.1.0
Access: rw
4
Encoder resolution in encoder increments / motor revolutions.
The calculated value is derived from the fraction “encoder-increments/motor revolution”.
5
Subindex 01
Encoder increments
Fix: 0x00010000 (65536)
5
Subindex 02
Motor Revolutions
Fix: 0x00000001 (1)
1
2
3
Parameter number (PNU)
Name of the parameter in English
General information on the parameter:
– Subindices (01: no subindex, simple variable),
– Class (Var, Array, Struct),
– Data type (int8, int32, uint8, uint32, etc.),
– Applies for firmware version,
– Access (read/write authorisation, ro = read only, rw = read and write).
Description of the parameter
Name and description of subindices, if present
4
5
Fig. B.1
Representation of the parameter entries
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
185
B
Reference parameter
B.4.2
PNUs for the telegram entries for FHPP+
PNU 40
Subindex 01 … 10
FHPP Receive Telegram (FHPP telegram received by controller)
Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
This array defines the contents of the received telegrams (the output data of the controller) in the
cyclic process data. The array is configured using the FHPP+ editor provided by the FCT plug-in. Gaps
between 1-byte PNUs and following 16- or 32-byte PNUs as well as unused subindices are filled with
position holder PNUs. Format Tab. B.5.
Subindex 01
1st PNU
1st transmitted PNU:
Subindex 02
2nd PNU
2nd transmitted PNU:
Subindex 03
3rd PNU
3rd transmitted PNU:
always PNU 1:01
– with FPC: Always PNU 2:01
– without FPC: Any PNU
Any PNU
Subindex 04 … 10 4th … 10th PNU
4th … 10th transmitted PNU:
Any PNU
Tab. B.3
PNU 40
PNU 41
Subindex 01 … 10
FHPP Response Telegram (FHPP answer telegram)
Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
This array defines the contents of the response telegrams (the input data of the control system) in
the cyclic process data; PNU 40. Format Tab. B.5.
Subindex 01
1st PNU
1st transmitted PNU:
Subindex 02
2nd PNU
2nd transmitted PNU:
Subindex 03
3rd PNU
3rd transmitted PNU:
Always PNU 1:1
– with FPC: Always PNU 2:1
– without FPC: Any PNU
Any PNU
Subindex 04
4th … 10th PNU
4th … 10th transmitted PNU:
Any PNU
Tab. B.4
186
PNU 41
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
Contents of a subindex for PNU 40 and 41 (uint 32 - 4 bytes)
Byte
Contents
Tab. B.5
0
Reserved (= 0)
1
Sub-index
2
3
Transmitted PNU (2-byte value)
Format of the entries in PNU 40 and 41
PNU 42
Subindex 01
Receive Telegram State (status of FHPP receive telegram)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access:
rw
Type of error in the telegram editor. Entry and the error location:
Bit
Value Significance
0 … 15
Error location: Bit-serial, one bit per telegram entry
16 … 23
Reserved
24
1
Type of fault: invalid PNU (with error location in bit 0 … 15)
25
1
Type of fault: PNU cannot be written (with error location in bit 0 … 15)
26
1
Type of fault: Maximum telegram length exceeded
27
1
Type of fault: PNU must not be mapped in a telegram
28
1
Type of fault: Entry cannot be modified in the current status (e.g. during
ongoing cyclic communication)
29
1
Type of fault: 16/32-bit entry starts with an uneven address
30 … 31
Reserved
Note
If the transmitted telegram is correct, all bits = 0.
Tab. B.6
PNU 42
PNU 43
Subindex 01
Response Telegram State (FHPP response telegram status)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access:
rw
Type of error in the telegram editor. Entry and the error location:
Bit
Value Significance
0 … 15
Error location: Bit-serial, one bit per telegram entry
16 … 23
Reserved
24
1
Type of fault: invalid PNU (with error location in bit 0 … 15)
25
1
Type of fault: PNU not readable (with error location in bit 0 … 15)
26
1
Type of fault: Maximum telegram length exceeded
27
1
Type of fault: PNU must not be mapped in a telegram
28
1
Type of fault: Entry cannot be modified in the current status (e.g. during
ongoing cyclic communication)
29
1
Type of fault: 16/32-bit entry starts with an uneven address
30 … 31
Reserved
Note
If the transmitted telegram is correct, all bits = 0.
Tab. B.7
PNU 43
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
187
B
Reference parameter
B.4.3
Device data – Standard parameters
Manufacturer Hardware Version (hardware version of the manufacturer)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: ro
PNU 100
Subindex 01
Coding of the hardware version, specification in BCD: xxyy (xx = main version, yy = secondary version)
Tab. B.8
PNU 100
Manufacturer Firmware Version (Firmware design of the manufacturer)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: ro
PNU 101
Subindex 01
Coding of the firmware design, specification in BCD: xxyy (xx = main version, yy = secondary version)
Tab. B.9
PNU 101
Version FHPP
Class: Var
PNU 102
Subindex 01
Data type: uint16
from FW 4.0.1501.1.0
Access: ro
Version number of the FHPP, specification in BCD: xxyy (xx = main version, yy = secondary version)
Tab. B.10
PNU 102
Project identifier
Class: Var
PNU 113
Subindex 01
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
32 bit value that can be used together with the FCT plug-in to identify the project.
Range of values: 0x00000001 … 0xFFFFFFFF (1 … 23²-1)
Tab. B.11
PNU 113
Controller Serial Number
Class: Var
Data type: uint32
PNU 114
Subindex 01
from FW 4.0.1501.1.0
Access: ro
Manufacturer Device Name (Device name of the manufacturer)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Serial number for uniquely identifying the controller.
Tab. B.12
B.4.4
PNU 114
Device data – extended parameters
PNU 120
Subindex 01 … 30
Designation of the drive or controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’). Example: “CMMP-AS”
Tab. B.13
188
PNU 120
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 121
Subindex 01 … 32
User Device Name (Device name of the user)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
User's designation of the controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’).
Tab. B.14
PNU 121
PNU 122
Subindex 01 … 30
Drive manufacturer (manufacturer name)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Name of the drive manufacturer (ASCII, 7-bit). Fix: “Festo AG & Co. KG”
Tab. B.15
PNU 122
PNU 123
Subindex 01 … 30
HTTP Drive Catalog Address (HTTP address of manufacturer)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Manufacturer's Internet address (ASCII, 7-bit) Fix: “www.festo.com”
Tab. B.16
PNU 123
PNU 124
Subindex 01 … 30
Festo Order Number
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Festo order number / order code (ASCII, 7-bit).
Tab. B.17
PNU 124
PNU 125
Subindex 01
Device Control
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Specifies which interface currently has higher-order control over the drive, in other words, which
interface can be used to enable and start or stop (control) the drive:
– Fieldbus (e.g. Profibus, CanOpen, Devicenet, ...)
– DIN: Digital I/O interface (e.g. multi-pin, I/O interface)
– Parameterisation interface USB/EtherNet (FCT)
The last two interfaces are treated as equals.
The output stage enable (DIN4) and controller enable (DIN5) also have to be set in addition to the
respective interface (AND logic operation).
Value
Significance
SCON.FCT/MMI
0x00 (0) Software has higher-order control (+ DIN)
1
0x01 (1) Fieldbus has higher-order control (+ DIN) (presetting after power on) 0
0x02 (2) Only DIN has higher-order control
1
Tab. B.18
PNU 125
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
189
B
Reference parameter
PNU 127
Subindex 01 … 06
Data Memory Control
Class: Struct
Data type: uint8
from FW
4.0.1501.1.0.1.0
Access: wo
Commands for non-volatile memory (EEPROM, encoder).
Subindex 01
Delete EEPROM
Once the object has been written, and after switching power off/on, the data in the EEPROM is reset
to the factory settings.
Value
Significance
0x10 (16)
Delete data in EEPROM and restore factory settings.
Note
All user-specific settings will be lost on deletion (factory settings).
• After deleting, always carry out the steps for commissioning the device.
Subindex 02
Save data
By writing the object, the data in EEPROM will be overwritten with the current user-specific settings.
Value
Significance
0x01 (1)
Save user-specific data in EEPROM
Subindex 03
Reset device
By writing the object, the data are read from the EEPROM and adopted as the current settings (EEPROM is not deleted or cleared; it is in the same status as after switching off and on).
Value
Significance
0x10 (16)
Reset device
0x20 (32)
Auto reset upon incorrect bus cycle (deviating from the configured bus cycle
time)
Subindex 06
Value
0x00 (0)
0x01 (1)
0x02 (2)
0x03 (3)
Tab. B.19
190
Encoder Data Memory Control
Significance
No action (e.g. for test purposes)
Loading of the parameters from the encoder
Saving of the parameters in the encoder without zero offset
Saving of the parameters in the encoder with zero offset
PNU 127
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.5
Diagnostics
For a description of how the diagnostic memory functions section 10.2.
PNU 200
Subindex 01 … 32
Diagnostic Event
Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Type of malfunction or diagnostic information saved in the diagnostic memory. Displays whether an
incoming or outgoing malfunction is saved.
Value
Significance
0x00 (0)
No malfunction (or fault message deleted)
0x01 (1)
Incoming malfunction
0x02 (2)
Reserved (outgoing malfunction)
0x03 (3)
Reserved
0x04 (4)
Reserved (overrun time stamp)
Subindex 01
Event 1
Type of latest / current diagnostic message
Subindex 02
Event 2
Type of second saved diagnostic message
Subindex 03 … 32 Event 03 … 32 (Event 03 … 32 )
Type of 3rd … 32nd saved diagnostic message
Tab. B.20
PNU 200
PNU 201
Subindex 01 … 32
Fault Number (malfunction number)
Class: Array
Data type: uint16
from FW 4.0.1501.1.0
Access: ro
Fault number saved in the diagnostic memory, serves for identifying the fault.
Error number, e.g. 402 for main index 40, subindex 2 section D.
Subindex 01
Event 1
Latest / current diagnostic message
Subindex 02
Event 2
2nd saved diagnostic message
Subindex 03 … 32 Event 03 … 32 (Event 03 … 32 )
3rd … 32nd saved diagnostic message
Tab. B.21
PNU 201
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
191
B
Reference parameter
PNU 202
Subindex 01 … 32
Fault Time Stamp (error time stamp)
Class: Array
Data type: uint32
from FW 4.0.1501.1.0
Access: ro
Time of the diagnostic event in seconds after switch-on.
In case of overflow, the time stamp jumps from 0xFFFFFFFF to 0.
Subindex 01
Event 1
Time of the latest / current diagnostic message
Subindex 02
Event 2
Time of the 2nd saved diagnostic message
Subindex 03 … 32 Event 03 … 32 (Event 03 … 32 )
Time of 3rd … 32nd saved diagnostic message
Tab. B.22
PNU 202
PNU 203
Subindex 01 … 32
Fault Additional Information (additional information for error)
Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
Additional information for service staff.
Subindex 01
Event 1
Additional information for the latest/current diagnostic message
Subindex 02
Event 2
Additional information for the 2nd saved diagnostic message
Subindex 03 … 32 Event 03 … 32 (Event 03 … 32 )
Additional information for the 3rd … 32nd saved diagnostic message
Tab. B.23
192
PNU 203
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 204
Subindex
01, 02, 04
Diagnostics Memory Parameter
Class: Struct
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Configuration of the diagnostic memory.
Subindex 01
Fault type
Incoming and outgoing faults.
Value
Significance
Fix 0x02 (2)
Record only incoming malfunctions
Subindex 02
Resolution
Resolution time stamp
Value
Significance
Fix 0x03 (3)
1 second
Subindex 04
Number of entries
Read out the number of valid entries in the diagnostic memory
Value
Significance
0 … 32
Number
Tab. B.24
PNU 204
PNU 206
Subindex 05
Fieldbus Diagnosis
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Readout of fieldbus diagnostic data.
Subindex 05
CANopen diagnosis
Selected profile (protocol type):
Value
Significance
0
DS 402 (not available via FHPP)
1
FHPP
Tab. B.25
PNU 206
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
193
B
Reference parameter
PNU 210
Subindex 01 … 16
Device warnings
Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Type of warning or diagnostic information saved in the warning memory. Indication of whether an
incoming or outgoing warning was saved.
Value
Significance
0x00 (0)
No warning (or warning message deleted)
0x01 (1)
Incoming warning
0x02 (2)
Reserved (outgoing warning)
0x03 (3)
Power Down (with valid time stamp)
0x04 (4)
Reserved (overrun time stamp)
Subindex 01
Event 1
Type of latest / current warning message
Subindex 02
Event 2
Type of second saved warning message
Subindex 03 … 16 Event 03 … 16 (Event 03 … 16 )
Type of 3rd … 16th saved warning message
Tab. B.26
PNU 210
PNU 211
Subindex 01 … 16
Warning number
Class: Array
Data type: uint16
from FW 4.0.1501.1.0
Access: ro
Warning number saved in the warning memory (e.g. 190 for main index 19, subindex 0), used to
identify the warning, section 10.2 and D.
Subindex 01
Event 1
Most recent/current warning message
Subindex 02
Event 2
2nd saved warning message
Subindex 03 … 16 Event 03 … 16 (Event 03 … 16 )
3rd … 16th saved warning message
Tab. B.27
194
PNU 211
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 212
Subindex 01 … 16
Time Stamp
Class: Array
Data type: uint32
from FW 4.0.1501.1.0
Access: ro
Time of the warning event in seconds after switch-on.
In case of overflow, the time stamp jumps from 0xFFFFFFFF to 0.
Subindex 01
Event 1
Time of the latest / current warning message
Subindex 02
Event 2
Time of the 2nd saved warning message
Subindex 03 … 16 Event 03 … 16 (Event 03 … 16 )
Time of 3rd … 16th saved warning message
Tab. B.28
PNU 212
PNU 213
Subindex 01 … 16
Warning Additional Information (additional information for warning)
Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
Additional information for service staff.
Subindex 01
Event 1
Time of the latest / current diagnostic message
Subindex 02
Event 2
Time of the 2nd saved diagnostic message
Subindex 03 … 16 Event 03 … 16 (Event 03 … 16 )
Time of 3rd … 16th saved diagnostic message
Tab. B.29
PNU 213
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
195
B
Reference parameter
PNU 214
Subindex
01, 02, 04
Warning memory parameter
Class: Struct
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
Configuration of the warning memory.
Subindex 01
Warning type
Incoming and outgoing warnings.
Value
Significance
Fix 0x02 (2)
Record only incoming warnings
Subindex 02
Resolution
Resolution time stamp
Value
Significance
Fix 0x03 (3)
1 second
Subindex 04
Number of entries
Read number of valid entries in the warning memory
Value
Significance
0 … 16
Number
Tab. B.30
196
PNU 214
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 280
Subindex 01
Safety State (Safety status)
Class: Var
Data type: uint32
Status word of the safety function.
Bit
Value
0…7
8
0x0000 0100
9
10
11
0x0000 0200
0x0000 0400
0x0000 0800
12
0x0000 1000
13
0x0000 2000
14
15
0x0000 4000
0x0000 8000
16 … 31
Tab. B.31
from FW 4.0.1501.1.0
Access: ro
Significance
Reserved
Power Stage Enable possible.
Output stage enable possible.
CAMC-G-S1: None of the inputs STO-A or STO-B were
switched.
Reserved
Reserved
Internal Failure.
CAMC-G-S1: Discrepancy time violated.
Safety state reached.
Required safety function active
Safety function requested.
CAMC-G-S1: At least one of the inputs STO-A or STO-B were
switched.
Reserved
Ready.
Normal status, no safety function requested.
Reserved
PNU 280
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
197
B
Reference parameter
B.4.6
Process Data
PNU 300
Subindex 01 … 04
Position Values
Class: Struct
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Current values of the position controller in the positioning unit ( PNU 1004).
Subindex 01
Actual position
Current actual position of the controller
Subindex 02
Nominal Position (setpoint position)
Current setpoint position of the controller.
Subindex 03
Current deviation.
Actual Deviation (divergence)
Subindex 04
Nominal Position Virtual Master (setpoint position of virtual master)
Current setpoint position of the virtual master.
Tab. B.32
PNU 300
PNU 301
Subindex 01 …
Torque values
Class: Struct
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Current values of the torque controller in mNm.
Subindex 01
Actual Force
Current actual value of the controller.
Subindex 02
Nominal Force (setpoint force)
Current nominal value of the controller.
Subindex 03
Current deviation.
Tab. B.33
198
Actual Deviation (divergence)
PNU 301
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 303
Subindex
01, 02, 04
Local digital inputs
Class: Struct
Data type: uint8
from FW 4.0.1501.1.0
Access: ro
The controller's local digital inputs
Subindex 01
Input DIN 0 … 7 (inputs DIN 0 … 7)
Digital inputs: standard DIN (DIN 0 … DIN 7)
Allocation
Bit 7
Bit 6
Bit 5
Bit 4
DIN 7
DIN 6
DIN 5
DIN 4
right
left lim- control- output
limit
it
ler enstage
switch
switch
able
enable
Bit 2
DIN 2
Bit 1
DIN 1
Bit 0
DIN 0
Subindex 02
Input DIN 8 … 13 (inputs DIN 8 … 13)
Digital inputs: standard DIN (DIN 8 … DIN 13)
Allocation
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Reserved (= 0)
DIN A13 DIN A12 DIN 11
Bit 2
DIN 10
Bit 1
DIN 9
Bit 0
DIN 8
Subindex 04
Input CAMC DIN 0 … 7 (inputs CAMC DIN 0 … 7)
Digital inputs: CAMC-D-8E8A (DIN 0 … DIN 7)
Allocation
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
DIN 7
DIN 6
DIN 5
DIN 4
DIN 3
Bit 2
DIN 2
Bit 1
DIN 1
Bit 0
DIN 0
Tab. B.34
Bit 3
DIN 3
PNU 303
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
199
B
Reference parameter
PNU 304
Subindex 01, 03
Local digital outputs
Class: Struct
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
The controller's local digital outputs.
Subindex 01
Output DOUT 0 … 3 (outputs DOUT 0 … 3)
Digital outputs: standard DOUT (DOUT 0 … DOUT 3)
Allocation
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Reserved (= 0)
DOUT:
DOUT:
DOUT 3
READY CAN
LED
LED
Bit 2
DOUT 2
Bit 1
DOUT 1
Bit 0
DOUT 0
Controller ready
for operation
Subindex 03
Output CAMC DOUT 0 … 7 (outputs CAMC DOUT 0 … 7)
Digital outputs: CAMC-D-8E8A (DOUT 0 … DOUT 7)
Allocation
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
DOUT 7 DOUT 6 DOUT5 DOUT 4 DOUT 3 DOUT 2
Bit 1
DOUT 1
Bit 0
DOUT 0
Tab. B.35
PNU 304
PNU 305
Subindex 03
Maintenance Parameter (Service parameter)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
Information about the controller's or the driver's running performance.
Subindex 03
Operating Hours
Operating hour counter in s.
Tab. B.36
PNU 305
PNU 310
Subindex 01 … 03
Velocity values
Class: Struct
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Current values of the speed regulator.
Subindex 01
Actual Revolutions (actual speed)
Current actual value of the controller.
Subindex 02
Nominal Revolutions (setpoint speed)
Current setpoint value of the controller.
Subindex 03
Speed deviation.
Tab. B.37
200
Actual Deviation (divergence)
PNU 310
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 311
Subindex 01, 02
State Signal Outputs (status of signal outputs)
Class: Struct
Data type: uint32 from FW 4.0.1501.1.0
Access: ro
Parameters for displaying the statuses of the signal outputs
Subindex 01
Outputs Part 1
Status of the message outputs part 1
Bit
Value
0
1
0x0000 0002
2
0x0000 0004
3
0x0000 0008
4
0x0000 0010
5
0x0000 0020
6
0x0000 0040
7
0x0000 0080
8
0x0000 0100
9
0x0000 0200
10
0x0000 0400
11
0x0000 0800
12
0x0000 1000
13
0x0000 2000
14
0x0000 4000
15
0x0000 8000
16
0x0001 0000
17
0x0002 0000
18
19
0x0008 0000
20
0x0010 0000
21
0x0020 0000
22
0x0040 0000
23
0x0080 0000
24
0x0100 0000
25
0x0200 0000
26
0x0400 0000
27
0x0800 0000
28
0x1000 0000
29
0x2000 0000
30 … 31
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Significance
Reserved (0)
I2t motor monitoring active
Declared velocity reached
Position Xsetpoint = Xdest
Position Xact = Xdest
Remaining Distance
Homing Active
Homing Position Valid
Undervoltage in intermediate circuit
Following error
Output Stage Active
Holding Brake Unlocked
Linear Motor Identified
Negative Setpoint Lock Active
Positive Setpoint Lock Active
Alternative Target Reached
Speed 0
Declared Torque Reached
Reserved (0)
Cam Disc active
CAM-IN active
CAM-CHANGE Active
CAM-OUT Active
CAM active without CAM-IN / CAM-CHANGE / CAM-OUT
Teach Acknowledge (low active)
Saving process in operation (SAVE!, Save positions)
FHPP MC (Motion Complete)
Safe Halt Active
Safety function: STO active
Safety function: STO requested
Reserved (0)
201
B
Reference parameter
PNU 311
State Signal Outputs (status of signal outputs)
Subindex 02
Outputs Part 2
Status of the message outputs part 2
Bit
Value
0
0x0000 0001
1
0x0000 0002
2
0x0000 0004
3
0x0000 0008
4…7
8
0x0000 0100
9
0x0000 0200
10
0x0000 0400
11
0x0000 0800
12 … 15
16
0x0001 0000
17
0x0002 0000
18
0x0004 0000
19
0x0008 0000
20 … 31
Tab. B.38
202
Significance
Cam Controller 1
Cam Controller 2
Cam Controller 3
Cam Controller 4
Reserved
Position Switch 1
Position Switch 2
Position Switch 3
Position Switch 4
Reserved
Rotor Position Switch 1
Rotor Position Switch 2
Rotor Position Switch 3
Rotor Position Switch 4
Reserved
PNU 311
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.7
Flying measurement
Flying measurement section 9.9.
PNU 350
Subindex 01, 02
Position Value Storage (position value memory)
Class: Array
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Sampled positions.
Subindex 01
Sample Value Rising Edge
Last sampled position in position units ( PNU 1004) with a rising edge.
Subindex 02
Sample Value Falling Edge
Last sampled position in position units ( PNU 1004) with a falling edge.
Tab. B.39
PNU 350
B.4.8
Record list
With FHPP, record selection for reading and writing is done via the subindex of the PNUs 401 … 421. The
active record for positioning or teaching is selected via PNU 400.
PNU
Designation
Data type
Sub-index
401
402
404
406
407
408
412
413
416
418
419
420
421
RCB1 (record control byte 1)
RCB2 (record control byte 2)
Setpoint value
Speed
Acceleration approach
Deceleration
Speed limit
Jerk-free filter time
Following position
Torque Limitation
Cam disc number
Remaining Distance Message
RCB3 (record control byte 3)
uint8
uint8
int32
uint32
uint32
uint32
uint32
uint32
uint8
uint32
uint8
int32
uint8
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
1 … 250
Tab. B.40
Structure of FHPP record list
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
203
B
Reference parameter
PNU 400
Subindex 01 … 03
Record status
Class: Struct
Data type: uint8
from FW
4.0.1501.1.0
Access: rw/ro
Subindex 01
Demand Record Number (setpoint record number)
Access: rw
Setpoint record number. The value can be changed using FHPP.
In Record Selection mode, the setpoint record number is always copied from the master's output
data with a rising edge at START. Value range: 0x00 … 0xFA (0 … 250)
Subindex 02
Actual Record Number (current record number)
Current record number
Access: ro
Subindex 03
Record Status Byte
Access: ro
The record status byte (RSB) includes a feedback code that is transferred to the input data. When a
positioning job starts, the RSB is reset.
Note
this byte is not the same as SDIR, there is only a feedback signal for dynamic
states and not absolute/relative, for example. This makes it possible to provide
feedback about record chaining, for example.
Bit
Valu Significance
e
0 RC1
0
A step criterion was not configured/achieved.
1
The first step criterion was achieved.
Valid, as soon as MC present.
1 RCC
0
Record sequencing aborted. At least one step criterion was not achieved.
1
Record chain was processed up to the end.
2…7
Reserved.
Tab. B.41
204
PNU 400
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 401
Record Control Byte 1
Subindex 01 … 250 Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
The record control byte 1 (RCB1) controls the most important settings for the positioning task in
record selection. The record control byte is bit-orientated. Allocation Tab. B.43
Subindex 01
Record 1 (positioning record 1)
Record control byte 1 positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Record control byte 1 positioning record 2.
Subindex 03 … 250 Record 3 … 250 (positioning record 3 … 250)
Record control byte 1 positioning record 3 … 250.
Tab. B.42
PNU 401
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
205
B
Reference parameter
Record control byte 1
Bit
DE
B0
ABS
B1
COM1
B2
COM2
B3
FNUM1
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
Tab. B.43
206
EN
Description
Absolute / Rel- = 1: Nominal value is relative to last nominal value.
ative
= 0: Nominal value is absolute.
Several modes are not available via FHPP,
e.g. relative to the actual value, analogue input, …
Control mode Control Mode No. Bit 2 Bit 1 Control mode
0
0
0
Position control.
1
0
1
Power mode (torque, current).
2
1
0
Speed control
(rotational speed).
3
1
1
reserved.
Only Position Code mode is permissible
for the camming function.
Function num- Function
Without camming function (CDIR.FUNC = 0):
ber
No.ber
No function, = 0!
With camming function (CDIR.FUNC = 1):
No. Bit 4 Bit 3 Function number
0
0
0
reserved.
1
0
1
Synchronisation on external input.
2
1
0
Synchronisation on external input
with cam disc function
3
1
1
Synchronisation on virtual master
with cam disc function.
Function group Function
Without camming function (CDIR.FUNC = 0):
Group
No function = 0!
With camming function (CDIR.FUNC = 1):
No. Bit 6 Bit 5 Function group
0
0
0
Synchronisation with/without
cam disc.
All other values (no. 1 … 3) are reserved.
Function
Function
= 1: Execute cam disc function, bit 3 … 6 = function
number and group.
= 0: Normal task.
Absolute/ relative
RCB1 allocation
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 402
Record Control Byte 2
Subindex 01 … 250 Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Record control byte 2 (RCB2) controls conditional record chaining.
If a condition was defined, it is possible to prohibit automatic continuation by setting the B7 bit. This
function is intended for debugging and not for normal control purposes.
Bit
Value
Significance
0 … 6 0 … 128 Step enabling condition as a list, section 9.6.3, Tab. 9.12.
7
0
Record continuation (bit 0 …. 6) is not blocked
1
Record continuation blocked
Subindex 01
Record 1
Record control byte 2 positioning record 1.
Subindex 02
Record 2
Record control byte 2 positioning record 2.
Subindex 03 … 250 Record 3 … 250 (record 3 … 250)
Record control byte 2 positioning record 3 … 250.
Tab. B.44
PNU 402
Record setpoint value
PNU 404
Subindex 01 … 250 Class: Array
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Target position of the positioning record table. Position nominal value correspond to PNU 401 / RCB1
absolute or relative in positioning unit ( PNU 1004).
Subindex 01
Record 1 (positioning record 1)
Nominal position value positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Nominal position value positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250 )
Nominal position value positioning record 03 … 250.
Tab. B.45
PNU 404
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
207
B
Reference parameter
Regulation
Increment
Default
Minimum
Maximum
Position 1)
1/100 mm
0 (= 0.0 mm) -1,000,000 (= -10.0 m) 1,000,000
1/1000 inch
0 (= 0.0 inch) -400,000
(= -400 inch) 400,000
1/100 °
0 (= 0.0 °)
-36,000
(= -360.0 °) 36,000
1) Examples for positioning unit, see ( PNU 1004).
Tab. B.46
(= 10.0 m)
(= 400 inch)
(= 360.0 °)
Setpoint values for positioning units in PNU 404
Record Velocity (positioning record speed)
PNU 406
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Nominal speed in units of speed ( PNU 1006).
Subindex 01
Record 1 (positioning record 1)
Nominal speed value positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Nominal speed value positioning record 2
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Nominal speed value positioning record 03 … 250.
Tab. B.47
PNU 406
Record Acceleration (positioning record acceleration)
PNU 407
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Nominal acceleration value for start up in acceleration units ( PNU 1007).
Subindex 01
Record 1 (positioning record 1)
Nominal acceleration value positioning record 1
Subindex 02
Record 2 (positioning record 2)
Nominal acceleration value positioning record 2
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Nominal acceleration value positioning record 03 … 250.
Tab. B.48
208
PNU 407
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 408
Record Deceleration (positioning record deceleration)
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Nominal deceleration value for braking (deceleration) in acceleration units ( PNU 1007).
Subindex 01
Record 1 (positioning record 1)
Nominal deceleration value positioning record 1
Subindex 02
Record 2 (positioning record 2)
Nominal deceleration value positioning record 2
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Nominal deceleration value positioning record 03 … 250.
Tab. B.49
PNU 408
Record Velocity Limit (positioning record speed limit)
PNU 412
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Speed limit for power mode in units of speed ( PNU 1006).
Subindex 01
Record 1 (positioning record 1)
Speed limit for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Speed limit for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Speed limit for positioning record 03 … 250.
Tab. B.50
PNU 412
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
209
B
Reference parameter
PNU 413
Record jerkfree filter time (positioning record jerk-free filter time)
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Jerk-free filter time in ms. Specifies the filter time constant for the output filter that is used to smooth
the linear movement profiles. Completely jerk-free movement is achieved if the filter time is the same
as the acceleration time.
Subindex 01
Record 1 (positioning record 1)
Jerk-free filter time for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Jerk-free filter time for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Jerk-free filter time for positioning record 03 … 250.
Tab. B.51
PNU 413
Record Following Position (positioning record for record chaining)
PNU 416
Subindex 01 … 250 Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Record number to which record chaining jumps when the step enabling condition is met.
Range of values: 0x01 … 0x7F (1 … 250)
Subindex 01
Record 1 (positioning record 1)
Following position for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Following position for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Following position for positioning record 03 … 250.
Tab. B.52
210
PNU 416
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 418
Record Torque Limitation (positioning record torque limitation)
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Torque/current current limitation in positioning mode in mNm.
Subindex 01
Record 1 (positioning record 1)
Torque limitation for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Torque limitation for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Torque limitation for positioning record 03 … 250.
Tab. B.53
PNU 418
Record CAM ID (positioning record cam disc number)
PNU 419
Subindex 01 … 250 Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
This parameter is used to select the cam disc for the relevant record.
Value range: 0 … 16 (with value 0 the cam disc from PNU 700 is used)
Subindex 01
Record 1 (positioning record 1)
Cam disc number for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Cam disc number for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Cam disc number for positioning record 03 … 250.
Tab. B.54
PNU 419
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
211
B
Reference parameter
PNU 420
Record Remaining Distance Message (positioning record remaining distance
message)
Subindex 01 … 250 Class: Array
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Remaining distance message in the record list in position units ( PNU 1004).
Subindex 01
Record 1 (positioning record 1)
Remaining distance message for positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Remaining distance message for positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Remaining distance message for positioning record 03 … 250.
Tab. B.55
PNU 420
Record Control Byte 3
PNU 421
Subindex 01 … 250 Class: Array
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Record control byte 3 (RCB3) controls the specific behaviour of the record when particular events
occur. The record control byte is bit-orientated.
Bit
Bit 1 Bit 0 Significance
B0, B1
0
0
Ignore
0
1
Interrupt active
1
0
Append to active positioning (wait)
1
1
Reserved
B2 … B9
Reserved (= 0!)
Subindex 01
Record 1 (positioning record 1)
Record control byte 3 positioning record 1.
Subindex 02
Record 2 (positioning record 2)
Record control byte 3 positioning record 2.
Subindex 03 … 250 Record 03 … 250 (positioning record 03 … 250)
Record control byte 3 positioning record 03 … 250.
Tab. B.56
212
PNU 421
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.9
Project Data – General Project Data
PNU 500
Subindex 01
Project Zero Point (offset project zero point)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Offset of axis zero point to project zero point in positioning unit ( PNU 1004).
Reference point for position values in the application ( PNU 404).
Tab. B.57
PNU 500
PNU 501
Subindex 01, 02
Software End Positions (Software end positions)
Class: Array
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Software end positions in positioning unit ( PNU 1004).
A setpoint specification (position) outside the end positions is not permissible and will result in an
error. The offset to the axis zero point is entered. Plausibility rule: Min-Limit ≤ Max-Limit
Subindex 01
Lower Limit
Lower software end position
Subindex 02
Upper Limit
Upper software end position.
Tab. B.58
PNU 501
PNU 502
Subindex 01
Max. Speed (Max. permissible velocity)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Max. permissible speed in units of speed ( PNU 1006).
This value limits the speed in all operation modes except torque mode.
Tab. B.59
PNU 502
PNU 503
Subindex 01
Max. Acceleration (max. permissible acceleration)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Max. permissible acceleration in units of acceleration ( PNU 1007).
Tab. B.60
PNU 503
PNU 505
Subindex 01
Max. Jerkfree Filter Time (max. jerk-free filter time)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Max. permissible jerk-free filter time in ms.
Range of values: 0x00000000 … 0xFFFFFFFF (0 … 4294967295)
Tab. B.61
PNU 505
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
213
B
Reference parameter
B.4.10
Project Data – Teach
PNU 520
Subindex 01
Teach Target
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
The parameter defined is the one written with the actual position at the next Teach command
( section 9.5).
Value
Significance
0x01
1
Nominal position in positioning record (default).
– For record selection: Positioning record as per FHPP control bytes
– For direct operation: positioning record corresponding to PNU 400/1
0x02
2
Axis zero point (PNU 1010)
0x03
3
Project zero point (PNU 500)
0x04
4
Lower software end position (PNU 501/01)
0x05
5
Upper software end position (PNU 501/02)
Tab. B.62
B.4.11
PNU 520
Project Data – Jog Mode
PNU 530
Subindex 01
Jog Mode Velocity Slow – Phase 1
(Inching operation speed slow – phase 1)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Access: rw
Maximum speed for phase 1 in units of velocity ( PNU 1006).
Tab. B.63
PNU 530
PNU 531
Subindex 01
Jog Mode Velocity Fast – Phase 2
(Inching operation speed fast – phase 2)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Maximum speed for phase 2 in units of velocity ( PNU 1006).
Tab. B.64
PNU 531
PNU 532
Subindex 01
Jog Mode Acceleration (inching operation acceleration)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Acceleration during jogging in units of acceleration ( PNU 1007).
Tab. B.65
214
PNU 532
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 533
Subindex 01
Jog Mode Deceleration (inching operation deceleration)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Deceleration during jogging in units of acceleration ( PNU 1007).
Tab. B.66
PNU 533
PNU 534
Subindex 01
Jog Mode Time Phase 1 (inching operation time period phase 1)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Time duration of phase 1 (T1) in ms
Tab. B.67
B.4.12
PNU 534
Project Data – Direct Mode Position Control
PNU 540
Subindex 01
Direct Mode Position Base Velocity
(direct operation mode position base speed)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Base velocity during direct mode position control in units of velocity ( PNU 1006).
Tab. B.68
PNU 540
PNU 541
Subindex 01
Direct Mode Position Acceleration
Class: Var
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Acceleration during direct mode position control in units of acceleration ( PNU 1007).
Tab. B.69
PNU 541
PNU 542
Subindex 01
Direct Mode Position Deceleration
Class: Var
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Deceleration during direct mode position control in units of acceleration ( PNU 1007).
Tab. B.70
PNU 542
PNU 546
Subindex 01
Direct Mode Position Jerkfree Filter Time
(Direct operation mode position jerk-free filter time)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Jerk-free filter time during direct mode position control in ms.
Range of values: 0x00000000 … 0xFFFFFFFF (0 … 4294967295)
Tab. B.71
PNU 546
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
215
B
Reference parameter
B.4.13
Project Data – Direct Mode, Torque Control
PNU 550
Subindex 01
Direct Mode Torque Base Torque Ramp
(direct operation mode torque base torque ramp)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Base value for torque ramp in direct mode torque control in mNm/s.
Tab. B.72
PNU 550
PNU 552
Subindex 01
Direct Mode Torque Target Torque Window
(direct mode torque target window)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Torque in mNm, the amount by which the actual torque is permitted to differ from the setpoint torque
in order to be interpreted as still being in the target window. The width of the window is twice the
value transmitted, with the target torque in the centre of the window.
Tab. B.73
PNU 552
PNU 553
Subindex 01
Direct Mode Torque Time Window
Class: Var
Data type: uint16
from FW 4.0.1501.1.0
Access: rw
Damping time for the torque target window during direct torque mode in ms.
Tab. B.74
PNU 553
PNU 554
Direct Mode Torque Speed Limit
Subindex 01
(Direct operation mode torque speed limiting)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
With active torque control, the speed is limited to this value, stated in units of velocity (PNU 1007).
Note
PNU 514 allows an absolute speed limit to be specified, which triggers a malfunction if it is reached. If both functions (limitation and monitoring) are to be
active at the same time, PNU 554 must be significantly less than PNU 514.
Tab. B.75
216
PNU 554
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.14
Project Data – Direct Mode Speed Adjustment
PNU 560
Subindex 01
Direct Mode Velocity Base Velocity Ramp
(Direct operation mode rotational speed acceleration ramp)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Base acceleration value (speed ramp) during direct mode speed adjustment in units of acceleration
( PNU 1007).
Tab. B.76
PNU 560
PNU 561
Subindex 01
Direct Mode Velocity Target Window
(direct operation mode speed, speed target window)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Speed target window during direct mode speed adjustment in units of speed ( PNU 1006).
Tab. B.77
PNU 561
PNU 562
Subindex 01
Direct Mode Velocity Window Time
(direct operation mode speed damping time target window)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Damping time for speed target window during direct mode speed adjustment in ms.
Tab. B.78
PNU 562
PNU 563
Subindex 01
Direct Mode Velocity Threshold (speed standstill target window in direct mode)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Standstill target window during direct mode speed adjustment in units of speed ( PNU 1006).
Tab. B.79
PNU 563
PNU 564
Subindex 01
Direct Mode Velocity Threshold Time (direct mode speed damping time)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Damping time for standstill target window during direct mode speed adjustment in ms.
Tab. B.80
PNU 564
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
217
B
Reference parameter
PNU 565
Subindex 01
Direct Mode Velocity Torque Limit
(direct operation mode speed, torque limitation)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Torque limitation during direct mode speed adjustment in mNm.
PNU 565 is replaced in CMMP-AS-...-M3 by PNU 581, but remains available for compatibility reasons.
Changes to PNU 565 are written directly to PNU 581.
Tab. B.81
B.4.15
PNU 565
Project Data – Direct Mode General
PNU 580
Subindex 01
Direct Mode General Torque Limit Selector
(Direct operation mode general, torque limitation selector)
Class: Var
Data type: int8
from FW 4.0.1501.1.0
Access: rw
Activation of torque limitation in direct mode (PNU 581).
Value
Significance
0x00
0
Torque limitation not active.
0x04
4
Symmetric torque limitation active PNU 581.
Tab. B.82
PNU 580
PNU 581
Subindex 01
Direct Mode General Torque Limit
(Direct operation mode general, torque limitation)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Torque limiting in direct mode in mNm.
The limitation applies for all jobs in direct mode:
– Homing (PNU 1015 is “overwritten” through the global setting)
– Jogging.
– Positioning jobs.
Changes to PNU 581 are also written in PNU 565 for compatibility reasons.
When changing to record selection, the settings for torque limitation are activated by the selected
record at the start. When switching back to direct mode, the last settings for the torque limitation are
maintained, since the same selector is used in both operating modes. And so it is recommended to
check the torque limitation after shifting to direct mode.
Tab. B.83
218
PNU 581
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.16
Function Data – Cam Disc Function
Selecting cam disc
PNU 700
Subindex 01
CAM ID (cam disc number)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
This parameter is used to select the number of the cam disc directly.
Range of values: 1 … 16
Tab. B.84
PNU 700
PNU 701
Subindex 01
Master Start Position Direct Mode (master start position in direct mode)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Defines the start position of the master for the cam disc function.
Tab. B.85
PNU 701
Synchronisation (input, X10)
PNU 710
Subindex 01
Input Config Sync. (input configuration for synchronisation)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Configuration of the encoder input for synchronisation (physical master on X10, slave operation).
Bit
Value Significance
0
0
Evaluate zero pulse
1
Ignore zero pulse
1
Reserved
2
0
Evaluate A/B track
1
Switch off A/B track
3 … 31
Reserved = 0
Tab. B.86
PNU 710
PNU 711
Subindex 01, 02
Gear Sync. (synchronisation gear ratio)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Gear ratio for synchronisation with an external input (physical master on X10, slave operation).
Subindex 01
Motor revolutions
Motor revolutions (drive).
Subindex 02
Shaft revolutions (spindle rotations)
Spindle rotations (drive-out).
Tab. B.87
PNU 711
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
219
B
Reference parameter
Encoder emulation (output, X11)
PNU 720
Subindex 01
Output Config Encoder Emulation (output configuration for encoder emulation)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Configuration of the encoder for encoder emulation (virtual master).
Bit
Value Significance
0
0
Evaluate A/B track
1
Switch off A/B track
1
0
Evaluate zero pulse
1
Ignore zero pulse
2
0
Evaluate reversing of direction of rotation
1
Ignore reversing of direction of rotation
3 … 31
Reserved = 0
Tab. B.88
B.4.17
PNU 720
Function Data – Position and Rotor Position Switch
PNU 730
Subindex 01
Position Trigger Control (position trigger selection)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Bit-by-bit activation of the corresponding triggers. Bit is set = trigger is computed,
i.e. the position comparison is carried out. Triggers which are not computed save computing time.
Value
Bit
Description
0x0000 0001
0
Position Switch (actual position) 0
0x0000 0002
1
Position Switch (actual position) 1
0x0000 0004
2
Position Switch (actual position) 2
0x0000 0005
3
Position Switch (actual position) 3
…
4 … 15
Reserved
0x0001 0000
16
Rotor Position Switch 0
0x0002 0000
17
Rotor Position Switch 1
0x0004 0000
18
Rotor Position Switch 2
0x0008 0000
19
Rotor Position Switch 3
…
20 … 31
Reserved
Tab. B.89
220
PNU 730
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 731
Subindex 01 … 04
Position Switch Low
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Position values for the low position switch, stated in the positioning unit ( PNU 1004).
Subindex 01
Position Switch 1
Position values of the 1st low position trigger.
Subindex 02
Position Switch 2
Position values of the 2nd low position trigger.
Subindex 03
Position Switch 3
Position values of the 3rd low position trigger.
Subindex 04
Position Switch 4
Position values of the 4th low position trigger.
Tab. B.90
PNU 731
PNU 732
Subindex 01 … 04
Position Switch High
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Position values for the high position switch, stated in the positioning unit ( PNU 1004).
Subindex 01
Position Switch 1
Position values of the 1st high position trigger.
Subindex 02
Position Switch 2
Position values of the 2nd high position trigger.
Subindex 03
Position Switch 3
Position values of the 3rd high position trigger.
Subindex 04
Position Switch 4
Position values of the 4th high position trigger.
Tab. B.91
PNU 732
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
221
B
Reference parameter
PNU 733
Subindex 01 … 04
Rotor Position Switch Low
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Angle for the rotor position switch low in °. Range of values: -180 … 180
Subindex 01
Rotor Position Switch 1
Angle of the 1st rotor position switch low.
Subindex 02
Rotor Position Switch 2
Angle of the 2nd rotor position switch low.
Subindex 03
Rotor Position Switch 3
Angle of the 3rd rotor position switch low.
Subindex 04
Rotor Position Switch 4
Angle of the 4th rotor position switch low.
Tab. B.92
PNU 733
PNU 734
Subindex 01 … 04
Rotor Position Switch High
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Angle for the rotor position switch high in °. Range of values: -180 … 180
Subindex 01
Rotor Position Switch 1
Angle of the 1st rotor position switch high.
Subindex 02
Rotor Position Switch 2
Angle of the 2nd rotor position switch high.
Subindex 03
Rotor Position Switch 3
Angle of the 3rd rotor position switch high.
Subindex 04
Rotor Position Switch 4
Angle of the 4th rotor position switch high.
Tab. B.93
222
PNU 734
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
B.4.18
Axis Parameters Electrical Drives 1 – Mechanical Parameters
PNU 1000
Subindex 01
Polarity (reversal of direction)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
from FW 4.0.1501.1.0
Access: rw
Direction of the position values.
Value
Significance
0x00 (0)
Normal (default)
0x80 (128)
Inverted (multiplied by -1)
Tab. B.94
PNU 1000
PNU 1001
Subindex 01, 02
Encoder Resolution
Class: Struct
Data type: uint32
Encoder resolution in encoder increments / motor revolutions.
Specified internal conversion factor.
The calculated value is derived from the fraction “encoder-increments/motor revolution”.
Subindex 01
Encoder increments
Fix: 0x00010000 (65536)
Subindex 02
Motor Revolutions
Fix: 0x00000001 (1)
Tab. B.95
PNU 1001
PNU 1002
Subindex 01, 02
Gear ratio
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Ratio of motor revolutions to gear unit spindle revolutions (drive-out revolutions) appendix A.1.
Gear transmission = motor revolutions / spindle rotations
Subindex 01
Motor Revolutions
Gear ratio – numerator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Subindex 02
Shaft Revolutions (spindle rotations)
Gear ratio – denominator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Tab. B.96
PNU 1002
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
223
B
Reference parameter
PNU 1003
Subindex 01, 02
Feed constant
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
The feed constant specifies the lead of the drive's spindle per revolution, appendix A.1.
Feed constant = feed / spindle rotation
Subindex 01
Feed
Feed constant – numerator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Subindex 02
Shaft Revolutions (spindle rotations)
Feed constant - denominator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Tab. B.97
PNU 1003
PNU 1004
Subindex 01, 02
Position Factor
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Conversion factor for all position units
(converting the user units into internal controller units). Calculation appendix A.1.
Position factor
=
encoder resolution * gear ratio
feed constant
Subindex 01
Numerator
Position factor - numerator.
Subindex 02
Denominator
Position factor – denominator.
Tab. B.98
PNU 1004
PNU 1005
Subindex 02, 03
Axis Parameter
Class: Struct
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Specify and read out axis parameters.
Subindex 02
Gear Numerator
Gear ratio – axis gear numerator. Range of values: 0x0 … 0x7FFFFFFF (0 … +(231-1))
Subindex 03
Gear Denominator
Gear ratio – axis gear denominator. Range of values: 0x0 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.99
224
PNU 1005
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 1006
Subindex 01, 02
Velocity Factor (speed factor)
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Conversion factor for all speed units
(converting the user units into internal controller units). Calculation appendix A.1.
Speed factor
=
encoder resolution * time factor_v
feed constant
Subindex 01
Numerator
Speed factor – numerator.
Subindex 02
Denominator
Speed factor – denominator.
Tab. B.100 PNU 1006
PNU 1007
Subindex 01, 02
Acceleration factor
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Conversion factor for all acceleration units.
(converting the user units into internal controller units). Calculation appendix A.1.
Acceleration factor
=
encoder resolution * time factor_a
feed constant
Subindex 01
Numerator
Acceleration factor – numerator.
Subindex 02
Denominator
Acceleration factor – denominator.
Tab. B.101 PNU 1007
PNU 1008
Subindex 01
Polarity Slave (reversal of direction for slave)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
This parameter can be used to reverse the position specification for signals on X10 (slave operation).
This applies to the functions “Synchronisation” (including electronic gear units), “Flying saw”, “Cam
discs”.
Value
Significance
0x00
Position value vector normal (default)
0x80
Position value vector inverted
Tab. B.102 PNU 1008
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
225
B
B.4.19
Reference parameter
Axis Data Electrical Drives 1 - Homing Parameters
PNU 1010
Subindex 01
Offset Axis Zero Point
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Axis zero point offset in positioning units ( PNU 1004).
The offset for the axis zero point (home offset) defines the axis zero point <AZ> as a dimension reference point relative to the physical reference point <REF>.
The axis zero point is the point of reference for the project zero point <PZ> and for the software end
positions. All positioning operations refer to the project zero point (PNU 500).
The axis zero point (AZ) is calculated as follows: AZ = REF + offset axis zero point
Tab. B.103 PNU 1010
PNU 1011
Subindex 01
Homing Method
Class: Var
Data type: int8
from FW 4.0.1501.1.0
Access: rw
Defines the method which the drive uses to carry out the homing section 9.3 and 9.3.2.
Tab. B.104 PNU 1011
PNU 1012
Subindex 01, 02
Homing Velocities (reference travel speeds)
Class: Struct
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Speeds during homing in units of speed ( PNU 1006).
Subindex 01
Search for Switch (search speed)
Speed when searching for the homing point REF or a stop or switch.
Subindex 02
Running for Zero (travel speed)
Speed of travel to the axis zero point AZ.
Range of values: 0x00000000 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.105 PNU 1012
PNU 1013
Subindex 01
Homing acceleration
Class: Var
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Acceleration during the homing in units of acceleration ( PNU 1007).
Range of values: 0x00000000 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.106 PNU 1013
226
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 1014
Subindex 01
Homing Required (reference travel required)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Defines whether or not homing must be carried out after switching on in order to carry out positioning
tasks.
Note
Drives with the multi-turn absolute displacement encoder only need one homing run after installation.
Value
Significance
0x00 (0)
Reserved
0x01 (1) (Fix)
Homing must be carried out.
Tab. B.107 PNU 1014
PNU 1015
Subindex 01
Homing Max. Torque (reference travel max. torque)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
Max. torque during homing.
Specified as a multiple of the nominal torque in % ( PNU 1036).
The maximum permissible torque (via current limiting) during homing. If this value is reached, the
drive identifies the stop (REF) and travels to the axis zero point.
Tab. B.108 PNU 1015
B.4.20
Axis Parameters Electrical Drives 1 – Controller Parameters
PNU 1020
Subindex 01
Halt Option Code
Class: Var
Data type: uint16
from FW 4.0.1501.1.0
Access: rw
Reaction to a hold command (falling edge at SPOS.HALT).
Value
Significance
0x00 (0)
Reserved (motor off – coils without current, brake unactuated)
0x01 (1)
Brake with hold ramp
0x02 (2)
Reserved (brake with emergency stop ramp)
Tab. B.109 PNU 1020
PNU 1022
Subindex 01
Position window (tolerance window position)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Tolerance window in positioning units ( PNU 1004).
Amount by which the current position may deviate from the target position, in order that it may still
be regarded as being within the target window.
The width of the window is twice the value transferred, with the target position in the centre of the
window.
Tab. B.110 PNU 1022
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
227
B
Reference parameter
PNU 1023
Subindex 01
Position Window Time (adjustment time position)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Readjustment time in milliseconds.
If the actual position has been in the target position window this amount of time, the bit SPOS.MC is
set.
Tab. B.111 PNU 1023
PNU 1024
Subindex
18 … 22, 32
Control Parameter Set (parameters of the controller)
Class: Struct
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Control parameters as well as parameters for “quasi-absolute position registering”.
Subindex 18
Gain Position (position amplification)
Gain position controller
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 19
Gain Velocity (speed amplification)
Gain velocity controller
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 20
Time Velocity (speed time constant)
Time constant for the speed controller.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 21
Gain Current (current amplification)
Gain current controller.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 22
Time Current (current time constant)
Current regulator time constant.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 32
Save Position
Save the current position at power-off, see PNU 1014.
Bit
Value Significance
0x00F0 240 Current position will not be saved at power-off (default)
0x000F 15
Reserved
Tab. B.112 PNU 1024
228
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 1025
Subindex 01, 03
Motor data
Class: Struct
Data type:
uint32/uint16
Motor-specific data.
Subindex 01
Serial number
Festo serial number and motor's serial number.
from FW
4.0.1501.1.0
Access: rw/ro
Data type: uint32
Access: ro
Subindex 03
Time Max. Current
Data type: uint16
Access: rw
I²t-time in ms. When the I²t time elapses, the current is limited automatically to the motor nominal
current in order to protect the motor (Motor Rated Current, PNU 1035).
Tab. B.113 PNU 1025
PNU 1026
Subindex
01 … 04, 07
Drive data
Class: Struct
Data type: uint32
from FW 4.0.1501.1.0
Access: rw/ro
General motor data
Subindex 01
Power Temp. (temp. output stage)
Current temperature of the output stage in °C.
Access: ro
Subindex 02
Power Stage Max. Temp. (max. temp. output stage)
Maximum temperature of the output stage in °C.
Access: ro
Subindex 03
Motor Rated Current (motor nominal current)
Motor nominal current in mA, identical to PNU 1035.
Access: rw
Subindex 04
Current Limit (max. motor current)
Maximum motor current, identical to PNU 1034.
Access: rw
Subindex 07
Controller Serial Number
Controller's internal serial number.
Access: ro
Tab. B.114 PNU 1026
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
229
B
B.4.21
Reference parameter
Axis Parameters Electric Drives 1 – Electronic Rating Plate
PNU 1034
Subindex 01
Maximum current
Class: Var
Data type: uint16
from FW 4.0.1501.1.0
Access: rw
As a rule, servo motors may be overloaded for a certain time period. With PNU 1034 (identical to PNU
1026/4), the maximum permissible motor current is set. It refers to the nominal motor current (PNU
1035) and is set in thousandths.
The range of values is limited upward through the maximum controller current (see technical data,
dependent on the controller cycle time and the output stage cycle frequency).
PNU 1034 may only be written on if PNU 1035 has already been validly written on.
Note
Observe that the current limitation also limits the maximum possible speed and
that (higher) setpoint speeds may therefore not be achieved.
Tab. B.115 PNU 1034
PNU 1035
Subindex 01
Motor Rated Current (motor nominal current)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
The motor's rated current in mA, identical to PNU 1026/3.
Tab. B.116 PNU 1035
PNU 1036
Subindex 01
Motor Rated Torque (motor nominal torque)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
The motor's rated torque in 0.001 Nm.
Tab. B.117 PNU 1036
PNU 1037
Subindex 01
Torque Constant
Class: Var
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Ratio between the current and torque in the motor used in mNM/A.
Tab. B.118 PNU 1037
B.4.22
Axis Parameters Electric Drives 1 – Standstill Monitoring
PNU 1040
Subindex 01
Position Demand Value
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Nominal target position of the last positioning task in positioning units ( PNU 1004).
Tab. B.119 PNU 1040
230
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
B
Reference parameter
PNU 1041
Subindex 01
Position Actual Value (current position)
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: ro
Current position of the drive in positioning units ( PNU 1004).
Tab. B.120 PNU 1041
PNU 1042
Subindex 01
Standstill Position Window
Class: Var
Data type: uint32
from FW 4.0.1501.1.0
Access: rw
Standstill position window in positioning units ( PNU 1004).
Amount of the position by which the drive may move after MC until the standstill monitoring
responds.
Tab. B.121 PNU 1042
PNU 1043
Subindex 01
Standstill Timeout (standstill monitoring time)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Standstill monitoring time in ms.
Time during which the drive must be outside the standstill position window before standstill
monitoring responds.
Tab. B.122 PNU 1043
B.4.23
Axis Parameters for Electric Drives 1 – Following Error Monitoring
PNU 1044
Subindex 01
Following Error Window (contouring error window)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Define or read the permissible range for following errors, stated in positioning units.
0xFFFFFFFF = following error monitoring OFF
Tab. B.123 PNU 1044
PNU 1045
Subindex 01
Following Error Timeout (contouring error time window)
Class: Var
Data type: uint16 from FW 4.0.1501.1.0
Access: rw
Define or read a timeout time for following error monitoring in ms.
Range of values: 1 … 60000
Tab. B.124 PNU 1045
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
231
B
Reference parameter
B.4.24
Axis Parameters for Electric Drives 1 – Other Parameters
PNU 1080
Subindex 01
Torque Feed Forward Control
Class: Var
Data type: int32
from FW 4.0.1501.1.0
Access: rw
Torque pilot control in mNm (only effective for direct mode with position control).
Tab. B.125 PNU 1080
PNU 1081
Subindex 01
Setup Velocity (setup speed)
Class: Var
Data type: uint8
from FW 4.0.1501.1.0
Access: rw
from FW 4.0.1501.1.0
Access: rw
Remaining Distance for Remaining Distance Message
(Remaining path for remaining path message)
Class: Var
Data type: uint32 from FW 4.0.1501.1.0
Access: rw
Setup speedy as % of whatever speed is specified.
Range of values: 0 … 100
Tab. B.126 PNU 1081
PNU 1082
Subindex 01
Velocity Override (speed override)
Class: Var
Data type: uint8
Velocity override as % of whatever velocity is specified.
Range of values: 0 … 255
Tab. B.127 PNU 1082
B.4.25
Function Parameters for Digital I/Os
PNU 1230
Subindex 01
The remaining distance is the trigger condition for the remaining distance message, which can be
issued on a digital output. For CMMP-AS-...-M3 only effective in direct mode.
Tab. B.128 PNU 1230
232
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
C
Festo Parameter Channel (FPC) and FHPP+
C
Festo Parameter Channel (FPC) and FHPP+
C.1
Festo parameter channel (FPC) for cyclic data (I/O data)
C.1.1
Overview of FPC
The parameter channel is used for transmitting parameters. The parameter channel is made up of the
following:
Components
Description
Parameter identifier
(ParID)
Component of the parameter channel which contains the Job and Response identifiers (AK) and the parameter number (PNU).
The parameter number is used to identify or address the respective parameters. The Job or Response identifier (AK) describes the job or the reply
in the form of an index.
Subindex (IND)
Parameter value (ParVal)
Addresses an element of an array parameter (sub-parameter number).
Value of the parameter.
If a parameter processing job cannot be executed, an error number is
transmitted in place of the value in the response telegram. The error number describes the cause of the error.
Tab. C.1
Components of the parameter channel (PKW)
The parameter channel consists of 8 bytes. The structure of the parameter channel dependent on the
size or type of the parameter value is shown in the following table:
Byte 1
FPC
Output data
Input data
Byte 2
Byte 3
IND 1)
IND 1)
0
0
Byte 4
Byte 5
Byte 6
ParID (PKE) 2)
ParID (PKE) 2)
1)
IND
Subindex - for addressing an array element
2)
ParID (PKE)
Parameter Identifier - comprising ReqID or ResID and PNU
3)
Value (PWE) Parameter value: for double word: bytes 5...8; for word: bytes 7, 8; for byte: byte 8
Tab. C.2
Byte 7
Byte 8
Value (PWE) 3)
Value (PWE) 3)
Structure of parameter channel
Parameter identifier (ParID)
The parameter identifier includes the job or response identifier (AK) and the parameter number (PNU).
ParID
Bit
Byte 4
15 14
13
ReqID (AK) 1)
Job
Response ResID (AK) 2)
12
11
10
9
8
Byte 3
7
6
5
4
3
2
1
0
Parameter number (PNU) 3)
res.
res. Parameter number (PNU) 3)
1)
ReqID (AK): Request Identifier – job identifier (read, write, ...)
2)
ResID (AK): Response Identifier (transferred value, error, ...)
3)
Parameter number (PNU) – identifies and addresses the respective parameter section C.1. The task or response identifier
indicates the type of task or reply section C.1.2.
Tab. C.3
Structure of parameter identifier (ParID)
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
233
C
Festo Parameter Channel (FPC) and FHPP+
C.1.2
Task identifiers, response identifiers and error numbers
The task identifiers are shown in the following table. All parameter values are always transmitted as a
double word, independent of the data type.
ReqID
Description
Response identifier
Positive
Negative
0
6
8
13
14
No job (“Zero request”)
Request parameter value (array, double word)
Modify parameter value (array, double word)
Request lower limit
Request upper limit
0
5
5
5
5
Tab. C.4
–
7
7
7
7
Task and response identifiers
If the job cannot be carried out, response identifier 7 as well as the appropriate error number will be
transmitted (negative reply).
The following table shows the Response identifiers:
ResID
Description
0
5
7
No reply
Parameter value transferred (array, double word)
Job cannot be carried out (with error number) 1)
1)
Error numbers Tab. C.6
Tab. C.5
Reply identifiers
If the parameter processing job cannot be carried out, a corresponding error number will be transmitted
in the response telegram (byte 5 … 8 of the FPC range). The sequence of error checking and the possible error numbers are shown in the following table:
No.
Error numbers
Description
1
2
3
4
0
3
101
1
102
17
11
12
2
Impermissible PNU. The parameter does not exist.
Faulty subindex
ReqID is not supported
Parameter value cannot be changed (read only)
Parameter is write-only (e.g. with passwords)
Task cannot be carried out due to operating status
No supervising access
Incorrect password
Lower or upper value limit exceeded
5
6
7
8
Tab. C.6
234
0x00
0x03
0x65
0x01
0x66
0x11
0x0B
0x0C
0x02
Sequence of error checking and error numbers
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
C
Festo Parameter Channel (FPC) and FHPP+
C.1.3
Rules for job reply processing
Rule
Description
1
If the master transmits the identifier for “No job”, the controller responds with the reply
identifier for “No reply”.
A job or reply telegram always refers to a single parameter.
The master must continue to send a job until it has received the appropriate reply from the
controller.
The master recognises the reply to the job placed:
– By evaluating the Response identifier
– By evaluating the parameter number (PNU)
– If applicable, by evaluating the subindex (IND)
– If applicable, by evaluating the parameter value.
2
3
4
5
6
Tab. C.7
The controller supplies the reply until the master sends a new job.
a) A write task, even with cyclic repetition of the same job, will only be carried out once by
the controller.
b) Important:
Between two successive jobs, the task identifier 0 (no job, “zero request”) must be
sent and the response identifier 0 (no reply) must be awaited. This ensures that an
“old” response is not interpreted as a “new” response.
Rules for job reply processing
Sequence of parameter processing
Note
Observe the following when modifying parameters:
An FHPP control signal (e.g. start of a positioning job), which is to refer to a modified
parameter, may only follow when the response identifier “Parameter value transferred”
is received for the corresponding parameter.
If, for example, a position value in a position register is to be modified and if a movement is then to be
made to this position, the positioning command must not be given until the controller has completed
and confirmed the modification of the position register.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
235
C
Festo Parameter Channel (FPC) and FHPP+
Example of parameterisation via FPC
The following tables show an example of parameterisation of a positioning task in the position set table
via (FPC – Festo Parameter Channel).
Observe the specification in the bus master for the representation of words and double
words (Intel/Motorola). In the example, the representation uses the “little endian” representation (lowest-order byte first).
Step 1
Output status of the 8 bytes of FPC data:
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Reserved Sub-index ReqID/ResID + PNU
Byte 5
Byte 6
Parameter value
Byte 7
Byte 8
Output
data
Input
data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Tab. C.8
Example, Step 1
Step 2
Read setpoint value from record number 2:
PNU 404 (0x0194), subindex 2 – Request parameter value (array, double word): ReqID 6.
Received value in the response: 0x64 = 100d
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Reserved Sub-index ReqID/ResID + PNU
Byte 5
Byte 6
Parameter value
Byte 7
Byte 8
Output
data
Input
data
0x00
0x02
0x94
0x61
0x00
0x00
0x00
0x00
0x00
0x02
0x94
0x51
0x64
0x00
0x00
0x00
Tab. C.9
Example, Step 2
Step 3
“Zero request”: After receiving the input data with ResID 5, send output data with ReqID = 0 and wait
for input data with ResID = 0:
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Reserved Sub-index ReqID/ResID + PNU
Byte 5
Byte 6
Parameter value
Byte 7
Byte 8
Output
data
Input
data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x64
0x00
0x00
0x00
Tab. C.10
236
Example, Step 3
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
C
Festo Parameter Channel (FPC) and FHPP+
Step 4
Write setpoint value 4660d (0x1234) in record number 2:
PNU 404 (0x0194), subindex 2 – Modify parameter value (array, double word): ReqID 8 – value 0x1234.
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Reserved Sub-index ReqID/ResID + PNU
Byte 5
Byte 6
Parameter value
Byte 7
Byte 8
Output
data
Input
data
0x00
0x02
0x94
0x81
0x34
0x12
0x00
0x00
0x00
0x02
0x94
0x51
0x34
0x12
0x00
0x00
Tab. C.11
Example, Step 4
Step 5
After receiving the input data with ResID 5: “Zero request”, like Step 3 Tab. C.10.
Step 6
Write speed 30531d (0x7743) in record number 2:
PNU 406 (0x0196), subindex 2 – Modify parameter value (array, double word): ReqID 8 – value 0x7743.
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Reserved Sub-index ReqID/ResID + PNU
Byte 5
Byte 6
Parameter value
Byte 7
Byte 8
Output
data
Input
data
0x00
0x00
0x96
0x81
0x43
0x77
0x00
0x00
0x00
0x00
0x96
0x51
0x43
0x77
0x00
0x00
Tab. C.12
Example, Step 6
Step 7
After receiving the input data with ResID 5: “Zero request”, like Step 3 Tab. C.10.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
237
C
C.2
Festo Parameter Channel (FPC) and FHPP+
FHPP+
C.2.1
FHPP+ overview
FHPP+ is an expansion of the FHPP communication protocol.
To find out whether this function is supported by the controller you are using and from
which firmware version, see the help for the associated FCT plug-in.
The FHPP+ expansion allows additional PNUs configured by the user to be transmitted via the cyclic
telegram, in addition to the control and status bytes and the optional parameter channel (FPC).
The minimum configuration for each telegram contains the control and status bytes, meaning that 8
bytes are sent and received. If the parameter channel is transmitted as well, it directly follows the I/O
channel.
FHPP+ can be used to attach additional setpoint values to the received telegram which are not represented in the control and status bytes or in the FPC. Additional actual values can be forwarded in the
response telegram, such as the intermediate circuit voltage or the temperature of the output stage.
The additional data (FHPP+) must always be transmitted in multiples of 8 bytes, up to a total length of
32 bytes.
The data transmitted via FHPP+ is configured using the FHPP+ telegram editor in the controller's FCT plug-in.
Note
Not all PNUs can be configured for the FHPP+ telegram. For example, the PNUs 40 to 43
cannot be transmitted at all; PNUs without write access cannot be configured in the
output data; etc.
C.2.2
Structure of the FHPP+ telegram
The first entry in the telegram (address 0) is reserved for the I/O channel.
Optionally, if the parameter channel FPC is required by the application and it has been defined in the
bus configuration, it must be selected as the second entry (address 8). The parameter channel must
only be configured in this position.
From the third entry onwards in the telegram (address 16), or the second entry if FPC is not used (address 8), all remaining PNUs can be mapped which are required in the application.
With certain control systems (e.g. SIEMENS S7), make sure that PNUs with lengths of 2 or 4 bytes are
in suitable addresses. These PNUs should only be inserted in even addresses. Placeholders are defined
so that any gaps can be filled. They can be used to ensure that PNUs can be mapped in the addresses
desired.
All unused parts of a telegram and especially all unused entries in the telegram editor are filled with the
placeholders.
238
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
C
Festo Parameter Channel (FPC) and FHPP+
C.2.3
Examples
Example 1: With FPC, maximum 16 bytes for FHPP+
Output data, bytes 1 ... 32
1
2
3
4
5
6
7
8
CCON, CPOS, ...
Control bytes
Tab. C.13
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
PKW (PNU, SI)
Parameter channel FPC
… …
PNU…
…
PNU...
FHPP+ (max. 16 bytes)
…
…
Example 1, output data
Input data, bytes 1 ... 32
1
2
3
4
5
6
7
8
SCON, SPOS, ...
Status bytes
Tab. C.14
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
PKW (PNU, SI)
Parameter channel FPC
PNU…
PNU…
PNU…
FHPP+ (max. 16 bytes)
PNU…
Example 1, input data
Example 2: Without FPC, maximum 24 bytes for FHPP+
Output data, bytes 1 ... 32
1
2
3
4
5
6
7
8
9
CCON, CPOS, ...
Control bytes
Tab. C.15
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
PNU…
…
PNU…
PNU…
…
FHPP+ (max. 24 bytes)
PNU…
…
…
Example 2, output data
Input data, bytes 1 ... 32
1
2
3
4
5
6
7
SCON, SPOS, ...
Status bytes
Tab. C.16
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
PNU…
PNU…
PNU…
PNU…
FHPP+ (max. 24 bytes)
… …
PNU…
…
Example 2, input data
The lengths of the output and input data can deviate from each other.
For example, 8 bytes of output data and 16 bytes of input data are possible.
C.2.4
Telegram editor for FHPP+
The transmitted data is configured solely via the FHPP+ Editor provided by the FCT plug-in. The corresponding PNUs 40 and 41 can only be read section B.4.2.
The FHPP+ telegram editor assigns the data contents of the cyclic FHPP telegram uniquely to the PNUs.
The specifications provide generally for 16 entries per received and sent telegram. In the current stage
of development, up to 10 entries for the controller CMMP-AS-...-M3 are permissible. The maximum
length of a telegram is restricted to 32 bytes.
The PNUs for telegram mapping settings must not be mapped in the FHPP+ telegram.
C.2.5
Configuration of the fieldbuses with FHPP+
The data defined in the Telegram Editor must be configured on the master/scanner specifically for each
fieldbus, for example by means of the corresponding GSD or EDS files.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
239
D
Diagnostic messages
D
Diagnostic messages
If an error occurs, the motor controller CMMP-AS-...-M3 shows a diagnostic message cyclically in the
seven-segment display of the motor controller CMMP-AS-...-M3. An error message consists of an E (for
Error), a main index and sub-index, e.g.: E 0 1 0.
Warnings have the same number as an error message. In contrast to error messages, however, warnings are preceded and followed by hyphens, e.g. - 1 7 0 -.
The following table summarises the significance of the diagnostic messages and the actions to be
taken in response to them:
Column
Significance
Code
No.
The Code column includes the error code (Hex) via CiA 301.
Main index and sub-index of the diagnostic message.
Display in the indicator, in FCT or diagnostic memory via FHPP.
Message that is displayed in the FCT.
Possible causes for the message.
Action by the user.
The Reaction column includes the error response (default setting, partially configurable):
– PS off (switch off output stage),
– MCStop (fast stop with maximum current),
– QStop (fast stop with parameterised ramp),
– Warn (Warning),
– Entry (Entry in diagnostic memory)
– Ignore (Ignore),
Message
Cause
Action
Reaction
Tab. D.1 Explanations on the table “Diagnostic messages of the CMMP-AS-...-M3”
The following table includes the error messages corresponding to the firmware versions at the time this
document was printed.
240
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
00-0
–
Invalid error
Information: An invalid error entry (corrupted) was
found in the diagnostic
memory marked with this
error number.
The system time entry is
set to “0”.
–
Entry
00-1
–
Invalid error detected and corrected
Information: An invalid er- –
ror entry (corrupted) was
found in the diagnostic
memory and corrected.
The supplemental information contains the original
error number.
The system time entry includes the address of the
corrupted error number.
Entry
00-2
–
Error deleted
Information: Active errors
were acknowledged.
–
Entry
01-0
6180h Stack overflow
Incorrect firmware?
Sporadic high processor
load due to cycle time being too short and special
compute-bound processes (save parameter
set, etc.).
• Load an approved
firmware.
• Reduce the processor
load.
• Contact Technical
Support.
PS off
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
241
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
02-0
3220h Undervoltage in
intermediate circuit
Intermediate circuit
voltage falls below the
parameterised
threshold. 1)
Error priority set too
high?
• Quick discharge due
to switched-off mains
supply.
• Check power supply.
• Couple intermediate
circuits if technically
permissible.
• Check intermediate
circuit voltage (measure).
Configurable
03-0
4310h Analogue motor
overtemperature
Motor overloaded, temperature too high.
– Suitable sensor or
sensor characteristics
parameterised?
– Sensor defective?
If there is overloading:
QStop
• Check parameterisation (current regulator, current limits).
• Check the parameterisation of the sensor
or the sensor characteristics.
If the error persists when
the sensor is bypassed:
device defective.
03-1
4310h Digital motor
overtemperature
Motor overloaded, temperature too high.
– Suitable sensor or
sensor characteristics
parameterised?
– Sensor defective?
If there is overloading:
Config• Check parameterisaurable
tion (current regulator, current limits).
• Check the parameterisation of the sensor
or the sensor characteristics.
If the error persists when
the sensor is bypassed:
device defective.
03-2
4310h Analogue motor
overtemperature:
broken wire
The measured resistance
value is above the
threshold for wire break
detection.
• Check the connecting
cables of the temperature sensor for wire
breaks.
• Check the parameterisation (threshold
value) for wire break
detection.
1)
242
Configurable
Supplemental information in PNU 203/213:
Top 16 bits:
Status number of internal state machine
Bottom 16 bits:
Intermediate circuit voltage (internal scaling approx. 17.1 digit/V).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
03-3
4310h Analogue motor
overtemperature:
short circuit
The measured resistance
value is below the
threshold for short circuit
detection.
• Check the connecting
cables of the temperature sensor for wire
breaks.
• Check the parameterisation (threshold
value) for short circuit
detection.
Configurable
04-0
4210h Power section
over-temperature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
• Check installation
conditions; are the
control cabinet fan filters dirty?
• Check the drive layout
(due to possible overloading in continuous
duty).
Configurable
04-1
4280h Intermediate circuit overtemperature
Device is overheated
– Temperature display
plausible?
– Device fan defective?
– Device overloaded?
Configurable
05-5
–
Voltage failure interface Ext1/Ext2
Defect on the plugged-in
interface
05-6
–
Voltage failure
[X10], [X11]
Overloading through connected peripherals
• Check installation
conditions; are the
control cabinet fan filters dirty?
• Check the drive layout
(due to possible overloading in continuous
duty).
Interface replacement
Repair by the manufacturer.
• Check pin allocation
of the connected peripherals.
• Short circuit?
05-7
–
Defect on the safety module
–
Safety module replacement Repair by the
manufacturer.
Internal defect Repair
by the manufacturer.
PS off
05-8
Safety module internal voltage
failure
Failure of internal
voltage 3
Defect in the motor controller
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
PS off
PS off
PS off
243
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
Back measurement of the
encoder voltage not OK.
Internal defect Repair
by the manufacturer.
PS off
5114h Failure of internal
voltage 1
Monitoring of the internal
power supply has detected undervoltage. This is
either due to an internal
defect or an overload/
short circuit caused by
connected peripherals.
• Separate device from
the entire peripheral
equipment and check
whether the error is
still present after reset. If yes, then there
is an internal defect
Repair by the manufacturer.
PS off
05-1
5115h Failure of internal
voltage 2
Monitoring of the internal
power supply has detected undervoltage. This is
either due to an internal
defect or an overload/
short circuit caused by
connected peripherals.
• Separate device from
the entire peripheral
equipment and check
whether the error is
still present after reset. If yes, then there
is an internal defect
Repair by the manufacturer.
PS off
05-2
5116h Failure of driver
supply
Monitoring of the internal
power supply has detected undervoltage. This is
either due to an internal
defect or an overload/
short circuit caused by
connected peripherals.
• Separate device from
the entire peripheral
equipment and check
whether the error is
still present after reset. If yes, then there
is an internal defect
Repair by the manufacturer.
PS off
05-3
5410h Undervoltage dig.
I/O
Defective peripheral
equipment?
• Check connected peripherals for short circuit / rated loads.
• Check connection of
the brake (connected
incorrectly?).
PS off
05-9
–
05-0
244
Encoder supply
defective
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
05-4
5410h Overcurrent dig.
I/O
Defective peripheral
equipment?
• Check connected peripherals for short circuit / rated loads.
• Check connection of
the brake (connected
incorrectly?).
PS off
06-0
2320h Short circuit in
output stage
– Faulty motor, e.g.
winding short circuit
due to motor overheating or short to PE
inside motor.
– Short circuit in the
cable or the connecting plugs, i.e. short
circuit between motor
phases or to the
screening/PE.
– Output stage defective (short circuit).
– Incorrect parameterisation of the current regulator.
Dependent on the status
of the system
footnote 2),
cases a) … f )
PS off
2)
Actions:
Case a) Error only with active brake chopper: Check external braking resistor for short circuit or insufficient resistance value.
Check circuitry of the brake chopper output at the motor controller (bridge, etc.).
Case b) Error message immediately when the power supply is connected: internal short circuit in the output stage (short circuit
of a complete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly
external) fuses are tripped. Repair by the manufacturer is required.
Case c) Short circuit error message only when the output stage or controller enable is issued.
Case d) Disconnection of motor plug [X6] directly on the motor controller. If the error still occurs, there is a defect in the motor
controller. Repair by the manufacturer is required.
Case e) If the error only occurs when the motor cable is connected: check the motor and cable for short circuits, e.g. with a
multimeter.
Case f ) Check parameterisation of the current regulator. Oscillations in an incorrectly parameterised current regulator can generate currents up to the short-circuit threshold, as a rule clearly audible through high-frequency whistling. Verification, if necessary,
with the trace in the FCT (actual active current value).
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
245
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
06-1
2320h Overload current
brake chopper
Overload current at the
brake chopper output.
• Check external braking resistor for short
circuit or insufficient
resistance value.
• Check circuitry of the
brake chopper output
at the motor controller (bridges, etc.).
PS off
07-0
3210h Overvoltage in
the intermediate
circuit
Braking resistor is overloaded; too much braking
energy which cannot be
dissipated quickly
enough.
– Resistor incorrectly dimensioned?
– Resistor not connected correctly?
• Check the design of
the braking resistor;
resistance value may
be too great.
• Check the connection
to the braking resistor
(internal/external).
PS off
08-1
–
Only encoder with serial
position transmission
combined with an analogue SIN/COS signal
track: The direction of rotation of encoder-internal
position determination
and incremental evaluation of the analogue
track system in the motor
controller are the wrong
way around.
Footnote 3)
• Swap the following
Configsignals on the [X2B]
urable
angle encoder interface (the wires in the
connecting plug must
be changed around),
observing the technical data for the angle
encoder where applicable:
– Swap SIN/COS track.
– Swap the SIN+/SINor COS+/COS- signals,
as applicable.
3)
Unequal rotational direction of incremental position sensing
The encoder counts internally, for example, positively in clockwise rotation, while the incremental evaluation counts in negative
direction with the same mechanical rotation. The interchange of the rotational direction is detected mechanically at the first
movement of over 30° and the error is triggered.
246
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
08-0
7380h Resolver angle
encoder error
Resolver signal amplitude
is faulty
Step-by-step approach
footnote 4), a) … c):
Configurable
08-2
7380h Error in incremental encoder
track signals Z0
Signal amplitude of the
Z0 track at [X2B] is faulty.
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check configuration of
angle encoder interface:
a) Z0 evaluation activated, but no track signals connected or on
hand. 5)
b) Encoder signals
faulty?
c) Test with another encoder.
Tab. D.3, Page 287.
Configurable
08-3
7383h Error in incremental encoder
track signals Z1
Signal amplitude of the
Z1 track at X2B is faulty.
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check configuration of
angle encoder interface:
a) Z1 evaluation activated but not connected.
b) Encoder signals
faulty?
c) Test with another encoder.
Tab. D.3, Page 287.
Configurable
4)
a)
If possible, test with a different (error-free) resolver (replace the connecting cable, too). If the error still occurs, there is a
defect in the motor controller. Repair by manufacturer required.
b)
If the error occurs only with a special resolver and its connecting cable: Check resolver signals (carrier and SIN/COS signal),
see specification. If the signal specification is not maintained, the resolver must be replaced.
c)
If the error recurs sporadically, check the screening connection or check whether the resolver simply has an insufficient
transmission ratio (standard resolver: A = 0.5).
5)
e.g. EnDat 2.2 or EnDat 2.1 without analogue track.
Heidenhain encoder: order codes EnDat 22 and EnDat 21. With these encoders, there are no incremental signals, even when the
cables are connected.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
247
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
08-4
7384h Digital incremental encoder track
signals error
[X2B]
Faulty A, B, or N track signals at [X2B].
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check the configuration
of the angle encoder interface. Proceed corresponding to a) and b):
a) Encoder signals
faulty?
b) Test with another encoder.
Tab. D.3, Page 287.
Configurable
08-5
7385h Error in incremental encoder
of Hall encoder
signals
Hall encoder signals of a
dig. inc. at [X2B] faulty.
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check the configuration
of the angle encoder interface. Proceed corresponding to a) and b):
a) Encoder signals
faulty?
b) Test with another encoder.
Tab. D.3, Page 287.
Configurable
08-6
7386h Angle encoder
communication
fault
Communication to serial
angle encoders is disrupted (EnDat encoders,
HIPERFACE encoders,
BiSS encoders).
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check configuration of
the angle generator interface: procedure corresponding to a) … c):
a) Serial encoder parameterised but not
connected?
Incorrect serial protocol selected?
b) Encoder signals
faulty?
c) Test with another encoder.
Tab. D.3, Page 287.
Configurable
08-7
7387h Signal amplitude
of incremental
tracks faulty
[X10]
Faulty A, B, or N track signals at [X10].
– Angle encoder connected?
– Angle encoder cable
defective?
– Angle encoder defective?
Check the configuration
of the angle encoder interface. Proceed corresponding to a) and b):
a) Encoder signals
faulty?
b) Test with another encoder.
Tab. D.3, Page 287.
Configurable
248
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
08-8
7388h Internal angle encoder error
Internal monitoring of the
angle encoder [X2B] has
detected a fault and forwarded it via serial communication.
– Declining illumination
intensity with visual
encoders
– Excess rotational
speed
– Angle encoder defective?
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Actions
Reaction
If the error occurs repeatedly, the encoder is
defective. Replace encoder.
Configurable
249
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
08-9
6)
7389h Angle encoder at
[X2B] is not supported
Actions
Angle encoder type read
at [X2B], which is not supported or cannot be used
in the desired operating
mode.
– Incorrect or inappropriate protocol type
selected?
– Firmware does not
support the connected encoder variant?
Reaction
Depending on the addiConfigtional information of the
urable
error message footnote 6):
• Load appropriate firmware.
• Check/correct the
configuration for encoder analysis.
• Connect an appropriate encoder type.
Additional information (PNU 203/213):
0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware,
if applicable.
0002: EnDat: The address space in which the encoder parameters would have to lie does not exist with the connected EnDat
encoder -> check the encoder type.
0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware, if
applicable.
0004: EnDat: Encoder rating plate cannot be read from the connected encoder. -> Change encoder or load more recent firmware,
if applicable.
0005: EnDat: EnDat 2.2 interface parameterised, connected encoder supported but only EnDat2.1. -> Replace encoder type or
reparameterise to EnDat 2.1.
0006: EnDat: EnDat2.1 interface with analogue track evaluation parameterised, but according to rating plate the connected
encoder does not support track signals. -> Replace encoder or switch off Z0 track signal evaluation.
0007: Code length measuring system with EnDat2.1 connected, but parameterised as a purely serial encoder. Purely serial
evaluation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue track
signal evaluation -> connect to analogue Z0 track signal evaluation.
250
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
09-4
–
09-0
09-1
EEPROM data: Erroneous custom
specific configuration
Actions
Reaction
Only for special motors:
The plausibility check returns an error, e.g. because the motor was repaired or replaced.
• If motor repaired:
ConfigCarry out homing
urable
again and save in the
angle encoder, after
that (!) save in the motor controller.
• If motor replaced:
Parameterise the controller again, then
carry out homing
again and save in the
angle encoder, after
that (!) save in the motor controller.
73A1h Old angle encoder parameter
set
Warning:
An encoder parameter set
in an old format was
found in the EEPROM of
the connected encoder.
This has been converted
and saved in the new
format.
No action necessary at
this point. The warning
should not re-appear
when the 24 V supply is
switched back on.
73A2h Angle encoder
parameter set
cannot be decoded
Data in the EEPROM of
the angle encoder could
not be read completely, or
access to it was partly refused.
The EEPROM of the enConfigcoder contains data
urable
(communication objects)
which is not supported by
the loaded firmware. The
data in question is then
discarded.
• The parameter set can
be adapted to the current firmware by writing the encoder data
to the encoder.
• Alternatively, load appropriate (more recent) firmware.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Configurable
251
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
09-2
73A3h Unknown version
of angle encoder
parameter set
The data saved in
EEPROM are not
compatible with the
current version. A data
structure was found
which is unable to decode
the loaded firmware.
• Save the encoder
Configparameters again in
urable
order to delete the
parameter set in the
encoder and replace it
with a readable set
(this will, however, delete the data in the encoder irreversibly).
• Alternatively, load appropriate (more recent) firmware.
09-3
73A4h Defective data
structure in angle
encoder parameter set
Data in EEPROM do not
match the stored data
structure. The data structure was identified as valid but may be corrupted.
• Save the encoder
Configparameters again in
urable
order to delete the
parameter set in the
encoder and replace it
with a readable set. If
the error still occurs
after that, the encoder
may be faulty.
• Replace the encoder
as a test.
09-7
73A5h Write-protected
angle encoder
EEPROM
Data cannot be saved in
the EEPROM of the angle
encoder.
Occurs with Hiperface encoders.
A data field in the encoder EEPROM is readonly (e.g. after operation
on a motor controller of
another manufacturer).
No solution possible, encoder memory must be
unlocked with an appropriate parameterisation
tool (from manufacturer).
252
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
09-9
73A6h Angle encoder's
EEPROM too
small
It is not possible to save
all the data in the
EEPROM of the angle
encoder.
• Reduce the number of Configdata records to be
urable
saved. Please read
the documentation or
contact Technical Support.
10-0
–
Overspeed (spinning protection)
– Motor has overrun because the commutation angle offset is incorrect.
– Motor is parameterised correctly but
the limit for spinning
protection is set too
low.
• Check the commutation angle offset.
• Check the parameterisation of the limit
value.
11-7
–
Homing: error in
encoder difference monitoring
Deviation between the
actual position value and
commutation position is
too great. External angle
encoder not connected or
defective?
• Deviation fluctuates,
Confige.g. due to gear back- urable
lash; cut-off threshold
may need to be increased.
• Check connection of
the actual value encoder.
11-0
8A80h Error when homing is started
Controller enable missing.
Homing can only be star- Configted when controller enurable
able is active.
• Check the condition or
sequence.
11-1
8A81h Error during homing
Homing was interrupted,
e.g. by:
– Withdrawal of controller enable.
– Reference switch located behind the limit
switch.
– External stop signal (a
phase was aborted
during homing).
• Check homing sequence.
• Check arrangement of
the switches.
• If applicable, lock the
stop input during
homing if it is not desired.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Configurable
Configurable
253
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
11-3
8A83h Homing: timeout
The parameterised maximum time for the homing
run was exceeded before
the homing run was completed.
• Check the time setting Configin the parameters.
urable
11-4
8A84h Homing: wrong /
invalid limit
switch
– Relevant limit switch
not connected.
– Limit switches
swapped?
– No reference switch
found between the
two limit switches.
– Reference switch is at
the limit switch.
– Method “current position with zero impulse”: limit switch
active in the area of
the zero pulse (not
permissible).
– Both limit switches
active at the same
time.
• Check whether the
Configlimit switches are con- urable
nected in the correct
direction of travel or
whether the limit
switches have an effect on the intended
inputs.
• Reference switch connected?
• Check arrangement of
the reference switch.
• Move the limit switch
so that it is not in the
area of the zero pulse.
• Check limit switch
parameterisation (N/C
contact/N/O contact).
11-5
8A85h Homing: I@t / following error
– Acceleration ramps inappropriately parameterised.
– Reversing due to premature triggering of
following error; check
parameterisation of
following error.
– No reference switch
reached between the
end stops.
– Zero pulse method:
end stop reached
(here not permissible).
• Parameterise the acceleration ramps to
make them flatter.
• Check connection of a
reference switch.
• Method appropriate
for the application?
254
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
11-6
8A86h Homing: End of
search path
The maximum permissible path for the homing
run has been travelled
without reaching the reference point or the homing target.
Malfunction in switch detection.
• Switch for homing is
defective?
Configurable
12-4
–
CAN: node guarding
Node guarding telegram
not received within the
parameterised time.
Signals corrupted?
• Compare the cycle
time of the remote
frames with that of
the controller
• Check: failure of the
controller?
Configurable
12-5
–
CAN: RPDO too
short
A received RPDO does not
include the parameterised number of bytes.
The number of parameterised bytes does not
match the number of
bytes received.
• Check the parameterisation and correct.
Configurable
12-9
–
CAN: Protocol error
Faulty bus protocol.
• Check the parameterisation of the selected CAN bus protocol.
Configurable
12-1
8120h CAN: Communication error, bus
OFF
The CAN chip has
switched off communication due to communication errors (BUS OFF).
• Check cabling:
Configcable specification ad- urable
hered to, cable break,
maximum cable
length exceeded, correct terminating resistors, cable screening
earthed, all signals
connected?
• Replace device on a
test basis. If a different device works
without errors with
the same cabling,
send the device to the
manufacturer for
checking.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
255
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
12-0
8180h CAN: double
node number
Node number assigned
twice.
• Check the configuration of the CAN bus
stations
Configurable
12-2
8181h CAN: communication error during
transmission
The signals are corrupted
when transmitting messages.
Device boot up is so fast
that no other nodes on
the bus have yet been detected when the boot-up
message is sent.
• Check cabling:
Configcable specification ad- urable
hered to, cable break,
maximum cable
length exceeded, correct terminating resistors, cable screening
earthed, all signals
connected?
• Replace device on a
test basis. If a different device works
without errors with
the same cabling,
send the device to the
manufacturer for
checking.
• Check the start sequence of the application.
12-3
8182h CAN: communication error during
reception
The signals are corrupted
when receiving messages.
• Check cabling:
Configcable specification ad- urable
hered to, cable break,
maximum cable
length exceeded, correct terminating resistors, cable screening
earthed, all signals
connected?
• Replace device on a
test basis. If a different device works
without errors with
the same cabling,
send the device to the
manufacturer for
checking.
256
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
13-0
–
CAN bus timeout
Error message from manufacturer-specific protocol.
• Check the CAN parameterisation
Configurable
14-0
–
Insufficient
power supply for
identification
Current regulator parameters cannot be determined (because of insufficient supply).
The available intermediPS off
ate circuit voltage is too
low to carry out the measurement.
14-1
–
Identification of
current regulator:
measurement
cycle insufficient
Too few or too many
measurement cycles required for the connected
motor.
Automatic determination
of parameters has supplied a time constant outside the parameterisable
range of values.
• The parameters must
be manually optimised.
PS off
14-2
–
Output stage enable could not be
issued
Output stage enable has
not been issued.
• Check the connection
of DIN4.
PS off
14-3
–
Output stage was
switched off early
Power stage enable was
switched off while identification was in progress.
• Check the sequence
control.
PS off
14-5
–
Zero pulse could
not be found
The zero pulse could not
be found following execution of the maximum permissible number of electrical revolutions.
• Check zero pulse signal.
• Angle encoder parameterised correctly?
PS off
14-6
–
Hall signals invalid
Hall signals faulty or invalid.
The pulse train or segmenting of the Hall signals is inappropriate.
• Check connection.
PS off
Refer to the technical
data to check whether
the encoder shows
three Hall signals with
1205 or 605 segments; if necessary,
contact Technical Support.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
257
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
14-7
–
Identification not
possible
Angle encoder at a standstill.
• Ensure sufficient inter- PS off
mediate circuit
voltage.
• Encoder cable connected to the correct motor?
• Motor blocked, e.g.
holding brake does
not release?
14-8
–
Invalid number of
pairs of poles
The calculated number of
pole pairs lies outside the
parameterisable range.
• Compare result with
the technical data
specifications of the
motor.
• Check the parameterised number of
lines.
PS off
15-2
–
Counter underrun
Internal firmware error.
Internal correction factors
could not be calculated.
• Check the setting of
the factor group for
extreme values and
change if necessary.
PS off
15-0
6185h Division by 0
Internal firmware error.
Division by 0 when using
the Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved firmware has
been loaded.
PS off
15-1
6186h Range exceeded
Internal firmware error.
Overflow when using the
Math Library.
• Load factory settings.
• Check the firmware to
make sure that approved firmware has
been loaded.
PS off
16-0
6181h Error in program
execution
Internal firmware error.
Error during program execution. Illegal CPU command found in the program sequence.
• In case of repetition,
PS off
load firmware again. If
the error occurs repeatedly, the hardware is defective.
16-1
6182h Illegal interrupt
Error during program execution. An unused IRQ
vector was used by the
CPU.
• In case of repetition,
PS off
load firmware again. If
the error occurs repeatedly, the hardware is defective.
258
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
16-3
6183h Unexpected
status
Error during periphery access within the CPU or error in the program sequence (illegal branching
in case structures).
• In case of repetition,
PS off
load firmware again. If
the error occurs repeatedly, the hardware is defective.
16-2
6187h Initialisation error
Internal firmware error.
• In case of repetition,
PS off
load firmware again. If
the error occurs repeatedly, the hardware is defective.
17-0
8611h Contouring error
limit value exceeded
Comparison threshold for
the limit value of the contouring error exceeded.
• Enlarge error window.
• Acceleration parameterised too large.
• Motor overloaded
(current limiter from
i@t monitoring is active?).
17-1
8611h Encoder difference monitoring
Deviation between the
actual position value and
commutation position is
too great.
External angle encoder
not connected or defective?
• Deviation fluctuates,
Confige.g. due to gear back- urable
lash; cut-off threshold
may need to be increased.
• Check connection of
the actual value encoder.
18-0
–
Analogue motor
temperature
Motor temperature (analogue) greater than 55
below T_max.
• Check parameterisaConfigtion of current regulat- urable
or and/or speed regulator.
• Motor permanently
overloaded?
21-0
5280h Error 1 current
measurement U
Offset for current measurement 1 phase U is too
great. The closed-loop
controller carries out offset compensation of the
current measurement
every time its controller
enable is issued. Tolerances that are too large
result in an error.
If the error occurs repeatedly, the hardware is
defective.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Configurable
PS off
259
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
21-1
5281h Error 1 current
measurement V
Offset for current measurement 1 phase V is too
great.
If the error occurs repeatedly, the hardware is
defective.
PS off
21-2
5282h Error 2 current
measurement U
Offset for current measurement 2 phase U is too
great.
If the error occurs repeatedly, the hardware is
defective.
PS off
21-3
5283h Error 2 current
measurement V
Offset for current measurement 2 phase V is too
great.
If the error occurs repeatedly, the hardware is
defective.
PS off
22-0
–
PROFIBUS: defective initialisation
Defective initialisation of
the PROFIBUS interface.
Interface defective?
• Replace interface. Repair by the manufacturer may be an option.
Configurable
22-2
–
Communication
error PROFIBUS
Errors in communication.
• Check the set slave
address.
• Check bus termination.
• Check wiring.
Configurable
22-3
–
PROFIBUS: invalid slave address
Communication was started with slave address
126.
• Select a different
slave address.
Configurable
22-4
–
PROFIBUS: value
range error
The value ranges of the
data and the physical
units do not match.
• Check and correct.
Configurable
25-4
–
Invalid power
stage type
During conversion with
the factor group, the
value range was exceeded.
Mathematical error in the
conversion of the physical
units.
– Power sub-section in
the EEPROM is unprogrammed
– Power sub-section is
not supported by the
firmware
Load appropriate firmware.
PS off
25-0
6080h Invalid device
type
Device coding not recognised or invalid
The error cannot be rectified automatically.
• Send motor controller
to the manufacturer.
PS off
260
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
25-1
6081h Device type not
supported
Device coding valid, but
not supported by the
loaded firmware.
• Load up-to-date firmware.
• If newer firmware is
not available, the
problem may be a
hardware defect.
Send motor controller
to the manufacturer.
PS off
25-2
6082h Hardware revision not supported
The controller's hardware
version is not supported
by the loaded firmware.
• Check the firmware
version; update the
firmware to a more recent version if necessary.
PS off
25-3
6083h Device function
restricted!
Device is not enabled for
this function
Device is not enabled for
the desired functionality
and may need to be enabled by the manufacturer. The device must be
sent to Festo for this purpose.
PS off
26-7
–
Data for the cam disc is
corrupted.
• Load factory settings
• Reload the parameter
set if necessary.
If the error persists, contact Technical Support.
PS off
26-0
5580h Missing user
parameter set
No valid user parameter
set in the flash memory
• Load factory settings.
If the error remains, the
hardware may be defective.
PS off
26-1
5581h Checksum error
Checksum error of a parameter set
• Load factory settings.
If the error remains, the
hardware may be defective.
PS off
Error in the data
tables (CAM)
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
261
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
26-2
5582h Flash:
Write error
Error when writing the internal flash memory
• Execute the last operation again.
If the error occurs again,
the hardware may be
faulty.
PS off
26-3
5583h Flash:
Error during deletion
Error during deletion of
the internal flash memory
• Execute the last operation again.
If the error occurs again,
the hardware may be
faulty.
PS off
26-4
5584h Flash:
Internal flash error
The default parameter set
is corrupted / data error
in the FLASH area where
the default parameter set
is located.
• Load firmware again.
If the error occurs again,
the hardware may be
faulty.
PS off
26-5
5585h Missing calibration data
Factory-set calibration
parameters incomplete/
corrupted.
The error cannot be rectified automatically.
PS off
26-6
5586h Missing user position data records
Position data records incomplete or corrupt.
• Load factory settings
or
• save the current parameters again so that
the position data is
written again.
PS off
27-0
8611h Following error
danger threshold
Motor overloaded? Check
sizing.
Acceleration or braking
ramps are set too steep.
Motor blocked? Commutation angle correct?
• Check parameterisaConfigtion of the motor data. urable
• Check parameterisation of the following
error.
262
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
28-0
FF01h Hours-run meter
missing
No record for an hoursrun meter could be found
in the parameter block. A
new hours-run meter has
been created. Occurs during initial start-up or a
processor change.
Warning only, no further
action required.
Configurable
28-1
FF02h Hours-run meter:
write error
The data block in which
the hours-run meter is
stored could not be written to. Cause unknown;
possibly problems with
the hardware.
Warning only, no further
action required.
If the error occurs again,
the hardware may be
faulty.
Configurable
28-2
FF03h Hours-run meter
corrected
The hours-run meter has
Warning only, no further
a backup copy. If the con- action required.
troller's 24 V power supply fails precisely when
the hours-run meter is being updated, the written
record may be corrupted.
In such cases, the controller restores the hoursrun meter from the intact
backup copy when it
switches back on.
Configurable
28-3
FF04h Hours-run meter
converted
Firmware was loaded in
which the hours-run
meter has a different data
format. The next time the
controller is switched on,
the old hours-run meter
record is converted to the
new format.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Warning only, no further
action required.
263
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
29-0
–
MMC/SD card not
available
29-1
–
MMC/SD card:
initialisation error
264
This error is triggered
when an action should be
carried out on the
memory card (load or create DCO file, firmware
download), but no
memory card is plugged
in.
This error is triggered in
the following cases:
– The memory card
could not be initialised. Card type may
not be supported!
– File system not supported
– Error in connection
with the shared
memory
Actions
Reaction
Insert appropriate
memory card in the slot.
Only if expressly desired!
Configurable
• Check card type used.
• Connect memory card
to a PC and format
again.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
29-2
–
MMC/SD card:
parameter set error
This error is triggered in
the following cases:
– A load or storage process is already running, but a new load
or storage process is
requested.
DCO file >> Servo
– The DCO file to be
loaded has not been
found.
– The DCO file to be
loaded is not suitable
for the device.
– The DCO file to be
loaded is defective.
Servo >> DCO file
– The memory card is
write protected.
– Other error while saving the parameter set
as a DCO file.
– Error in creating the
file “INFO.TXT”
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Actions
Reaction
• Execute load or storage process again
after waiting 5
seconds.
• Connect memory card
to a PC and check the
files included.
• Remove write protection from the memory
card.
Configurable
265
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
29-3
–
MMC/SD card full
29-4
–
MMC/SD card:
firmware download
30-0
6380h Internal conversion error
266
Actions
Reaction
– This error is triggered
while saving the DCO
or “INFO.TXT” file if
the memory card is
discovered to be
already full.
– The maximum file index (99) already exists. That is, all file indexes are assigned.
No filename can be issued!
This error is triggered in
the following cases:
– No firmware file on
the memory card
– The firmware file is
not appropriate for
the device.
– Other error during
firmware download,
e.g. checksum error
with an SRecord, error
with flash memory,
etc.
• Insert another
memory card.
• Change filenames.
Configurable
• Connect memory card
to PC and transfer
firmware file.
Configurable
Range exceeded for internal scaling factors,
which are dependent on
the parameterised controller cycle times.
• Check whether extremely short or extremely long cycle
times were parameterised.
PS off
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
31-1
2311h Servo controller
I@t
The I@t monitoring is responding frequently.
– Motor controller under-sized?
– Mechanics sluggish?
• Check project engineering of the motor
controller,
• possibly use a more
powerful type.
• Check the mechanical
system.
Configurable
31-0
2312h Motor I@t
– Motor blocked?
– Motor under-sized?
• Check power dimensioning of drive package.
Configurable
31-2
2313h PFC I@t
PFC power rating exceeded.
• Parameterise operation without PFC
(FCT).
Configurable
31-3
2314h Braking resistor
I@t
– Overloading of the internal braking resistor.
• Use external braking
resistor.
• Reduce resistance
value or use resistor
with higher pulse
load.
Configurable
32-0
3280h Intermediate circuit charging time
exceeded
The intermediate circuit
could not be charged
after the mains voltage
was applied.
– Fuse possibly defective or
– internal braking resistor defective or
– In operation with external resistor, the
resistor is not connected.
• Check interface to the
external braking resistor.
• Alternatively, check
whether the jumper
for the internal braking resistor is in place.
If the interface is correct,
the internal braking resistor or the built-in fuse is
probably faulty. On-site
repair is not possible.
Configurable
32-1
3281h Undervoltage for
active PFC
The PFC cannot be activated at all until an intermediate circuit voltage of
about 130 VDC is
reached.
• Check power supply.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
267
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
32-5
3282h Brake chopper
overload. Intermediate circuit
could not be discharged.
The extent of utilisation
No actions required
of the brake chopper
when quick discharge
began was already in the
range above 100 %. Quick
discharge took the brake
chopper to the maximum
load limit and was prevented/aborted.
32-6
3283h Intermediate circuit discharge
time exceeded
Intermediate circuit could
not be quickly discharged. The internal
braking resistor may be
faulty or, in the case of
operation with an external resistor, the resistor is
not connected.
32-7
3284h No power supply
for controller enable
Controller enable was is• In the application,
Configsued when the intermedicheck whether the
urable
ate circuit was still in its
mains supply and concharging phase after
troller enable signals
mains voltage was apwere sent correspondplied and the mains relay
ingly quickly one after
was not yet activated. The
the other.
drive cannot be enabled
in this phase, because
the drive is not yet firmly
connected to the mains
(mains relay).
268
Configurable
• Check interface to the Configexternal braking resurable
istor.
• Alternatively, check
whether the jumper
for the internal braking resistor is in place.
If the internal resistor has
been activated and the
jumper has been positioned correctly, the internal braking resistor is
probably faulty. On-site
repair is not possible.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
32-8
3285h Power supply failure during controller enable
Interruptions/failure in
the power supply while
the controller enable was
activated.
• Check power supply.
QStop
32-9
3286h Phase failure
Failure of one or more
phases (only in the case
of three-phase supply).
• Check power supply.
QStop
33-0
8A87h Encoder emulation following error
The critical frequency for
encoder emulation was
exceeded (see manual)
and the emulated angle
at [X11] was no longer
able to follow. Can occur
when very high numbers
of lines are programmed
for [X11] and the drive
reaches high speeds.
• Check whether the
parameterised number of lines may be
too high for the speed
being represented.
• Reduce the number of
lines if necessary.
Configurable
34-0
8780h No synchronisation via fieldbus
When activating the interpolated position mode,
the controller could not
be synchronised to the
fieldbus.
– The synchronisation
messages from the
master may have
failed or
– the IPO interval is not
correctly set to the
synchronisation interval of the fieldbus.
• Check the settings for
the controller cycle
times.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
269
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
34-1
8781h Fieldbus synchronisation error
– Synchronisation via
fieldbus messages
during ongoing operation (interpolated position mode) has failed.
– Synchronisation messages from the master
failed?
– Synchronisation interval (IPO interval) parameterised too small/
too large?
• Check the settings for
the controller cycle
times.
Configurable
35-5
–
The rotor position could
not be identified uniquely.
– The selected method
may be inappropriate.
– The selected motor
current for the identification may not be
set suitably.
Check the method for
determining the
commutation position.
Footnote 7)
Configurable
7)
Error during the
determination of
the commutation
position
Instructions for determining the commutation position:
a)
The alignment procedure is inappropriate for locked or sluggish drives or drives that can oscillate at low frequencies.
b)
The micro-step procedure is appropriate for non-ferrous and iron-core motors. As only very small movements are carried out,
it works even when the drive is on elastic stops or is locked but can still be moved elastically to some extent. Due to the high
excitation frequency, however, the method is very susceptible to oscillations in the case of poorly damped drives. In this case,
you can attempt to reduce the excitation current (%).
c) The saturation procedure uses local saturation appearances in the iron of the motor. Recommended for locked drives. Non-ferrous drives are basically inappropriate for this method. If the (iron-core) drive moves too much when locating the commutation
position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if
the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient.
270
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
35-0
8480h Linear motor
spinning protection
Encoder signals are corrupt. The motor may be
racing (“spinning”) because the commutation
position has been shifted
by the faulty encoder signals.
• Check installation for ConfigEMC recommendaurable
tions.
• In the case of linear
motors with inductive/optical encoders
with separately mounted measuring tape
and measuring head:
check the mechanical
clearance.
• In the case of linear
motors with inductive
encoders, make sure
that the magnetic
field of the magnets or
the motor winding
does not leak into the
measuring head (this
effect usually occurs
with high accelerations = high motor
current).
36-0
6320h Parameter was
limited
An attempt was made to
write a value which was
outside the permissible
limits, so the value was
limited.
• Check the user parameter set.
Configurable
36-1
6320h Parameter was
not accepted
An attempt was made to
• Check the user parawrite to an object which is
meter set.
“read only” or is not
write-capable in the current status (e.g. with controller enable active).
Configurable
40-0
8612h Negative software limit switch
The position setpoint has
reached or exceeded the
respective software limit
switch.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
• Check target data.
• Check positioning
range.
271
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
40-1
8612h Positive software
limit switch
reached
The position setpoint has
reached or exceeded the
positive software limit
switch.
• Check target data.
• Check positioning
range.
Configurable
40-2
8612h Target position
behind the negative software limit
switch
Start of a positioning task
was suppressed because
the target lies behind the
negative software limit
switch.
• Check target data.
• Check positioning
range.
Configurable
40-3
8612h Target position
behind the positive software limit
switch
The start of a positioning
task was suppressed because the target lies behind the positive software
limit switch.
• Check target data.
• Check positioning
range.
Configurable
41-0
–
Position set forwarding: synchronisation error
Start of synchronisation
without prior sampling
pulse
• Check the parameterisation of the prestop section.
Configurable
42-3
–
Start positioning
rejected: wrong
mode of operation
Shifting of the operating
mode by means of the position record was not possible.
• Check parameterisation of the position records in question.
Configurable
42-4
–
Start positioning
rejected: homing
required
A normal positioning record was started, but the
drive needs a valid reference position before
starting.
• Execute new homing.
Configurable
42-5
–
Modulo positioning:
Direction of rotation not permitted
– The positioning target
cannot be reached
through the positioning or parameters options.
– The calculated direction of rotation is not
permitted for the
modulo positioning in
the set mode.
• Check the chosen
mode.
Configurable
272
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
42-9
–
– Acceleration limit
value exceeded
– Position record
blocked.
•
Configurable
42-0
8680h Positioning: no
follow-up positioning: stop
The positioning target
cannot be reached
through the positioning
or parameters options.
• Check parameterisation of the position records in question.
Configurable
42-1
8681h Positioning: reversing not allowed: stop
The positioning target
cannot be reached
through the positioning
or parameters options.
• Check parameterisation of the position records in question.
Configurable
42-2
8682h Positioning: reversing after halt
not allowed
The positioning target
cannot be reached
through the positioning
or parameters options.
• Check parameterisation of the position records in question.
Configurable
43-0
8081h Limit switch: negative setpoint
value blocked
Negative hardware limit
switch reached.
• Check parameterisation, wiring and limit
switches.
Configurable
43-1
8082h Limit switch: positive setpoint
value blocked
Positive hardware limit
switch reached.
• Check parameterisation, wiring and limit
switches.
Configurable
43-2
8083h Limit switch: positioning suppressed
– The drive has exited
the intended range of
motion.
– Technical defect in the
system?
• Check the intended
range of motion.
Configurable
44-0
–
Cam disc to be started
not available.
• Check transferred cam Configdisc no.
urable
• Correct parameterisation.
• Correct programming.
Error when starting the positioning task
Error in the cam
disc tables
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Check parameterisation and sequence
control, correct if necessary.
273
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
44-1
– Start of a cam disc,
but the drive is not yet
referenced.
• Execute homing.
Configurable
– Start of homing with
active cam disc.
• Deactivate cam disc.
Then restart cam disc
if necessary.
Error in settingup: timeout expired
Homing required
The speed did not drop
below that required for
setting-up on time.
An attempt is being made
to switch in the “speed
control” or “torque control” operating mode or
to issue controller enable
in these operating
modes, although the
drive requires a valid reference position for this.
Check processing of the
request on the control
side.
• Execute homing.
Configurable
Too many synchronous PDOs
More PDOs have been activated than can be processed in the underlying
SYNC interval.
This message also appears if only one PDO is
to be transmitted synchronously, but a high
number of other PDOs
with a different transmission type have been activated.
• Check the activation
of PDOs.
If the configuration is appropriate, the warning
can be suppressed using
error management.
• Extend the synchronisation interval.
Configurable
–
Cam disc: general
error homing
–
47-0
–
48-0
–
50-0
–
274
QStop
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
50-1
–
SDO errors have
occurred
An SDO transfer has
caused an SDO abort.
– The data exceed the
range of values
– Access to non-existent
object.
• Check the command
sent.
Configurable
51-0
–
No / unknown
safety module
– No safety module detected or unknown
module type.
• Install safety or switch PS off
module appropriate
for the firmware and
hardware.
• Load firmware appropriate for the safety or
micro switch module,
see type designation
on the module.
– Internal voltage error
of the safety module
or micro switch module.
• Module presumably
defective. If possible,
replace with another
module.
Type or revision of the
module does not fit the
project engineering.
• With module replace- PS off
ment: module type
not yet designed. Take
over currently installed safety or micro
switch module as accepted.
Type or revision of the
module is not supported.
• Install safety or switch PS off
module appropriate
for the firmware and
hardware.
• Load firmware appropriate for the module,
see type designation
on the module.
(Error cannot be
acknowledged)
51-2
–
Safety module:
unequal module
type
(Error cannot be
acknowledged)
51-3
–
Safety module:
unequal module
version
(Error cannot be
acknowledged)
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
275
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
52-1
–
Safety module:
discrepancy time
expired
Actions
Reaction
– Control ports STO-A
and STO-B are not actuated simultaneously.
• Check discrepancy
time.
PS off
– Control ports STO-A
and STO-B are not
wired in the same way.
This error message does
not occur with equipment
delivered from the factory. It can occur with use
of a user-specific CMMPAS-...-M3 device firmware.
• Check discrepancy
time.
52-2
–
Safety module:
driver supply failure with active
pulse-width modulation control
62-0
–
EtherCAT:
General bus error
No EtherCAT bus present.
• Switch on the EtherCAT master.
• Check wiring.
Configurable
62-1
–
EtherCAT:
Initialisation error
Error in the hardware.
• Replace the interface
and send it to the
manufacturer for
checking.
Configurable
62-2
–
EtherCAT:
CAN: Protocol error
CAN over EtherCAT is not
in use.
• Incorrect protocol.
• EtherCAT bus cabling
malfunctioning.
Configurable
62-3
–
EtherCAT:
Invalid RPDO
length
Sync manager 2 buffer
size is too large.
• Check the RPDO configuration of the motor controller and the
controller.
Configurable
62-4
–
EtherCAT:
Invalid TPDO
length
Sync manager 3 buffer
size is too large.
• Check the TPDO configuration of the motor controller and the
controller.
Configurable
62-5
–
EtherCAT:
Cyclic data transmission defective
Emergency shut-down
due to failure of cyclic
data transmission.
• Check the configuration of the master.
Synchronous transmission is unstable.
Configurable
276
• The safe status was
PS off
requested with approved power end
stage. Check inclusion
in the safety-oriented
interface.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
63-0
–
EtherCAT:
Interface defective
Error in the hardware.
• Replace the interface
and send it to the
manufacturer for
checking.
Configurable
63-1
–
EtherCAT:
Invalid data
Faulty telegram type.
• Check wiring.
Configurable
63-2
–
EtherCAT:
TPDO data were
not read
The buffer for sending the
data is full
The data were sent faster
than the motor controller
could process it.
• Reduce the cycle time
on the EtherCAT bus.
Configurable
63-3
–
EtherCAT:
No distributed
clocks active
Warning: firmware is synchronising with the telegram, not with the distributed clocks system. When
the EtherCAT was started,
no hardware SYNC (distributed clocks) was
found. The firmware now
synchronises with the
EtherCAT frame.
• If necessary, check
whether the master
supports the distributed clocks feature.
• Otherwise: Ensure
that the EtherCAT
frames are not interrupted by other
frames if the interpolated position mode is
to be used.
Configurable
63-4
–
A SYNC message
is missing in the
IPO cycle
Telegrams are not being
sent in the time slot pattern of the IPO.
• Check the station responsible for distributed clocks.
Configurable
64-0
–
DeviceNet:
Duplicate MAC ID
The duplicate MAC-ID
check has found two
nodes with the same
MAC-ID.
• Change the MAC-ID of
one of the nodes to a
value which is not
already used.
Configurable
64-1
–
DeviceNet:
Bus voltage missing
The DeviceNet module is
not supplied with 24 V
DC.
• In addition to the motor controller, the
DeviceNet interface
must also be connected to 24 V DC.
Configurable
64-2
–
DeviceNet:
Receive buffer
overflow
Too many messages received within a short period.
• Reduce the scan rate.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
277
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
64-3
–
DeviceNet:
Send buffer overflow
Not enough free space on
the CAN bus for sending
messages.
• Increase the baud rate Config• Reduce the number of urable
nodes
• Reduce the scan rate.
64-4
–
DeviceNet:
I/O message not
sent
Error in sending I/O data.
Check that the network is
connected correctly and
has no errors.
Configurable
64-5
–
DeviceNet:
Bus Off
The CAN controller is BUS
OFF.
Check that the network is
connected correctly and
has no errors.
Configurable
64-6
–
DeviceNet:
CAN controller reports overrun
The CAN controller has an
overrun.
• Increase the baud rate Config• Reduce the number of urable
nodes
• Reduce the scan rate.
65-0
–
DeviceNet activated, but no interface
The DeviceNet communic- • Deactivate the Deviation is activated in the
ceNet communication
parameter set of the mo- • Connect an interface.
tor controller, but no interface is available.
Configurable
65-1
–
I/O connection
timeout
Interrupting an I/O connection
No I/O message received
within the expected time.
Configurable
68-0
–
EtherNet/IP:
Serious error
A serious internal error
has occurred. It can be
triggered by a defective
interface, for example.
• Try to acknowledge
Configthe error.
urable
• Carry out a reset.
• Replace the interface.
• If the error continues,
contact Technical Support.
278
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
68-1
–
EtherNet/IP:
General communication error
A serious error was detec- • Try to acknowledge
Configted in the EtherNet/IP inthe error.
urable
terface.
• Carry out a reset.
• Replace the interface.
• If the error continues,
contact Technical Support.
68-2
–
EtherNet/IP:
Connection has
been closed
The connection was
closed via the controller.
A new connection to the
controller must be constructed.
Configurable
68-3
–
EtherNet/IP:
Connection interruption
A connection interruption
occurred during operation.
• Check the cabling
between
CMMP-AS-...-M3 and
controller.
• Construct a new connection to the controller.
Configurable
68-6
–
EtherNet/IP:
Duplicate network address on
hand
At least one device with
the same IP address
exosts in the network.
Use unique IP addresses
for all equipment in the
network.
Configurable
69-0
–
EtherNet/IP:
Minor error
A minor error was detected in the EtherNet/IP interface.
• Try to acknowledge
the error.
• Carry out a reset.
Configurable
69-1
–
EtherNet/IP:
Incorrect IP configuration
An incorrect IP configuration has been detected.
Correct the IP configuration.
Configurable
69-2
–
EtherNet/IP:
Fieldbus interface
not found
There is no EtherNet/IP
interface in the slot.
Check whether an
ConfigEtherNet/IP interface is in urable
the Ext2 slot.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
279
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
69-3
–
EtherNet/IP:
Interface version
not supported
There is an EtherNet/IP
interface with incompatible version in the slot.
Carry out a firmware update on the most current
motor controller firmware.
Configurable
70-1
–
FHPP:
Mathematical error
Overrun/underrun or division by zero during calculation of cyclic data.
• Check the cyclic data
• Check the factor
group.
Configurable
70-2
–
FHPP:
Factor group invalid
Calculation of the factor
group leads to invalid values.
Check the factor group.
Configurable
70-3
–
FHPP:
Invalid operating
mode change
Changing from the current to the desired operating mode is not permitted.
Check your application. It
may be that not every
change is permissible.
Configurable
71-1
–
FHPP:
Invalid receive
telegram
Too little data is being
• Check the data length
transmitted by the control
parameterised in the
system (data length too
control system for the
short).
controller's received
telegram
• Check the configured
data length in the
FHPP+ Editor of the
FCT.
Configurable
71-2
–
FHPP:
Invalid response
telegram
Too much data is set to
be transmitted from the
CMMP-AS-...-M3 to the
control system (data
length too great)
• Check the data length
parameterised in the
control system for the
controller's received
telegram
• Check the configured
data length in the
FHPP+ Editor of the
FCT.
Configurable
72-0
–
PROFINET:
PROFIBUS: Initialization error
Interface presumably includes an incompatible
stack version or is defective.
Replace interface
Configurable
280
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
• Check cabling
• Start PROFINET communication again.
Configurable
PROFINET:
Invalid IP configuration
An invalid IP configuration Parameterise a permisswas entered in the interible IP configuration via
face. The interface cannot FCT.
start with it.
Configurable
–
PROFINET:
Invalid device
name
A PROFINET device name
was assigned with which
the controller cannot
communicate with the
PROFINET (character specification from PROFINET
standard).
Parameterise a permissible PROFINET device
name via FCT.
Configurable
72-5
–
PROFINET:
Interface defective
Interface CAMC-F-PN defective.
Replace interface
Configurable
72-6
–
PROFINET:
Invalid/not supported indication
From the interface CAMCF-PN came a message
that is not supported by
the CMMP-AS-...-M3.
Please contact Technical
Support.
Configurable
73-0
–
PROFIenergy:
Status not possible
An attempt was made in a –
positioning motion to
place the controller in the
energy-saving status. This
is only possible at rest.
The drive does not take
on the status and continues to travel.
Configurable
80-0
F080h Current regulator
IRQ overflow
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
PS off
72-1
–
PROFINET:
Bus error
No communication possible (e.g. line removed)
72-3
–
72-4
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Please contact Technical
Support.
281
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
80-1
F081h Speed regulator
IRQ overflow
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
Please contact Technical
Support.
PS off
80-2
F082h Overflow position
controller IRQ
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
Please contact Technical
Support.
PS off
80-3
F083h Interpolator IRQ
overflow
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
Please contact Technical
Support.
PS off
81-4
F084h Low-level IRQ
overflow
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
Please contact Technical
Support.
PS off
81-5
F085h MDC IRQ overflow
The process data could
not be calculated in the
set current/speed/position interpolator cycle.
Please contact Technical
Support.
PS off
82-0
–
Sequence control
IRQ4 overflow (10 ms
low-level IRQ).
Internal process control:
process was interrupted.
For information only - no
action required.
Configurable
82-1
–
Multiply started
CO write access
Parameters in the cyclical
and acyclical mode are
used concurrently
Only one parameterisaConfigtion interface can be used urable
(USB or Ethernet)
282
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
83-0
–
Invalid option
module
– The plugged-in interface could not be detected
– The loaded firmware
is not known.
– A supported interface
might be plugged into
the wrong slot (e.g.
SERCOS 2, EtherCAT).
• Check firmware
whether interface is
supported. If yes,
• Check that the interface is in the right
place and is plugged
in correctly.
• Replace interface
and/or firmware.
Configurable
83-1
–
Option module
not supported
The plugged-in interface
could be detected but is
not supported by the
loaded firmware.
• Check firmware
whether interface is
supported.
• If necessary, replace
the firmware.
Configurable
83-2
–
Option module:
hardware revision
not supported
The plugged-in interface
could be detected and is
basically also supported.
However, in this case the
current hardware version
is not supported (because it is too old).
The interface must be replaced. If necessary, contact Technical Support.
Configurable
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
283
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
84-0
–
90-0
5080h Missing hardware
components
(SRAM)
284
Conditions for
controller enable
not fulfilled
Actions
Reaction
One or more conditions
for controller enable are
not fulfilled. These include:
– DIN4 (output stage
enable) is off
– DIN5 (controller enable) is off
– Intermediate circuit
not yet loaded
– Encoder is not yet
ready for operation
– Angle encoder identification is still active
– Automatic current regulator identification is
still active
– Encoder data are invalid
– Status change of the
safety function not yet
completed
– Firmware or DCO
download via Ethernet
(TFTP) active
– DCO download onto
memory card still active
– Firmware download
via Ethernet active
• Check status of digital
inputs
• Check encoder cables
• Wait for automatic
identification
• Wait for completion of
the firmware or DCO
downloads
Warn
External SRAM not detected / not sufficient.
Hardware error (SRAM
component or board is
defective).
PS off
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
90-2
5080h Error at FPGA
boot-up
The FPGA cannot be
booted. The FPGA is
booted serially when the
device is started, but in
this case it could not be
loaded with data or it reported a checksum error.
Switch on the device
again (24 V). If the error
occurs repeatedly, the
hardware is faulty.
PS off
90-3
5080h Error at SD-ADU
start
SD-ADUs cannot be started. One or more SDADUs are not supplying
any serial data.
Switch on the device
again (24 V). If the error
occurs repeatedly, the
hardware is faulty.
PS off
90-4
5080h SD-ADU synchronisation error
after start
SD-ADU not synchronous
after starting. During operation, the SD-ADUs for
the resolver signals continue running with strict
synchronisation once
they have been initially
started synchronously.
The SD-ADUs could not
be started at the same
time during that initial
start phase.
Switch on the device
again (24 V). If the error
occurs repeatedly, the
hardware is faulty.
PS off
90-5
5080h SD-ADU not synchronous
SD-ADU not synchronous
after starting. During operation, the SD-ADUs for
the resolver signal continue running with strict synchronisation once they
have been initially started
synchronously. This is
checked continually during operation and an error
may be triggered.
Severe EMC interference PS off
could theoretically also
cause this effect. Switch
on the device again
(24 V). If the error appears again, the hardware is faulty (almost certainly one of the three
SD-ADUs).
90-6
5080h IRQ0 (current
controller): trigger error
The output stage does
not trigger the software
IRQ, which then operates
the current regulator. It is
very likely to be a hardware error on the board
or in the processor.
Switch on the device
again (24 V). If the error
occurs repeatedly, the
hardware is faulty.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
PS off
285
D
Diagnostic messages
Diagnostic messages of the CMMP-AS-...-M3
No.
Code Message
Causes
Actions
Reaction
90-9
5080h DEBUG firmware
loaded
A development version
compiled for the debugger was loaded as normal.
Check the firmware verPS off
sion, and update the firmware if necessary.
91-1
–
Memory error
when copying
Firmware parts were not
copied correctly from the
external FLASH into the
internal RAM.
Switch on the device
PS off
again (24 V). If the error
occurs repeatedly, check
the firmware version and
update the firmware if necessary.
91-2
–
Error when reading the controller/power section
coding
The ID-EEPROM in the
controller or power section could either not be
addressed at all or does
not have consistent data.
Switch on the device
again (24 V). If the error
occurs repeatedly, the
hardware is faulty. No repair possible.
PS off
91-3
–
Software initialisation error
One of the following components is missing or
could not be initialised:
a) Shared memory not
available or defective
b) Driver library not available or defective
Check firmware version,
update if necessary
PS off
91-0
6000h Internal initialisation error
Internal SRAM too small
for the compiled firmware. Can only occur with
development versions.
Check the firmware verPS off
sion, and update the firmware if necessary.
Tab. D.2
286
Diagnostic messages CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
D
Diagnostic messages
Instructions on actions with the error messages 08-2 … 08-7
Action
Instructions
• Check
whether
encoder
signals are
faulty.
• Test with
other encoders.
– Check the wiring, e.g. are one or more phases of the track signals interrupted or
short-circuited?
– Check that installation complies with EMC recommendations (cable screening on
both sides?).
– Only with incremental encoders:
With TTL single-ended signals (HALL signals are always TTL single-ended signals): Check whether there might be an excessive voltage drop on the GND line;
in this case = signal reference.
Check whether there might be an excessive voltage drop on the GND line; in this
case = signal reference.
– Check the level of supply voltage on the encoder. Sufficient? If not, change the
cable diameter (connect unused lines in parallel) or use voltage feedback
(SENSE+ and SENSE-).
– If the error still occurs when the configuration is correct, test with a different
(error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a defect in the motor controller. Repair by the manufacturer is required.
Tab. D.3 Instructions on error messages 08-2 … 08-7
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
287
E
Terms and abbreviations
E
Terms and abbreviations
The following terms and abbreviations are used in this manual:
You can find fieldbus-specific terms and abbreviations in the respective chapter.
Term / abbreviation
Significance
0-signal
Means that there is a 0 V signal present at the input or output
(positive logic, corresponds to LOW).
1-signal
Means that there is a 24 V signal present at the input or output
(positive logic, corresponds to HIGH).
Axis
Mechanical component of a drive that transfers the drive force for
the motion. An axis enables the attachment and guiding of the
effective load and the attachment of a reference switch.
Axis zero point (AZ)
Point of reference of the software end positions and project zero
point. The axis zero point AZ is defined by a preset distance (offset)
from the reference point REF.
Controller
Includes power electronics + regulator + position controller,
evaluates sensor signals, calculates movements and forces and
provides the power supply for the motor via the power electronics.
Drive
Complete actuator, consisting of motor, encoder and axis, optionally
with a gear unit, if applicable with controller.
Encoder:
Electrical pulse generator (generally a rotor position transducer).
The controller evaluates the electrical signals that are generated and
uses them to calculate the position and speed.
Festo Configuration Tool (FCT)
Software with standardised project and data management for
supported device types. The special requirements of a device type
are supported with the necessary descriptions and dialogs by means
of plug-ins.
Festo Handling and Positioning Profile (FHPP)
Uniform fieldbus data profile for positioning controllers from Festo
Festo Parameter Channel
(FPC)
Parameter access according to the “Festo Handling and Positioning
Profile” (I/O messaging, optionally additional 8 bytes I/O)
FHPP standard
Defines the sequence control as per the “Festo Handling and
Positioning Profile” (I/O messaging 8 bytes I/O)
Force mode
(profile torque mode)
Operating mode for executing a direct positioning task with power
control (open loop transmission control) through motor current
regulation.
HMI
Human-Machine Interface, e.g. control panel with LC display and
operating buttons.
Homing
Positioning procedure in which the reference point and therefore the
origin of the measuring reference system of the axis are defined.
288
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
E
Terms and abbreviations
Term / abbreviation
Significance
Homing method
Method for determination of the reference position: against a fixed
stop (overload current/speed evaluation) or with reference switch.
Homing mode
Definition of the measuring reference system of the axis
I
O
I/O
Input.
Output.
Input and/or output.
Jog mode
Manual travel in a positive or negative direction.
Function for setting positions by approaching the target position,
e.g. by teaching (teach mode) of positioning records.
Load voltage, logic voltage
The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and
control logic of the controller.
Operating mode
Type of controller or internal operating mode of the controller.
– Type of control: record selection, direct mode
– Operating mode of the controller: position profile mode,
profile torque mode, profile velocity mode
– Predefined sequences: homing mode...
PLC
Programmable logic controller; short: controller (also IPC: industrial
PC).
Positioning mode
(profile position mode)
Operating mode for executing a positioning record or a direct
positioning task with position control (closed loop position control).
Positioning record
Positioning command defined in the position set table, consisting of
target position, positioning mode, travel speed and acceleration.
Project zero point (PZ)
(Project zero point)
Point of reference for all positions in positioning tasks. The project
zero point PZ forms the basis for all absolute position specifications
(e.g. in the position set table or with direct control via the control
interface). The project zero point PZ is defined by a preset distance
(offset) from the axis zero point.
Reference point (REF)
Point of reference for the incremental measuring system. The
reference point defines a known orientation or position within the
travel distance of the drive.
Reference switch
External sensor used for ascertaining the reference position and
connected directly to the controller.
Software end position
Programmable stroke limit (point of reference = axis zero point)
– Software end position, positive:
max. limit position of the stroke in positive direction; must not be
exceeded during positioning.
– Software end position, negative: min. limit position in negative
direction; must not be fallen short of during positioning.
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
289
E
Terms and abbreviations
Term / abbreviation
Significance
Speed adjustment
(profile velocity mode)
Operating mode for executing a positioning record or a direct
positioning task with control of the speed or rotational speed.
Teach mode
Operating mode for setting positions by approaching the target
position, e.g. when creating positioning records.
Tab. E.1
290
Index of terms and abbreviations
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
CMMP-AS-...-M3
Index
A
Axis zero point . . . . . . . . . . . . . . . . . . . 226, 288
I
Instructions on this documentation . . . . . . . . . . 9
C
Cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Cob_id_sync (1005h) . . . . . . . . . . . . . . . . . . . . 25
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Controller error . . . . . . . . . . . . . . . . . . . . . . . . . 27
J
Job identifier (AK) . . . . . . . . . . . . . . . . . 233, 234
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
D
Diagnostic memory (malfunctions) . . . . . . . .
Diagnostics, FHPP status bytes . . . . . . . . . . .
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
166
167
114
288
E
Effective stroke . . . . . . . . . . . . . . . . . . 138, 139
Electric axis . . . . . . . . . . . . . . . . . . . . . . . . . . 288
EMERGENCY Message . . . . . . . . . . . . . . . . . . . 27
Encoder: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Error numbers . . . . . . . . . . . . . . . . . . . . . . . . 234
Error_register (1001h) . . . . . . . . . . . . . . . . . . . 27
EtherCAT fixed station address (1100h) . . . . . 99
F
Festo Configuration Tool (FCT) . . . . . . . . . . . . 288
Festo Parameter Channel (FPC) . . . . . . 233, 288
FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
FHPP operating mode
– Direct mode . . . . . . . . . . . . . . . . . . . . . . . . 114
– Record selection . . . . . . . . . . . . . . . . . . . . . 114
FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
H
HMI (see device control) . . . . . . . . . . . . . . . . 288
Homing . . . . . . . . . . . . . . . . . . . . . . . . . 288, 289
– Homing method . . . . . . . . . . . . . . . . . . . . . 289
– Homing point . . . . . . . . . . . . . . . . . . . . . . . 289
– Homing Switch . . . . . . . . . . . . . . . . . . . . . . 289
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
M
Measuring reference system . . . . . . . . 138, 139
O
Operating mode . . . . . . . . . . . . . . . . . . . . . . .
– Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Positioning mode . . . . . . . . . . . . . . . . . . . .
– Profile Torque mode (see Force mode) . . .
– Speed adjustment . . . . . . . . . . . . . . . . . . .
– Teach mode . . . . . . . . . . . . . . . . . . . . . . . . .
Operation mode (FHPP operation mode)
– Direct mode . . . . . . . . . . . . . . . . . . . . . . . .
– Record selection . . . . . . . . . . . . . . . . . . . . .
289
289
289
288
290
290
114
114
P
Parameter channel (PKW) . . . . . . . . . . . . . . . 233
Parameter identifier (ParID) . . . . . . . . . . . . . . 233
Parameter Number (PNU) . . . . . . . . . . . . . . . 233
Parameter value (ParVal) . . . . . . . . . . . . . . . . 233
PDO Message . . . . . . . . . . . . . . . . . . . . . . . . . . 21
PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Positioning mode . . . . . . . . . . . . . . . . . . . . . . 289
Positioning record . . . . . . . . . . . . . . . . . . . . . 289
Pre_defined_error_field (1003h) . . . . . . . . . . . 28
Profile position mode . . . . . . . . . . . . . . . . . . . 289
Profile Torque mode (see Force mode) . . . . . 288
Profile velocity mode . . . . . . . . . . . . . . . . . . . 290
Project zero point . . . . . . . . . . . . . . . . . 213, 289
R
Record selection . . . . . . . . . . . . . . . . . . . . . . 114
Reply identifier (AK) . . . . . . . . . . . . . . . 233, 234
291
CMMP-AS-...-M3
S
SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
SDO Error Messages . . . . . . . . . . . . . . . . . . . . 24
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Software end position . . . . . . . . . . . . . . . . . . 289
– Negative (lower) . . . . . . . . . . . . . . . . . . . . . 289
– Positive (upper) . . . . . . . . . . . . . . . . . . . . . 289
Software limit . . . . . . . . . . . . . . . . . . . . . . . . . 213
Speed adjustment . . . . . . . . . . . . . . . . . . . . . 290
Subindex (IND) . . . . . . . . . . . . . . . . . . . . . . . . 233
SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Sync Manager Channel 0 (1C10h) . . . . . . . . . 100
Sync Manager Channel 1 (1C11h) . . . . . . . . . 101
Sync Manager Channel 2 (1C12h) . . . . . . . . . 101
292
Sync Manager Channel 3 (1C13h) . . . . . . . . . 103
Sync Manager Communication Type (1C00h) . 99
SYNC message . . . . . . . . . . . . . . . . . . . . . . . . . 25
T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . 290
V
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
W
Warning memory . . . . . . . . . . . . . . . . . . . . . . 166
Festo – GDCP-CMMP-M3-C-HP-EN – 1205NH
Copyright:
Festo AG & Co. KG
Postfach
D-73726 Esslingen
Phone:
+49 711 347 0
Fax:
+49 711 347 2144
e-mail:
[email protected]
Reproduction, distribution or sale of this document or communication of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent is
registered.
Internet:
www.festo.com
Original: de
Version: 1205NH