DATASHEET
FESTO
E.FPC-201
OTHER SYMBOLS:
EFPC201, EFPC 201, EFPC-201, E FPC201, E FPC 201, E FPC-201, E.FPC201, E.FPC 201, E.FPC-201
RGB ELEKTRONIKA AGACIAK CIACIEK
SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street
51-162 Wrocław
Poland
www.rgbelektronika.pl
biuro@rgbelektronika.pl
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbautomatyka.pl
www.rgbelektronika.pl
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CPX terminal
Description
Communication
profile
FHPP for the
CMAX axis
controller
Activation and
diagnostics via
CPX node
Typ CPX−CMAX−C1−1
Description
559 757
en 0908NH
[727 411]
Contents and general safety instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de
Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0908NH
Designation . . . . . . . . . . . . . P.BE−CPX−CMAX−CONTROL−EN
Orderno. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 757
© (FestoAG&Co. KG, D73726 Esslingen, 2009)
Internet: http://www.festo.com
E−mail: service_international@festo.com
The copying, distribution and utilisation of this document
as well as the communication of its contents to others with
out expressed authorization is prohibited. Violations will
give rise to damage claims. All rights are reserved, in par
ticular the right to carry out patent, registered design or
ornamental design registration.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
I
Contents and general safety instructions
Interbus®, DeviceNet®, PROFIBUS®, CC−Link®, EtherNet/IP®, PROFINET®, Adobe
Reader® and TORX® are registered trademarks of the respective trademark owners in
certain countries.
II
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
Contents
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information about the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IX
X
XI
XI
XII
XIV
XVI
1.
CPX terminal configuration and FHPP overview . . . . . . . . . . . . . . . . . . . . . .
1−1
1.1
1.4
Planning aspects when parametrising the CMAX . . . . . . . . . . . . . . . . . . . . . .
1.1.1
Instructions on the available CPX nodes . . . . . . . . . . . . . . . . . . . . .
1.1.2
CMAX parameters and CPX node parameters . . . . . . . . . . . . . . . . .
Data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPX parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Fail−safe or idle mode parametrising example . . . . . . . . . . . . . . . . .
1.3.2
Start−up behaviour of the CPX terminal . . . . . . . . . . . . . . . . . . . . . .
Commissioning instructions via the CPX node (fieldbus) . . . . . . . . . . . . . . .
1−3
1−3
1−4
1−5
1−7
1−7
1−7
1−8
2.
I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−1
2.1
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
Record select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2
Direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.4
Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.5
Overview of the available functions in the operating modes . . . . .
Structure of the cyclical I/O data in the operating modes . . . . . . . . . . . . . . .
2.2.1
CCON/SCON structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2
Defining the operating mode with CCON . . . . . . . . . . . . . . . . . . . . .
2.2.3
I/O data in the record select operating mode . . . . . . . . . . . . . . . . .
2.2.4
I/O data in direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5
I/O data in commissioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.6
I/O data in parametrising mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−3
2−3
2−4
2−4
2−5
2−6
2−7
2−8
2−11
2−12
2−17
2−23
2−27
1.2
1.3
2.2
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
III
Contents and general safety instructions
2.3
FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1
Establish ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3
Special features depending on operating mode . . . . . . . . . . . . . . .
2−29
2−31
2−32
2−33
3.
Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3−1
3.1
General functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2
Force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3
Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4
Quality classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.5
Handling the clamping unit or brake . . . . . . . . . . . . . . . . . . . . . . . .
3.1.6
Motion Complete (MC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.7
Dynamically updated controller status bits
MOV, DEV and STILL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.8
Limitation of setpoint values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Movement test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3
Homing sequence and parametrisation . . . . . . . . . . . . . . . . . . . . . .
3.2.4
Homing run methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.5
Identification and adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.6
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.7
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record select operating mode (record select mode) . . . . . . . . . . . . . . . . . . .
3.3.1
Start of a record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3
Conditional record switching / record chaining (PNU 402) . . . . . .
Direct operating mode (direct mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1
Start of a positioning task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2
Continuous setpoint specification (tracking mode) . . . . . . . . . . . . .
3−3
3−3
3−5
3−10
3−11
3−12
3−17
3.2
3.3
3.4
IV
3−20
3−27
3−32
3−32
3−36
3−37
3−39
3−40
3−46
3−50
3−55
3−57
3−60
3−61
3−68
3−70
3−73
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
4.
Faults and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4−1
4.1
4.2
Overview of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1
Error numbers on the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2
Fault groups: Classification according to the cause . . . . . . . . . . . .
4.2.3
Fault level: Classification according to the response to the fault . .
4.2.4
Reset types: Behaviour in the event of fault acknowledgement . .
4.2.5
Error number and warning numbers . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1
Latest diagnostic status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2
Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3
Fault status (PNU 227) and additional information (PNU 203) . . . .
4.3.4
Diagnostic code and additional information with reset,
switching on and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of diagnostic messages and faults . . . . . . . . . . . . . . . . . . . . .
Diagnostics via standard functions of the CPX terminal . . . . . . . . . . . . . . . .
4.5.1
Status bits of the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2
I/O diagnostic interface and diagnostic memory . . . . . . . . . . . . . .
4.5.3
Split up: Parametrising via the I/O diagnostic interface . . . . . . . . .
4−3
4−4
4−6
4−6
4−7
4−8
4−9
4−31
4−31
4−32
4−36
4−41
4−44
4−47
4−47
4−48
4−51
5.
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−1
5.1
5.2
General parameter structure of the CMAX . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1
Password protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2
Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3
Status−dependent and operating mode dependent lock . . . . . . . .
5.2.4
Enable and stop with parametrisation . . . . . . . . . . . . . . . . . . . . . . .
Default values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1
Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2
Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3
Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.4
Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.5
Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.6
Project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−3
5−5
5−5
5−8
5−9
5−10
5−11
5−17
5−17
5−25
5−32
5−39
5−43
5−52
4.3
4.4
4.5
5.3
5.4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
V
Contents and general safety instructions
5.4.7
5.4.8
5.4.9
5.4.10
5.4.11
5.4.12
5.4.13
5.4.14
5.4.15
5.4.16
Setpoint values for jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct operating mode: Positioning . . . . . . . . . . . . . . . . . . . . . . . . .
Direct operating mode: Force control . . . . . . . . . . . . . . . . . . . . . . . .
Parameters of the default values . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller data of position controller . . . . . . . . . . . . . . . . . . . . . . . .
Force controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−59
5−62
5−65
5−67
5−71
5−77
5−82
5−85
5−88
5−93
6.
Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6−1
6.1
Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1
Request identifiers, response identifiers and error numbers . . . . .
6.1.2
Special features of the system of measurement . . . . . . . . . . . . . . .
Cyclic parametrising in parametrising mode . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1
Example of parametrising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2
Sequence chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPX module parameter and acyclic parametrising . . . . . . . . . . . . . . . . . . . .
6.3.1
CPX function numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2
Startup parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3
Acyclic parameter request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4
Festo Parameter Channel FPC (function 1) . . . . . . . . . . . . . . . . . . . .
6−3
6−4
6−6
6−7
6−8
6−12
6−13
6−13
6−14
6−15
6−18
A.
Notes on commissioning and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A−1
A.1
Preparations and overview for commissioning . . . . . . . . . . . . . . . . . . . . . . .
A.1.1
Checking the axis string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2
Switching on the power supply, switch−on behaviour . . . . . . . . . . .
Commissioning via the CPX node (fieldbus) . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1
C00: Basic parametrising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.2
Step−for−step instructions for basic parametrising . . . . . . . . . . . . .
A.2.3
Parametrising without hardware . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.4
C03: Movement test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.5
Homing and identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A−3
A−3
A−3
A−10
A−10
A−12
A−15
A−17
A−17
6.2
6.3
A.2
VI
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
A.3
Operation and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.1
Nominal/actual comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.2
Exchanging components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.3
Reconfigure axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.4
Data reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.5
Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.6
Switch−on behaviour and power−down . . . . . . . . . . . . . . . . . . . . . . .
Programming flow charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.1
Create ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.2
Start record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.3
Reset fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.4
Switch over operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A−18
A−18
A−21
A−24
A−25
A−26
A−27
A−28
A−28
A−31
A−32
A−33
B.
Basic controlling principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B−1
B.1
B.2
CMAX system of measurement units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimension reference system for pneumatic drives . . . . . . . . . . . . . . . . . . . .
B.2.1
Dimension reference system with absolute measuring system . . .
B.2.2
Dimension reference system with incremental
measuring system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.3
Calculating specifications for the measuring reference system . . .
B.2.4
Software end positions / Hardware end positions . . . . . . . . . . . . .
Drives and measuring systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Taking into account the load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basic information on position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optimisation of the mechanical structure and the pneumatic installation . .
B.6.1
Proceed as follows if the compressed air supply is unstable: . . . .
Optimisation of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.1
Description of the controller factors for position control . . . . . . . .
B.7.2
Optimize positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.3
Description of the controller factors for force control . . . . . . . . . . .
Basic principles of force control/standstill control . . . . . . . . . . . . . . . . . . . .
B.8.1
Influence of the mass on force control . . . . . . . . . . . . . . . . . . . . . . .
B.8.2
Influence of the mass on standstill control . . . . . . . . . . . . . . . . . . .
B.8.3
Behaviour of the force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.4
Behaviour of standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B−3
B−9
B−9
A.4
B.3
B.4
B.5
B.6
B.7
B.8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−11
B−12
B−13
B−16
B−18
B−19
B−23
B−24
B−25
B−25
B−27
B−32
B−34
B−36
B−38
B−39
B−43
VII
Contents and general safety instructions
B.8.5
Individual value mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.6
Position control during a force task . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.7
Force ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.8
Controller amplifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.9
Influence of the static identification on force control . . . . . . . . . . .
B.8.10 Monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on application, special operating statuses . . . . . . . . . . . . . . . . . . . . .
B.9.1
Changing an external force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B−44
B−47
B−48
B−49
B−50
B−51
B−54
B−54
C.
Configuration with CPX node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C−1
C.1
CPX−FB13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.1
General configuration information . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2
Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.3
Start parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.4
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.5
Acyclical parametrisation with DPV1, parameter READ/WRITE . . .
CPX−FB11 (DeviceNet) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.1
Configuring DeviceNet station properties (EDS) . . . . . . . . . . . . . . .
C.2.2
Parametrisation (RSNetworx example) . . . . . . . . . . . . . . . . . . . . . .
C.2.3
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.4
Examples of error display with RSNetWorx . . . . . . . . . . . . . . . . . . .
CPX−FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.2
CMAX parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.3
Save actual configuration as the nominal configuration . . . . . . . . .
C.3.4
Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.5
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C−3
C−3
C−4
C−6
C−10
C−13
C−16
C−16
C−18
C−21
C−26
C−27
C−27
C−29
C−31
C−32
C−37
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D−1
B.9
C.2
C.3
D.
VIII
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
Intended use
This description contains the communication profile for the
axis controller type CPX−CMAX−C1−1. The profile is based on
the Festo Handling and Positioning Profile (FHPP).
This provides you with supplementary information about con
trolling, diagnosing and parameterising the axis controller via
the fieldbus.
Additional information can be found in the system description
for the used axis controller (see Tab.0/1):
Description P.BE−CPX−CMAX−SYS−...:
Mounting, installation, positioning system diagnostics
Note
Make sure you observe the safety instructions given in the
system description.
General basic information on the mode of operation, on
mounting, installing and commissioning CPX terminals can be
found in the CPX system description, type P.BE−CPX−SYS−... .
General information about the used CPX node can be found in
the associated description:
Description type P.BE−CPX−FB...−.../P.BE−CPX−PNIO−...:
Description of the respective CPX node.
Manual type P.BE−CPX−FEC−...:
Description of the CPX Front End Controller.
Appendix C of this description contains additional information
on how to use the CMAX with supported fieldbus nodes.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
IX
Contents and general safety instructions
Safety instructions
When commissioning and programming positioning systems,
you must always observe the safety regulations in the
descriptions as well as the operating instructions for the
other components used.
The user must make sure that nobody is within the sphere of
influence of the connected actuators or axis system. Access
to the potential danger area must be prevented by suitable
measures, such as barriers and warning signs.
Warning
Axes can move with high force and at high speed. Colli
sions can lead to serious injuries and damage to compo
nents.
Make sure that nobody can reach into the sphere of influ
ence of the axes or other connected actuators and that no
items are within the positioning range while the system is
connected to energy sources.
Warning
Errors in the parameterisation can cause personal injuries
and damage to property.
Enable the controller only if the axis system has been cor
rectly installed and parameterised.
X
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
Target group
This description is intended exclusively for technicians
trained in control and automation technology, who have
experience in installing, commissioning, programming and
diagnosing positioning systems.
Service
Please consult your local Festo Service or write to the follow
ing e−mail address if you have any technical problems:
service_international@festo.com
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
XI
Contents and general safety instructions
Important user instructions
Danger categories
This description contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or material damage.
Caution
... means that failure to observe this instruction may result
in personal injury or material damage.
Note
... means that failure to observe this instruction may result
in material damage.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive devices:
Electrostatically sensitive devices: Inappropriate handling can
result in damage to components.
XII
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
Identification of special information
The following pictograms designate texts that contain special
information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information about necessary or useful accessories for the
Festo product.
Environment:
Information on the environmentally friendly use of Festo
products.
Text designations
·
Bullet points indicate activities that may be carried out in
any order.
1. Numerals denote activities which must be carried out in
the numerical order specified.
Arrowheads indicate general lists.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
XIII
Contents and general safety instructions
Information about the version
This description refers to the following versions:
Axis controller CPX−CMAX−C1−1 starting from software
versionV 1.0
This description contains special information about the con
trol, programming and diagnosis of a CMAX with the used
CPX nodes.
XIV
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
Contents and general safety instructions
User documentation for the CMAX axis controller
Type
Title
Electronics de CMAX axis controller,
scription
system description"
P.BE−CPX−CMAX−SYS−...
Contents
Mounting, installation, commissioning and diagnosis
of the CMAX axis controller.
Communica
CMAX communication
Control, programming and diagnosis of a CMAX with
tion profile de profile"
the used CPX node.
scription
P.BE−CPX−CMAX−CONTROL−...
Online help
Help for Festo Configuration
Tool with CMAX plug−in
Configuration and commissioning of the CMAX posi
tioning module with the FCT
è www.festo.com è Downloads è Download Area:
Software, drivers and firmware è Enter string:
CMAX
Operating
instructions
Operating instructions for the components used.
Tab.0/1: Documentation for the positioning system with the CMAX
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
XV
Contents and general safety instructions
Glossary
The following product−specific terms and abbreviations are
used in this manual:
Term / abbreviation
Meaning
0xA0 (A0h)
Hexadecimal numbers are indicated by a prefixed 0x" or by a subscript h".
A
Digital output.
From the point of view of the master controller, the CMAX control inputs are
module output data. See section 2.2.
AB
Output byte.
Absolute position
measuring system
A position measuring system with a fixed (absolute) assignment of measured
value (position, angle, etc.) and measured variable, for digital" or potentio
meter" CMAX.
Adaptation
CMAX function for automatically improving non−optimal control behaviour
during operation.
Axis string
Totality of all modules and cables which are connected to the CMAX via the
axis interface.
Bus nodes
Provide the connection to specific fieldbuses. Transmit control signals to the
connected modules and monitor their functioning (as a CPX module: CPX bus
node).
CPX modules
Collective term for the various modules which can be integrated in a CPX
terminal.
CPX node
Collective term for all CPX bus nodes or the CPX−FEC.
CPX terminal
Complete system consisting of CPX modules with or without pneumatics.
Control interface
Connection for all modules and cables in the axis string.
Drive
In this description, the term drive" represents linear drives (DGCI, DGP),
standard cylinders or positioning drives (DNC, DNCI, DNCM) or swivel mod
ules (DSMI).
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 dialogues by means of plug−ins.
Festo Handling and
Positioning Profile (FHPP)
Fieldbus data profile for Festo position controllers.
XVI
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents and general safety instructions
Term / abbreviation
Meaning
Festo Parameter
Channel (FPC)
FHPP−specific parameter access.
Functions
Special functions in the different operation modes, such as:
Jog mode
Homing
Homing
By means of homing, the reference position and thereby the origin of the
dimension reference system of the axis are defined.
I
Digital input.
From the point of view of the master controller, the CMAX status outputs are
module input data. See section 2.2.
I/Os
Digital inputs and outputs.
Identification
System function where specific characteristics of the connected axis can be
determined, e.g. the break−away forces, frictional behaviour, dynamics (maxi
mum accelerations and speeds), etc., by means of an identification run.
Incremental position
measuring system
A position measuring system in which the measured variable refers to a refer
ence point and is determined by counting equally large measurement steps
(increments) for the CMAX encoder".
Jog mode
Manual travel in positive or negative direction.
Function for setting positions by approaching the target position, e.g. for
teaching records.
Logic 0
Input or output provides 0 V (also LOW, FALSE or logic 0).
Logic 1
Input or output provides 24 V (also HIGH, TRUE or logic 1).
Operating mode
Type of CMAX control, function or setpoint specification.
Parameter
Different settings which are defined for the system operation and have to be
saved in the CMAX.
PLC/IPC
Programmable logic controller; for short: controller (also IPC: industrial PC).
PNU
Parameter number. Each parameter has a number and subindex.
See Chapter 5.
Position control
Control mode where a defined position is approached under electronic con
trol and is kept.
Pressure/force control
Control mode for which a defined force is built up via pressure control. In the
following, the term force control" will be used.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
XVII
Contents and general safety instructions
Term / abbreviation
Meaning
Project zero point (PZ)
Dimension reference point for all positions in positioning tasks. The project
zero point forms the basis for all absolute position specifications (e.g. in the
position set table or in direct mode). The point of reference for the project
zero point is the axis zero point.
Record
Positioning command defined in the position set table, consisting of target
position, positioning mode, speed, acceleration, ...
Reference point (REF)
Point of reference for the incremental measuring system. The reference point
defines a known position within the drive’s travel.
Software end position
Programmable stroke limit (reference point = axis zero point)
Software end position, pos. (upper):
max. limit position in the positive direction (increasing actual values).
Software end position, neg. (lower):
max. limit position in the negative direction (decreasing actual values).
Tab.0/2: Terms and abbreviations
XVIII
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
CPX terminal configuration and FHPP overview
Chapter 1
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1−1
1. CPX terminal configuration and FHPP overview
Contents
1.1
1.2
1.3
1.4
1−2
Planning aspects when parametrising the CMAX . . . . . . . . . . . . . . . . . . . . . .
1.1.1
Instructions on the available CPX nodes . . . . . . . . . . . . . . . . . . . . .
1.1.2
CMAX parameters and CPX node parameters . . . . . . . . . . . . . . . . .
Data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPX parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Fail−safe or idle mode parametrising example . . . . . . . . . . . . . . . . .
1.3.2
Start−up behaviour of the CPX terminal . . . . . . . . . . . . . . . . . . . . . .
Commissioning instructions via the CPX node (fieldbus) . . . . . . . . . . . . . . .
1−3
1−3
1−4
1−5
1−7
1−7
1−7
1−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1. CPX terminal configuration and FHPP overview
1.1
Planning aspects when parametrising the CMAX
1.1.1
Instructions on the available CPX nodes
Tab.1/1 shows an overview of the available CPX nodes
(CPX−FEC or CPX bus nodes) that are suitable for operation
with the CMAX (as of August 2009).
CPX node
Required version 1)
Use
For a description see
CPX−CEC
in preparation
On request
CPX−FEC
From Revision 18 (R18)
On request
Appendix C.3
CPX−FB6 (Interbus)
From Revision 22 (R22)
On request
CPX−FB11 (DeviceNet)
From Revision 20 (R20)
suitable
Appendix C.2
CPX−FB13 (PROFIBUS−DP)
From Revision 23 (R23)
suitable
Appendix C.1
CPX−FB14 (CANopen)
From Revision 20 (R20)
On request
CPX−FB23 (CC−Link)
From Revision 19 (R19)
On request
CPX−FB32 (Ethernet/IP)
From Revision 11 (R11)
On request
CPX−FB33 (PROFINET, M12) From Revision 7 (R7)
On request
CPX−FB34 (PROFINET, RJ45) From Revision 7 (R7)
On request
CPX−FB38 (EtherCAT)
On request
1)
All
Revisions version (Rev...), see name plate. Older revisions are not suitable for use with the CMAX
and can lead to unpredictable behaviour.
Tab.1/1: Instructions/special features/references for CPX nodes
General parametrisation instructions are provided in the
description for the used CPX node.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1−3
1. CPX terminal configuration and FHPP overview
1.1.2
CMAX parameters and CPX node parameters
The CMAX has a number of specific parameters. These inter
nal CMAX parameters cannot be stored as module para
meters in the CPX node, but are exclusively saved in the
CMAX.
It is therefore not possible to access to the CMAX parameters
in the usual way via the I/O diagnostic interface or via any
corresponding bus−specific channels, but only via special
functions.
Note
For CPX terminals with the CMAX, when exchanging the
CPX terminal or the CMAX, it is always necessary to carry
out parametrisation and commissioning again, since the
parameters and data determined during commissioning
are only saved in the CMAX.
The internal CMAX parameters can be changed with the fol
lowing functions:
1−4
Festo Configuration Tool with CMAX plug−in
Cyclical fieldbus communication with the control
and status data of the FHPP (parametrising mode).
See sections 2.2.6 and 6.2.
Acyclical fieldbus communication (e.g. PROFIBUS DPV1).
See section 6.3 as well as the respective supplementary
description in Appendix C.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1. CPX terminal configuration and FHPP overview
1.2
Data format
Multi−byte values are usually interpreted by CMAX in the byte
sequence INTEL (LSB−MSB)".
INTEL (LSB−MSB) − little endian
Example
21.268.514 d = 01448822h
Byte address
0
Bit no.
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Bin
0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 0 0 1
Hex
22h
1
88h
2
44h
3
01h
If your control system uses another byte sequence, you must
take this into consideration accordingly, e.g. in your applica tion programs.
CPX parameter Analogue process value representation"
A few CPX nodes (e.g. CPX−F B13, FB33, FB34 and FB35) sup
port the global system parameter Analogue process value
representation" (system table function number 4402, bit 7):
Value 0": INTEL (LSB−MSB) default
Value 1": MOTOROLA (MSB−LSB)
MOTOROLA (MSB−LSB) − big endian
Example
21.268.514 d = 01448822h
Byte address
0
Bit no.
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Bin
0 0 0 0 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0
Hex
01h
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1
44h
2
88h
3
22h
1−5
1. CPX terminal configuration and FHPP overview
The CMAX evaluates the global system parameter and con
verts the byte sequence accordingly. After changing the para
meter, wait for about 2 seconds until the CMAX conversion
has been reliably executed.
The CMAX swaps the values, both in the cyclical (I/O data) as
well as acyclical data (parameters).
1−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1. CPX terminal configuration and FHPP overview
1.3
1.3.1
CPX parametrisation
Fail−safe or idle mode parametrising example
Depending on your application and the CPX node used,
check if corresponding fail−safe or idle mode parametrising is
necessary.
Fail−safe parametrising or idle mode parametrising allows
defined I/O states to be established in the event of a fault
or if the bus fails.
Additional information can be found in the respective
Appendix C.3, C.2 or C.1.
1.3.2
Start−up behaviour of the CPX terminal
The desired parametrisation of the CPX terminal should be
carried out in the start−up phase or after fieldbus interrup
tions by the bus controller or the scanner/bus master, provid
ing this is supported by the fieldbus protocol used.
Note
When exchanging a CMAX, parametrisation is not
automatically established via the CPX node.
In this case, it is imperative that the CMAX be correctly
parametrised, as during the initial start−up. See
section 1.1.2.
Follow the instructions for exchanging components in the
CMAX system description.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1−7
1. CPX terminal configuration and FHPP overview
1.4
Commissioning instructions via the CPX node (fieldbus)
Fundamentally, the CMAX can be completely commissioned in
a controlled manner via the CPX node.
This requires extensive programming of the master system,
however, and suitable measures for monitoring the drive
while the commissioning functions are being executed.
Recommendation:
Carry out commissioning with the FCT.
Tab.1/2 shows an o verview of the necessary functions with
references to more detailed information.
Function
Description
Topic
see
Entire commis
sioning sequence
For special applications,
commissioning via the CPX
node is possible.
Instructions for commission
ing and servicing
Appendix A
During the entire
commissioning
process
Control and monitoring of
CMAX
Control and status bytes
Chapter 2
Diagnosis
Chapter 4
Parametrisation
Reading the detected actual
configuration, writing the
target configuration,
configuration
parametrisation of the ap
plication data, etc.
Parametrising mode (FPC)
Section 6.2
Acyclic parameter jobs
Section 6.3
Execution of commissioning
operations, movement test,
identification, teaching func
tions
Commissioning mode
Section 2.2.5
Commissioning operations
Section 3.2
Commissioning
operations
Tab.1/2: Information on how to commission via the CPX node
Also follow the instructions in the CMAX system description.
1−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
I/O data and sequence control
Chapter 2
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−1
2. I/O data and sequence control
Contents
2.1
2.2
2.3
2−2
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
Record select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2
Direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.4
Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.5
Overview of the available functions in the operating modes . . . . .
Structure of the cyclical I/O data in the operating modes . . . . . . . . . . . . . . .
2.2.1
CCON/SCON structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2
Defining the operating mode with CCON . . . . . . . . . . . . . . . . . . . . .
2.2.3
I/O data in the record select operating mode . . . . . . . . . . . . . . . . .
2.2.4
I/O data in direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5
I/O data in commissioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.6
I/O data in parametrising mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1
Establish ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3
Special features depending on operating mode . . . . . . . . . . . . . . .
2−3
2−3
2−4
2−4
2−5
2−6
2−7
2−8
2−11
2−12
2−17
2−23
2−27
2−29
2−31
2−32
2−33
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.1
Operating modes
The operating modes differ with regard to their content and
the meaning of the cyclic I/O data and with regard to the
functions which can be accessed in the CMAX.
2.1.1
Record select mode
The CMAX has over 64 records which contain all the necess
ary information for a positioning task.
The record number that the CMAX is to process at the next
start is transferred in the PLC’s output data. The input data
contains the record number that was processed last.
The CMAX does not support any user program. Records can
not be processed automatically with programmable logic.
The CMAX can therefore not handle any reasonable jobs as a
stand−alone device.
However, it is also possible to link various records and ex
ecute them one after the other with the help of a start com
mand. It is also possible to define a record switch before the
target position is reached.
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.
Detailed information on record select mode can be found
in section 3.3. An overview of the I/O data can be found in
section 2.2.3.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−3
2. I/O data and sequence control
2.1.2
Direct operating mode
In direct operating mode, positioning tasks are formulated
directly in the PLC’s output data (or the CPX node).
The typical application dynamically calculates the nominal
target values for each job or just for some jobs. This makes it
possible to adjust the system to different workpiece sizes, for
example, without having to re−parametrise the record list. The
setpoint values are managed completely in the PLC and sent
to the CMAX.
Detailed information on direct operating mode can be found
in section 3.4. An overview of the I/O data can be found in
section 2.2.4.
2.1.3
Commissioning
Commissioning operating mode is for putting the CMAX into
operation, carrying out identification runs, etc. The following
functions are permitted:
Parametrisation of all axis data (with the FCT or via acycli
cal access)
Jogging, teaching, referencing
Identification, movement test, other commissioning func
tions
Positioning tasks (record selection, direct operation) are not
permitted. This operating mode is mainly for establishing a
clear separation between the commissioning functions and
positioning operations to minimise the risk of operational
errors.
Information about the commissioning functions can be found
in section 3.1, and an overview of the I/O data can be found
in section 2.2.5.
2−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.1.4
Parametrisation
In parametrising mode, parameters can be transferred in the
cyclical I/O data of the FHPP, which are actually meant to con
trol the CMAX.
Here, the first control byte CCON is transferred for controlling
the enabling and operating mode of the CMAX. The seven
other bytes are occupied by the Festo Parameter Channel
(FPC).
Parametrising mode can be activated in the states Drive/
controller disabled" or Drive/controller enabled". The con
troller is then active, or not, accordingly. Enabling might be
used to hold a vertical drive.
It is not possible to move the drive with START.
Information about parametrisation as well as an overview of
the I/O data can be found in section 2.2.6.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−5
2. I/O data and sequence control
2.1.5
Overview of the available functions in the operating modes
Tab.2/1 shows the functions available in the individual
operating modes.
Function
Operating mode
Rec. sel. m. Direct m.
Commiss.
Parametrisation in the cyclical I/O data 1)
x
Acycl. parametrisation 2) of axis data
(cylinder length, ...) 1)
x
Acycl. parametrisation 2) of setpoint values
(record list, etc.)
x
x
x
Jogging position
x
x
x
Teaching of setpoint values
x
Teaching of zero points, software end positions
x
Homing
x
x
Point−to−point positioning
x
x
Tracking mode positioning
x
x
Point−to−point force setpoint value
x
x
On−the−fly setpoint switching (new job before MC)
x
x
Identification
x
Movement test
x
1)
2)
Param.
Only permissible for STOP = 0
e.g. DPV1
Tab.2/1: Available functions in the operating modes
Thedrivefunctionsaredescribedinsection
2−6
3.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.2
Structure of the cyclical I/O data in the operating modes
Data
Byte 1
Output
data
Bytes 1 and 2 (fixed)
are retained in every
operating mode
(except byte 2 for
parametrisation).
They contain control
and status bytes
(e.g. CCON,
SCON, ...) for enab
ling the CMAX and
setting the operat
ing modes
Input
data
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Bytes 3 to 8 depend on the selected operating mode (direct mode,
record select) and transmit further control and status bytes (e.g.
CDIR, SDIR,...), as well as setpoint and actual values:
Record number or setpoint position in the output data
Feedback of actual position and record number in the input data
Additional operating mode− and control mode−dependent set
point and actual values
Procedure
First define the operating mode in the CCON control byte. See
sections 2.2.1 and 2.2.2.
This results in the assignment of the other control and status
bytes:
Record select mode, see section 2.2.3.
Direct operating mode, see section 2.2.4.
Commissioning mode, see section 2.2.5
Parametrising mode, see section 2.2.6.
Recommendation: During operation, set the control bit
CCON.LOCK. This way, the PLC can ensure that the pro
grammed sequence cannot be disturbed by access with
the FCT.
Evaluate the status bit SCON.FCT_MMI, and take the missing
control access into consideration in the program sequence of
the PLC.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−7
2. I/O data and sequence control
2.2.1
CCON/SCON structure
CCON
With control byte 1 (CCON), all the states are controlled which
must be available in all operating modes.
Assignment of the CCON control byte (byte 1)
CCON
B7
OPM2
B6
OPM1
Operating mode
selection
SCON
B5
LOCK
B4
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Software
access
blockage
Reset
fault
Release
brake
Stop
Enable
drive
Control byte 1 (SCON) signals the CMAX status in all operating
modes.
Assignment of the SCON control byte (byte 1)
SCON
B7
OPM2
B6
OPM1
B5
B4
FCT_MMI 24VL
Acknowledgement of Device
operating mode
control
software
Load
voltage
applied
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Fault
Warning
Oper
ation en
abled
Drive en
abled
The operating mode is defined with CCON.OPM1 and OPM2
and is acknowledged in SCON.OPM1 and OPM2.
How the control bits work together can be found under the
sequence control description in section 3.
2−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
Control byte 1 (CCON)
Bit
EN
Description
B0
ENABLE
Enable Drive
= 0: Disable drive (controller)
= 1: Enable drive (controller)
B1
STOP
Stop
= 0: Stop active (execute stop ramp + cancel positioning task). The
drive stops with a stop ramp. The job is aborted and the standstill
monitoring is deactivated.
= 1: Enable drive.
Not permissible in parametrising mode.
A warning is signaled in parametrising mode if logic 1 is set.
B2
BRAKE
Open Brake
= 0: Activate brake (0 V at brake output)
= 1: Release brake (24 V at brake output)
Note: The allocation can be inverted by parametrisation (PNU522:02).
If the enable and brake are activated, the CMAX executes force control
with a force setpoint of 0.
B3
RESET
Reset Fault
With a rising edge, any registered fault signal is cleared and, if success
ful, the fault status is exited.
B4
Reserved, must be set to 0.
A warning is signaled for logic 1.
B5
LOCK
Lock Software
access
Access to the service interface (via FCT):
= 1: FCT may only observe. Not possible to take over the device control
(FCT).
= 0: The FCT can take over the device control (in order to modify para
meters or to control inputs).
B6
OPM1
Select
Operating
Mode
Bit 7
0
0
1
1
B7
OPM2
6
0
1
0
1
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Operation mode
Record select mode, see section 2.2.3
Direct operating mode,
mode see section 2.2.4
224
Commissioning, see section 2.2.5
Parametrising, see section 2.2.6
2−9
2. I/O data and sequence control
Status byte 1 (SCON)
Bit
EN
Description
B0
Drive Enabled
ENABLED
= 0: Drive/controller disabled, controller not active
= 1: Drive/controller enabled
B1
OPEN
Operation
Enabled
= 0: Stop active
= 1: Operation enabled, positioning possible
B2
WARN
Warning
= 0: Warning not registered
= 1: Warning registered
B3
FAULT
Fault
= 0: No fault
= 1: There is a fault or fault reaction is active.
B4
24VL
24 V Load
Voltage is
applied
= 0: No load voltage
= 1: Load voltage applied
B5
Drive Control
FCT_MMI by Software
(FCT/MMI)
B6
OPM1
B7
OPM2
2−10
Display Oper
ating Mode
= 0: Device control free (e.g. PLC/fieldbus)
= 1: Device control by software (FCT)
Bit 7
0
0
1
1
6
0
1
0
1
Operation mode acknowledgment
Record select mode
Direct operating mode
Commissioning
Parametrising
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.2.2
Defining the operating mode with CCON
Operating
mode
d
CCON/SCON
Description
.OPM2
.OPM1
Record select
operating mode
(record select
mode)
0
0
The PLC selects a record from a record list saved in the CMAX.
A record contains all the parameters which are specified for a
positioning task. The record number is transferred to the cyclic
I/O data as the setpoint or actual value.
Direct operating
mode
(direct mode)
0
1
The positioning task is transferred directly in the cyclic I/O data
(FHPP standard). The most important setpoint values (position,
speed, force) are transferred here. Supplementary parameters
(e.g. acceleration) are defined via the parametrisation.
Commissioning
mode
1
0
Commissioning operations (e.g. identification) can be executed
and parameters can be read or written. Positioning tasks are
not possible.
Parametrising
mode
1
1
A parameter is transferred in the I/O data according to the FPC
protocol. Positioning tasks are not possible.
Tab.2/2: Overview of CMAX operating modes
Switching the operating mode
The operating mode is switched by means of the control
bytes CCON.OPM1 and CCON.OPM2 and are acknowledged in
the status bytes SCON.OPM1 and SCON.OPM2. See Tab.2/2.
Switching the operating mode to Commissioning" or
Parametrising" is only allowed for the status Controller
disabled" (CCON.ENABLE = 0) or Controller enabled"
(CCON.STOP = 0). Switching between record select mode and
direct operating mode is additionally permitted for the status
Ready", if MC (SPOS.MC = 1).
The operating mode can also be switched if there is a Fault"
status.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−11
2. I/O data and sequence control
2.2.3
I/O data in the record select operating mode
I/O data: Record select mode
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Output
data
CCON
CPOS
Record
no.
Reserved
Reserved
Input
data
SCON
SPOS
Record
no.
RSB
Primary actual value (actual position,
actual force)
Assignment of the control and status bytes (record select
mode):
Assignment of the control bytes (record select mode)
CCON
Byte
y 1
CPOS
y 2
Byte
B7
OPM2
B6
OPM1
B5
LOCK
B4
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Mode selection
Block
software
access
Reset
fault
Release
brake
Stop
Enable
drive
B7
B6
CLEAR
B5
TEACH
B4
JOGN
B3
JOGP
B2
HOM
B1
START
B0
HALT
Teach
value
Jog nega Jog posi
tive
tive
Start
homing
Start
position
ing task
Record
no.
Byte 3
Byte 3: Record number of the starting record (1 to 64)
res.
Bytes 4
to 8
Reserved = 0
2−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
Assignment of the status bytes (record select mode)
SCON
Byte
y 1
SPOS
Byte
y 2
B7
OPM2
B6
OPM1
B5
B4
FCT_MMI 24VL
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Operating mode
acknowledgement
Software
device
control
Load
voltage
applied
Fault
Warning
Oper
ation
enabled
Drive
enabled
B7
REF
B5
DEV
B4
MOV
B3
TEACH
B2
MC
B1
ACK
B0
HALT
Acknow−
ledge
Teach
Motion
Acknow−
Complete ledge
Start
B6
STILL
Drive ref Standstill Following Axis is
erenced warning error
moving
Record
no.
Byte 3
Acknowledgement of the last started record (1 to 64)
In the case of record chaining, the actual record number always contains the currently
actually executed record number. This changes, then, when the record is switched without
a starting edge.
RSB
Byte
y 4
B7
B6
B5
XLIM
B4
VLIM
B3
RCE
Stroke
limit
reached
Speed
limit
reached
Fault
Control
switching mode
records
acknowl
edge
ment
Primary
actual
value
Bytes 5
to 8
B2
COM1
B1
RCC
B0
RC1
All next
records
switched
to
1.
Switched
to next
record
Depending on the parametrisation: Actual position or actual force according to the FHPP
setting (PNU 523:04 or 523:08) in the set system of units (section B.1).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−13
2. I/O data and sequence control
CPOS
Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive has been enabled.
Control byte 2 (CPOS) record select mode
Bit
EN
Description
B0
HALT
Reserved, must be set to 0.
A warning is signaled for logic 1.
B1
START
Start Positio−
ning Task
With a rising edge the current setpoint values will be transferred and
positioning started.
B2
HOM
Start Homing
With a rising edge, homing is started with the set parameters. Referenc
ing is reset.
A fault is signaled with an absolute measuring system.
B3
JOGP
Jog positive
The drive moves at the specified speed in the direction of increasing
actual values, providing the bit is set.
B4
JOGN
Jog negative
The drive moves at the specified speed in the direction of decreasing
actual values, providing the bit is set.
If JOGP and JOGN are set at the same time, the drive moves in the posi
tive direction.
B5
TEACH
Teach Actual
Value
At a falling edge, the current actual value is transferred into the setpoint
register of the currently addressed record.
B6
CLEAR
Reserved, must be set to 0.
A warning is signaled for logic 1.
B7
Reserved, must be set to 0.
A warning is signaled for logic 1.
2−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
Status byte 2 (SPOS) record select mode
Bit
EN
Description
B0
HALT
Halt
Reserved (= 0).
B1
ACK
Acknowledge
Start
= 0: Ready to start
= 1: Start executed 1)
B2
MC
Motion
Complete
= 0: Positioning task active
= 1: Positioning task completed, possibly with error 2)
B3
TEACH
Acknowledge
Teach
= 0: Teaching carried out, actual value is transferred
= 1: Ready for teaching
B4
MOV
Axis is moving
Movement monitoring
= 0: Drive does not move.
(Axis speed signal < limit value)
= 1: Drive is moving
B5
DEV
Following
error
Following error or tolerance monitoring
= 0: No following error / within tolerance
= 1: Following error active / outside of tolerance
B6
STILL
Standstill
warning
Standstill monitoring.
= 0: Standstill warning is not active
= 1: Standstill warning is active, drive moved after MC (position control)
B7
REF
Axis is
referenced
= 0: Referencing must be carried out
= 1: Reference information present, homing not necessary
1)
When programming the handshake between CPOS.START and SPOS.ACK, the registered faults
must always be taken into consideration as well, since SPOS.ACK is not set in the event of a fault.
2) MC is set for the first time after switching on (Drive disabled" status).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−15
2. I/O data and sequence control
Status byte 4 (RSB) record select mode
Bit
EN
Description
B0
RC1
Position set
sequencing #1
completed 1)
If at least one switching condition has been configured:
= 0: The first switching condition was not met yet.
= 1: The first switch has been executed.
B1
RCC
Position set
sequencing
Completed 1)
If at least one switching condition has been configured and motion has
been completed (MC):
= 0: Switching condition not met, record chaining aborted.
= 1: Record chain was processed to the end.
B2
COM1
Control Mode
feed back 1
= 0: Position control active
= 1: Force control active
B3
RCE 1)
Position set
sequencing
Error 1)
If at least one switching condition has been configured:
= 0: No error switching to next record or no record switching pro
grammed.
= 1: A record switch was programmed, but was not executed. Record
chaining aborted. A fault is signaled.
B4
VLIM
Velocity (V−)
Limit reached
For force control only:
= 0: Speed limit not reached
= 1: Speed limit reached. A fault is signaled.
B5
XLIM
Stroke (X−)
Limit reached
For force control only:
= 0: Stroke limit not reached
= 1: Stroke limit reached. A fault is signaled.
B6
Reserved
B7
Reserved
1)
Switching to next record: Position set sequencing Z Record Chaining
The RSB (record status byte) is transferred as byte 4 in record
select mode. All bits are reset at the start and are updated
dynamically.
2−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.2.4
I/O data in direct operating mode
I/O data: Direct operating mode
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Output
data
CCON
CPOS
CDIR
Secondary
setpoint
Primary setpoint
(position, force)
Input
data
SCON
SPOS
SDIR
Secondary
actual
value
Primary actual value
(actual position, force)
Byte 8
Assignment of the control and status bytes (direct mode):
Assignment of the control bytes (direct mode)
CCON
Byte
y 1
CPOS
Byte
y 2
CDIR
y 3
Byte
B7
OPM2
B5
LOCK
B4
Mode selection
Block
software
access
B7
Primary
setpoint
Bytes
5 to 8
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Reset
fault
Release
brake
Stop
Enable
drive
B3
JOGP
B2
HOM
B1
START
B0
HALT
B6
CLEAR
B5
TEACH
B4
JOGN
Teach
value
Jog nega Jog posi
tive
tive
Start
homing
Start
positio−
ning task
B7
B6
FAST
B5
XLIM
B4
VLIM
B3
CONT
B2
COM2
B1
COM1
Exact
stop/
fast stop
Deacti
vate
stroke
limit
Velocity
limit
reached
Tracking
mode
Control
mode 2
(profile)
Control
Absolute/
mode 1
relative
(position,
force)
Second
ary set
point
Byte 4
B6
OPM1
B0
ABS
Setpoint, depending on control mode and FHPP setting (PNU 523)
Speed as percentage of default value (PNU 540)
Force ramp as percentage of default value (PNU 550)
Workpiece mass as percentage of default value (PNU 544 or PNU 551)
Value range 0 to 100, no sign given. Impermissible setpoint values are limited. For the
Workpiece mass" secondary setpoint, 100% of the basic value is always used for the
speed or force ramp.
The setpoint value is transferred to CPOS.START with a positive edge.
Setpoint value of the position or force in the set system of units (section B.1).
The setpoint value is transferred to CPOS.START with a positive edge.
During tracking mode, the setpoint position is transferred continuously after the start until
tracking mode is ended.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−17
2. I/O data and sequence control
Assignment of the status bytes (direct mode)
SCON
Byte
y 1
SPOS
Byte
y 2
SDIR
Byte
y 3
B7
OPM2
B6
OPM1
B5
FCT_MMI
B4
24VL
Operating mode
acknowledgement
Software
device
control
B7
REF
B6
STILL
Drive ref
erenced
B7
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Load volt Fault
age ap
plied
Warning
Operation Drive
enabled
enabled
B5
DEV
B4
MOV
B3
TEACH
B2
MC
B1
ACK
Standstill
warning
Following
error
Axis is
moving
Acknowl
edge
Teach
Motion
Acknowl
Complete edge
Start
B6
FAST 1)
B5
XLIM
B4
VLIM
B3
CONT
B2
COM2
B1
COM1
B0
ABS 1)
Exact
stop /
fast stop
active
Stroke
limit re
ached
Speed
limit re
ached
Tracking
mode
Acknow−
ledge
ment con
trol mode
2
Acknow− Absolute/
ledge
relative
ment con
trol mode
1
B0
HALT
Secon−
dary
actual
value
Byte 4
Speed actual value as a percentage of the default value (PNU 540).
The secondary speed actual value has a sign, so positive and negative values can be displayed.
The entire value range is utilised, i.e. the displayed speed lies in the range from −128% to
+127%. Higher speeds are limited to −128% or +127%.
Primary
actual
value
Bytes
5 to 8
Actual position or force value in the set system of units (section B.1), depending on the operat
ing status and the FHPP setting (PNU 523).
1)
The status bit only changes when the job is transferred (starting edge). All other status bits in the SDIR
and RSB are updated cyclically.
2−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
CPOS
Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive has been enabled.
Control byte 2 (CPOS) direct mode
Bit
EN
Description
B0
HALT
Reserved, must be set to 0.
A warning is signaled for logic 1.
B1
START
Start
Positioning
Task
With a rising edge the current setpoint values will be transferred and
positioning started.
B2
HOM
Start Homing
With a rising edge, homing is started with the set parameters.
Referencing is reset.
A fault is signaled with an absolute measuring system.
B3
JOGP
Jog positive
The drive moves at the specified speed in the direction of increasing
actual values, providing the bit is set.
B4
JOGN
Jog negative
The drive moves at the specified speed in the direction of decreasing
actual values, providing the bit is set.
If JOGP and JOGN are set at the same time, the drive moves in the posi
tive direction.
B5
TEACH
Teach Actual
Value
Reserved (in direct mode)
A fault is signaled for logic 1.
B6
CLEAR
Reserved, must be set to 0.
A warning is signaled for logic 1.
B7
Reserved, must be set to 0.
A warning is signaled for logic 1.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−19
2. I/O data and sequence control
CDIR
Control byte 3 (CDIR) is a special control byte for the
operating mode direct mode.
Control byte 3 (CDIR) direct mode
Bit
EN
Description
B0
ABS
Absolute /
Relative
= 0: Setpoint is absolute (relative to the project zero point)
= 1: Setpoint value is relative to last setpoint/actual value 1)
B1
COM1
Control Mode 1 = 0: Position control
= 1: Force control
B2
COM2
Control Mode 2 For position control only (COM1=0):
= 0: Free profile: Speed and acceleration are freely specified
= 1: Automatic profile: Speed and accelerations are specified by the
controller 2)
A fault is signaled for logic 1 when force control is active.
B3
CONT
Continous
(Tracking)
Mode
B4
VLIM
Speed (V) Limit For force control:
OFF
= 0: Activate speed limit
= 1: Deactivate speed limit
B5
XLIM
Stroke (X−)
Limit OFF
For force control:
= 0: Activate stroke monitoring
= 1: Deactivate stroke monitoring
B6
FAST
Fast stop
Control for reaching the target setpoint value: 3)
= 0: Exact stop
= 1: Fast stop
B7
Reserved, must be set to 0.
A warning is signaled for logic 1.
For position control: Activates continuous tracking mode (continuous
setpoint specification):
= 0: Do not activate tracking mode
= 1: Activate tracking mode
1)
The setpoint is relative to the last setpoint (if MC) or the actual value (if no MC).
Force tasks following positioning tasks refer to force 0.
2) Speed and accelerations are selected by the controller according to the identification so that the
target position is reached as quickly as possible without overshooting.
3) See section 3.1.4. SPOS.MC is only set when the job is completed according to the quality class.
In the event of a fast stop, the standstill monitoring is deactivated.
2−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
Status byte 2 (SPOS) direct mode
Bit
EN
Description
B0
HALT
Halt
Reserved (= 0).
B1
ACK
Acknowledge
Start
= 0: Ready to start
= 1: Start executed 1)
B2
MC
Motion
Complete
= 0: Positioning task active
= 1: Positioning task completed, possibly with error 2)
B3
TEACH
Acknowledge
Teach
Reserved (= 0).
B4
MOV
Axis is moving
Movement monitoring
= 0: Drive does not move.
(Axis speed signal < limit value)
= 1: Drive is moving
B5
DEV
Drag
(deviation)
Warning
Following error or tolerance monitoring
= 0: No following error / within tolerance
= 1: Following error active / outside of tolerance
B6
STILL
Standstill
warning
Standstill monitoring.
= 0: Standstill warning is not active
= 1: Standstill warning is active, drive moved (position control)
B7
REF
Axis is
referenced
= 0: Referencing must be carried out
= 1: Reference information present, homing not necessary
1)
When programming the handshake between CPOS.START and SPOS.ACK, the registered faults
must always be taken into consideration as well, since SPOS.ACK might not be set in the event of a
fault.
2) MC is set for the first time after switching on (Drive disabled" status).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−21
2. I/O data and sequence control
Status byte 3 (SDIR) direct mode
Bit
EN
Description
B0
ABS
Absolute /
Relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
B1
COM1
Control Mode
feed back 1
= 0: Position control active
= 1: Force control active
B2
COM2
Control Mode
feed back 2
For position control only (COM1=0):
= 0: Free profile
= 1: Automatic profile
B3
CONT
Continous
tracking mode
Continuous tracking mode acknowledgment (continuous setpoint
specification):
= 0: Continuous tracking mode inactive
= 1: Continuous tracking mode active
B4
VLIM
Velocity (V−)
Limit reached
For force control only:
= 0: Speed limit not reached
= 1: Speed limit reached
B5
XLIM
Stroke (X−)
Limit reached
For force control only:
= 1: Stroke limit not reached
= 0: Stroke limit reached, fault is signaled.
B6
FAST
Fast stop
= 0: Exact stop is active
= 1: Fast stop is active, fault is signaled
B7
Reserved (= 0).
The SDIR status byte is the acknowledgement of positioning
mode in direct mode. All bits except for B0 (ABS) and B6
(FAST) are reset at the START and then updated dynamically.
2−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.2.5
I/O data in commissioning mode
I/O data: Commissioning
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Output
data
CCON
CPOS
Function
Param. 1
Parameter 2
(e.g. current workpiece mass)
Input
data
SCON
SPOS
Function
Progress
Primary actual value
(actual position)
Byte 8
Assignment of the control and status bytes (commissioning
mode):
Assignment of the control bytes (commissioning mode)
CCON
Byte
y 1
CPOS
Byte
y 2
Function
Byte 3
B7
OPM2
B6
OPM1
B5
LOCK
B4
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Mode selection
Block soft ware ac
cess
Reset
fault
Release
brake
Stop
Enable
drive
B7
B6
CLEAR
B5
TEACH
B4
JOGN
B3
JOGP
B2
HOM
B1
START
B0
HALT
Teach
value
Jog nega
tive
Jog posi
tive
Start
homing
Start
position
ing task
The function number selects the starting commissioning operation in commissioning mode.
The value is interpreted as enumeration. The functions are executed with a rising edge at
CPOS.START.
Value Function
Description
Param. 1 Param. 2
0
Reserved
Not permissible
1
Identification
Execute identification run
=0
Workpiece mass
2
Movement test Execute movement test
=0
=0
3 to 255 Reserved
Not permissible
–
When reserved functions are executed, the CMAX signals a corresponding error.
Param. 1 When executing a commissioning operation: Reserved = 0
Byte 4
When teaching: Teach target, see section 3.2.7.
A zero (0=) must be transferred in setpoint value bytes which aren’t used.
Param. 2 Only for Identification" commissioning operation: Current workpiece mass in the set system of
Bytes
units (see section B.1).
5 to 8
A zero (0=) must be transferred in setpoint value bytes which aren’t used.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−23
2. I/O data and sequence control
Assignment of the status bytes (commissioning mode)
SCON
Byte
y 1
SPOS
Byte
y 2
Function
Byte 3
B7
OPM2
B6
OPM1
B5
B4
FCT_MMI 24VL
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Operating mode
acknowledgement
Software
device
control
Load
voltage
applied
Fault
Warning
Operation Drive
enabled
enabled
B7
REF
B6
STILL
B5
DEV
B4
MOV
B3
TEACH
B2
MC
B1
ACK
Drive ref
erenced
Standstill
warning
Following
error
Axis is
moving
Acknow−
ledge
Teach
Motion
Acknow−
Complete ledge
Start
B0
HALT
Acknowledgement of the commissioning operation currently being executed.
Progress When executing a commissioning operation: The progress display in the status data shows to
Byte 4
what degree the function has progressed for long operations.
Display in percent (0% to 100%). There could be jumps in the progress display (e.g. from 24%
to 60%). At the end of the function, the progress counter is set to 255 (0xFF).
When teaching: Teach target, see section 3.2.7.
Primary
actual
value
Bytes
5 to 8
2−24
Depending on the parametrisation: Actual position or actual force according to the FHPP set
ting (PNU 523:04 or 523:08) in the set system of units (section B.1).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
CPOS
Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive has been enabled.
Control byte 2 (CPOS) commissioning mode
Bit
EN
Description
B0
HALT
Reserved, must be set to 0.
A warning is signaled for logic 1.
B1
START
Start
Positioning
Task
With a rising edge the current setpoint values will be transferred and
positioning started.
B2
HOM
Start Homing
With a rising edge, homing is started with the set parameters.
Referencing is reset.
A fault is signaled with an absolute measuring system.
B3
JOGP
Jog positive
The drive moves at the specified speed in the direction of increasing
actual values, providing the bit is set.
B4
JOGN
Jog negative
The drive moves at the specified speed in the direction of decreasing
actual values, providing the bit is set.
If JOGP and JOGN are set at the same time, the drive moves in the posi
tive direction.
B5
TEACH
Teach Actual
Value
For a falling edge, the current actual value is transferred according to
the teach function (teach target in parameter 1, see section 3.2.7).
B6
CLEAR
Reserved, must be set to 0.
A warning is signaled for logic 1.
B7
Reserved, must be set to 0.
A warning is signaled for logic 1.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−25
2. I/O data and sequence control
Status byte 2 (SPOS) commisioning mode
Bit
EN
Description
B0
HALT
Halt
Reserved (= 0).
B1
ACK
Acknowledge
Start
= 0: Ready to start
= 1: Start executed 1)
B2
MC
Motion
Complete
= 0: Positioning task active
= 1: Positioning task completed, possibly with error 2)
B3
TEACH
Acknowledge
Teach
= 0: Teaching carried out, actual value is transferred
= 1: Ready for teaching
B4
MOV
Axis is moving
Movement monitoring
= 0: Drive does not move.
(Axis speed signal < limit value)
= 1: Drive is moving
B5
DEV
Following
error
Following error or tolerance monitoring
= 0: No following error / within tolerance
= 1: Following error active / outside of tolerance
B6
STILL
Standstill
warning
Standstill monitoring.
= 0: Standstill warning is not active
= 1: Standstill warning is active, drive moved
B7
REF
Axis is
referenced
= 0: Referencing must be carried out
= 1: Reference information present, homing not necessary
1)
When programming the handshake between CPOS.START and SPOS.ACK, the registered faults
must always be taken into consideration as well, since SPOS.ACK might not be set in the event of a
fault.
2) MC is set for the first time after switching on (Drive disabled" status).
2−26
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.2.6
I/O data in parametrising mode
I/O data: Parametrisation
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
CCON
Subindex Task identifier +
parameter number
Parameter value
Input
data
SCON
Subindex Reply identifier +
parameter number
Parameter value
Byte 7
Byte 8
Assignment of the control and status bytes (parametrisation):
Assignment of the control bytes (parametrisation)
CCON
Byte
y 1
B7
OPM2
B6
OPM1
Mode selection
B5
LOCK
B4
Block
software
access
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Reset
fault
Release
brake
Stop
Enable
drive
Subindex Subindex of the parameter to be transferred
Byte 2
Param.
identifier
Bytes
3+4
Job identifier and parameter number:
Bit
Content
Description
0...11 PNU
Parameter number of the parameter to be transferred
12 to 15ReqID
Job identifier, e.g. reading, writing, see section 6.1.1
Param.
value
Bytes
5 to 8
Value of the parameter to be transferred
(32−bit number)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−27
2. I/O data and sequence control
Assignment of the status bytes (parametrisation)
SCON
Byte
y 1
B7
OPM2
B6
OPM1
Operating mode
acknowledgement
B5
B4
FCT_MMI 24VL
B3
FAULT
B2
WARN
B1
OPEN
Software
device
control
Fault
Warning
Operation Drive
enabled
enabled
Load
voltage
applied
B0
ENABLED
Subindex Subindex of the transferred parameter
Byte 2
Param.
Reply identifier and parameter number:
identifier Bit
Content
Description
Bytes 3+4 0...11 PNU
Parameter number of the parameter to be transferred
12 to 15 ResID
Reply identifier, see section 6.1.1
Param.
value
Bytes
5 to 8
2−28
Value of the parameter to be transferred
(32−bit number)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.3
FHPP finite state machine
From all statuses
Switched off
T7* always has the
highest priority.
T7*
S5
S1
Controller
switched on
Reaction to faults
T1
T8
T11
S6
S2
T9
Controller
disabled
T5
Fault
T2
T10
S3
Controller
enabled (stop)
T6
T4
SA5
Jog positive
TA9
T3
SA1
TA10
TA7
Ready
SA6
Jog negative
SA4
Homing is being
carried out
TA8
TA11
TA12
TA2
S4
TA1
SA2
Positioning task
active
TA5
Operation enabled
Fig.2/1: Finite state machine
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−29
2. I/O data and sequence control
Notes on the Operation enabled" state
Transitions T4, T6 and T7* are executed from every sub−state
SAx and automatically have a higher priority than any transi
tion TAx.
Reaction to faults
T7 (Fault recognised") has the highest priority (and is
marked with an asterisk *").
2−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.3.1
Establish ready status
T
Internal conditions
Actions of the user
T1
Drive is switched on.
No error is found.
T2
Load voltage applied.
The higher−order controller is the PLC/fieldbus
master.
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*
Fault recognised.
T8
Reaction to fault completed, drive stopped
(MC = 1).
T9
There is no longer a fault (F2).
Reset fault" = 0 → 1
CCON = xxx0.Pxxx
T10
There is no longer a fault (F1).
Reset fault" = 0 → 1
CCON = xxx0.Pxx1
T11
Fault still exists.
Reset fault" = 0 → 1
CCON = xxx0.Pxx1
Key: P = positive edge, N = negative edge, x = any
Tab.2/3: Establish transitions to ready status
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−31
2. I/O data and sequence control
2.3.2
Positioning
Note: CCON = xxx0.xx11 is also always considered to be a
permissible action.
TA
Internal conditions
Actions of the user
TA1
Referencing is running.
Start positioning task = 0→1
CPOS = 00x0.00P0
TA2
Motion Complete = 1
The current record is completed. The next record
is not to be carried out automatically
CPOS = 00xx.xxx0
TA5a
Record select mode:
A single record is finished.
The next record is processed automatically.
CPOS = 00xx.xxx0
A start is not necessary.
TA5b
Record select mode or direct mode:
A new positioning task has arrived.
CPOS = 00xx.xxP0
TA7
Reference run (only with encoder measuring
system).
Start homing = 0→1
CPOS = 00x0.0Px0
TA8
Referencing finished.
CPOS = 00xx.xxx0
TA9
Jog positive = 0 → 1
CPOS = 00x0.Pxx0
TA10
Jog positive = 1→0
CPOS = 00xx.Nxx0
TA11
Jog negative = 0 → 1
CPOS = 00xP.xxx0
TA12
Jog negative = 1 → 0
CPOS = 00xN.xxx0
Key: P = positive edge, N = negative edge, x = any
TA3, TA4 and TA6 are reserved for future extensions.
Tab.2/4: Positioning transitions
2−32
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2. I/O data and sequence control
2.3.3
Special features depending on operating mode
Operating
mode
Notes on specific features
Record select
mode
TA5: A new record can be started at any time
With this, it is possible for the PLC to initiate a new record at any time
depending on any events. The CMAX automatically handles all setpoint
switching problems.
Direct operating
mode
TA2: The condition that no new record may be processed no longer applies.
TA5: A new positioning task can be started at any time.
Commissioning
Identification
TA2: The condition that no new record may be processed no longer applies.
TA5: Restarting during an active commissioning operation is not possible. For
this reason, this transition isn’t used.
Parametrisation
Parametrising mode is not a positioning mode, but is only meant for transfer
ring parameters. Transition T3 is not permissible. The drive, then, cannot switch
to the S4 status.
Tab.2/5: Special features depending on the operating mode
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2−33
2. I/O data and sequence control
2−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Drive functions
Chapter 3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−1
3. Drive functions
Contents
3.1
3.2
3.3
3.4
3−2
General functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2
Force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3
Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4
Quality classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.5
Handling the clamping unit or brake . . . . . . . . . . . . . . . . . . . . . . . .
3.1.6
Motion Complete (MC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.7
Dynamically updated controller status bits
MOV, DEV and STILL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.8
Limitation of setpoint values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1
Movement test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3
Homing sequence and parametrisation . . . . . . . . . . . . . . . . . . . . . .
3.2.4
Homing run methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.5
Identification and adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.6
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.7
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record select operating mode (record select mode) . . . . . . . . . . . . . . . . . . .
3.3.1
Start of a record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3
Conditional record switching / record chaining (PNU 402) . . . . . .
Direct operating mode (direct mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1
Start of a positioning task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2
Continuous setpoint specification (tracking mode) . . . . . . . . . . . . .
3−3
3−3
3−5
3−10
3−11
3−12
3−17
3−20
3−27
3−32
3−32
3−36
3−37
3−39
3−40
3−46
3−50
3−55
3−57
3−60
3−61
3−68
3−70
3−73
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.1
3.1.1
General functional description
Position control
Single value mode (point−to−point)
Free profile
A positioning task for a free profile is executed with the
given speed, acceleration and deceleration.
There might be a limitation imposed on valued determined
during identification.
Properties:
Automatic profile
Speed, acceleration, deceleration and mass can be set
separately for every task.
Automatic acceleration limitation to feasible values
(if dynamic identification was carried out).
Automatic limitation cannot be deactivated.
On−the−fly switching to a new task is possible.
Stop behaviour: Braking ramp (if possible), otherwise
setpoint position = actual position.
With the automatic profile, a positioning task is executed
with the maximum speed, acceleration and deceleration de
termined during identification.
Requirement: Dynamic identification has been carried out.
Otherwise, the task is executed with the default values of the
free profile and a warning message is output.
Properties:
The mass can be set separately for every task.
Stop behaviour: Braking ramp (if possible), otherwise
setpoint position = actual position.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−3
3. Drive functions
Continuous mode
In the case of continuous setpoint specification, an external
position setpoint is tracked. The setpoint values can be speci
fied by the PLC/via the fieldbus.
The continuous setpoint specification is only possible in di
rect operating mode and mainly corresponds with the free
profile.
Properties:
Speed, acceleration and deceleration are limited to values
specified by the user (no automatic limitation).
It is possible to set the mass at the start of continuous
positioning mode.
General properties
The following generally applies for position control:
3−4
Setpoint values are filtered (low−pass) to smoothen"
jump−like changes.
Following error monitoring (signal, if following error is
greater than the monitoring window).
Monitoring of software end positions (end position limita
tion and warning).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.1.2
Force control
Force control is done by controlling the pressure forces which
act on the piston in both cylinder chambers. The force of the
cylinder is not controlled directly a force sensor would be
required for this but is controlled via the force acting on the
piston. The imprecision of the force is therefore in the range
of the static friction force of the drive. The setpoint values are
specified as a force in the used system of units. The force on
the piston to be regulated is determined via the force set
point, the mounting position, the mass and the piston rod
diameter. The force controller is parametrised automatically
depending on the set project data, so that the controller para
meters can remain at their default values in the normal case.
Properties:
Setpoints and tolerance are specified as forces.
Path / speed monitoring during force control.
Stop behaviour: Setpoint position is identical to the actual
position.
Force ramp (modification speed) can be set.
The force signaled as the actual force does not include
gravity as long as the workpiece mass was given correctly
in the positioning task.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−5
3. Drive functions
Force control sequence
If Force control" is set as the control mode with a rising edge
at CPOS.START in RCB1 (record set mode) or in control byte
CDIR (direct mode), the CMAX interprets the setpoint specifi
cation as a force setpoint. It activates the force control and
adjusts the value with the set ramp. The RSB/SDIR signalises
the Force control" status accordingly.
1 Path
2 Force
Path/speed/force
Slim
Stroke monitoring
1
3 Speed
4 Force control until
F
2
Target force
drive breaks away
5 Feed phase (Vfeed)
6 Force buildup with
Vlim
Speed monitoring
Vfeed
3
force ramp
7 MC
4
5
6
7
Time
Fig.3/1: Force control phases
Force control is done in phases according to Fig.3/1
(for stroke and speed monitoring, see monitoring functions,
Fig.3/2):
1. After starting the force control task until the drive moves
(phase 4 , breaking away").
2. Feed phase/prepositioning at speed setpoint until stand
still or target force has been reached (phase 5 ).
If the drive does not encounter any counteracting force
after the force task has started, it accelerates until it has
reached the feed speed Vfeed, and then switches to posi
tioning mode and moves in the direction of the target
force until the counteracting force increases and the con
troller switches back to force control.
3−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3. At standstill: Force ramp until target force has been reached
(phase 6).
The target force is approached with the set force ramp.
4. Once the axis has reached the target force, fulfilling the MC
conditions, MC is set ( 7 ).
Notes:
If there is a stop" or error F1 (controller active), position
control is switched to (setpoint position = actual position,
etc.).
If the limit monitoring responds, regardless of whether
stroke or speed, the controller always changes to position
control. See also Fig.3/2, monitoring functions.
The speed is limited to the value in the Velocity" parameter.
Prepositioning can be deactivated by Vfeed=0. See also
Fig.3/2, monitoring functions.
If pre−positioning be used together with a large target force,
it is better to use record chaining. In the first record, a force
is specified which lies a little above the break−away force, so
that drive safely switches to pre−positioning. In the second
record, the final target value is established, switching will
continue after MC. The force upon workpiece impact is then
limited and the force ramp required is used in the range
between the first and the final target force.
The force setpoint may have the value 0 (no force").
Relative force tasks following positioning tasks refer to
force 0.
Depending on the parametrisation, the actual position or
actual force is acknowledged as the primary actual value
(PNU 523).
Continuous setpoint tracking in force mode is not supported
and leads to a fault.
Force control outside the software end positions is not
permitted and will lead to a fault.
With force control, it might be necessary to optimize the
control factors more often than with position control.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−7
3. Drive functions
E. g., it might be necessary to adjust the amplification
factor if the drive takes too long to reach the setpoint
value. Information on the control factors can be found in
section B.7.3.
Additional information about force and standstill control can
be found in section B.8.
Monitoring functions for force control
1 Speed limit vlim
2 Stroke limit slim
1
vlim
vfeed
3 Target force F
4 Example of limit
violation during
stroke monitoring
2
t
slim
5 Example of limit viol
ation during speed
monitoring
t
3
F
t
4
5
Fig.3/2: Monitoring function for force control
Stroke monitoring
The stroke is limited for force control with stroke monitoring,
e.g. when the workpiece being approached is not present.
Speed monitoring
Speed monitoring limits the speed during force control. This
can prevent the drive from hitting a stop at excessive speed.
3−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Notes regarding stroke and speed monitoring:
When the path is exceeded which is set in the stroke
monitoring (PNU 510, relative to the starting position),
RSB.XLIM or SDIR.XLIM is set (stroke limit reached).
If the speed Vlim (PNU 511) is exceeded, RSB.VLIM or
SDIR.VLIM is set (speed limit reached).
The drive is decelerated each time with the stop ramp,
kept at the current position with position control and
SPOS.MC is set as soon as the drive has stopped. A fault
is generated and SCON.FAULT is set.
Stroke and speed monitoring can be activated/deacti
vated independently of each other for each task (default:
activated). The limits are global, however, i.e. apply for all
records. (changes possible via fieldbus).
Stroke and speed monitoring are activated every time a
force task is started if they weren’t disabled.
Stroke and speed monitoring are also active after MC,
i.e. delayed limit violations are detected.
Vlim must always be greater than Vfeed.
Vfeed can be deactivated by setting it to 0. This sup
presses the switch to position control mode for a force
task.
I.e., the axis only moves with force control, and only limit
monitoring is active. If limit monitoring is also deacti
vated, the axis could crash into the end position without
braking.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−9
3. Drive functions
3.1.3
Standstill control
Standstill control starts by ending a positioning task (MC).
There is a switch from position to force control to keep the
drive safely at its standstill position. Here, the force currently
applied to the piston is measured and is specified as a set
point for the force control. Due to pressure compensation
operations, the force for the setpoint specification is not
measured directly after the standstill condition has been re
ached, but:
200 ms afterwards or
when the change in the actual force exceeds a certain
value (> 25% of the frictional hysteresis).
When switching from position to force control, the drive is
under standstill control.
If the drive exits the tolerance window for the standstill condi
tion while under standstill control, which can be caused by
external forces, the position control is reactivated until the
switching condition for the standstill control has been re
ached again.
Attention: At the end of a positioning task, the drive comes to
a standstill due to static friction. For this reason, the standstill
force can also vary in the range of the static friction. The force
which is displayed at standstill therefore varies from stroke to
stroke.
3−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.1.4
Quality classes
For positioning or force tasks, the respectively specific quality
classes are used.
This way, conditions are defined for which a task is signaled
as being completed.
Quality class
Description
Exact stop
The task is completed when the drive is within the tolerance for the
duration of the monitoring time (in the case of position control, it is
nearly stopped − final speed check).
Fast stop
The task is completed as soon as the drive is within the tolerance.
Tab.3/1: Quality classes
MC (Motion Complete, SPOS.MC) is only output when the
record or task is completed according to the quality class.
See section 3.1.6.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−11
3. Drive functions
3.1.5
Handling the clamping unit or brake
On the VPWP there is a digital output available for controlling
a clamping unit or brake.
No clamping unit/brake configured
No clamping unit has been configured in the factory settings
(PNU 1143:03 = 0). The digital output on the VPWP always
delivers 0 V.
Clamping unit/brake configured
If a clamping unit is configured (PNU 1143:03 = 1), the
clamping unit is controlled exclusively by the control bit
CCON.BRAKE, i.e. the clamping unit is always controlled only
by the PLC. The CMAX never switches the VPWP output by
itself.
Note
For the CMAX to have a correct control function, it is im
perative that the clamping unit or brake be connected with
the following logic (see also CMAX system description):
Pin 2: 0 V = clamping unit/brake closed
Pin 2: 24 V = clamping unit/brake open.
3−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
CCON.BRAKE control logic
In the factory settings, the control logic is low active,
i.e. the clamping unit/brake is closed for CCON.BRAKE = 0.
The switching output on the VPWP delivers 0 V
With PNU 522:02, the control logic can be inverted.
See Tab.3/2.
CCON.BRAKE control logic
Control
VPWP
Clamping unit
PNU 522:02
CCON.BRAKE
Output
Status
Low active:
= 0:
0 Brake active for CCON.BRAKE
CCON BRAKE = 0 (default)
=0
0V
closed
=1
24 V
open
High active:
= 1 brake active for CCON
CCON.BRAKE
BRAKE = 1
(CMPX−compatible)
=0
24 V
open
=1
0V
closed
Tab.3/2: CCON.BRAKE control logic
Note
The CMAX always sets the switching output on the valve to
0 V directly when the task for activating the brake is de
tected (except if the controller is activated at the same
time. See below). The brake then becomes active directly,
even if the drive is still moving or a force has built up.
· Make sure that the clamping unit/brake allows this
operating state.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−13
3. Drive functions
Switch−on behaviour:
Since the clamping unit/brake is low−active by default, it is
closed at switch−on (as long as CCON.BRAKE = 1 is set).
If the clamping unit/brake is configured to be high−active, this
remains closed until the first negative edge at CCON.BRAKE
or the first drive enable. This prevents the brake from being
released unintentionally, e.g. when all PLC data are set to 0
initially at switch−on.
Setting and releasing the brake
When the controller is disabled, setting and releasing the
brake is transferred directly to the clamping unit/brake with
out any further CMAX reaction.
If the controller is activated while the clamping unit/brake is
closed, the CMAX goes over to force control with a force set
point of 0 after enabling.
If the operation enable (CCON.STOP = 1) is activated and
the brake is opened at the same time or later, before the
Operation enabled" response (SCON.OPEN), 50 msec are
waited, which the brake/clamping unit requires to open
mechanically. A start is only possible after this. See Fig.3/3.
If the controller has the Operation enabled" status
(SCON.OPEN = 1), the closing of the brake has the same ef
fect as resetting CCON.STOP. The Operation enabled" status
is exited with a stop. When standstill is reached, force control
is activated with a force setpoint of 0.
Note
The controller takes the workpiece mass of the last task
into account. If the mass specification is incorrect (e.g.
workpiece mass has changed), when the clamping unit/
brake is released, there could be compensational move
ment.
3−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Enable drive
CCON.ENABLE
1
Stop
CCON.STOP
1
Release brake
CCON.BRAKE
1
Start
CPOS.START
1
Drive enabled
SCON.ENABLED
1
Operation enabled
CCON.OPEN
1
Output Pin 2
0
0
0
0
0
0
24V
0V
Brake status
open
closed
50 ms
Fig.3/3: Open brake" sequence
An overview of different cases for setting and releasing the
brake is shown in Tab.3/3.
An overview of different cases for for activating and deactivat
ing the controller is shown in Tab.3/4.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−15
3. Drive functions
Status, action
Sequence or status for ...
opening the brake
closing the brake
Controller is disabled
Brake output (pin 2) = 24 V
Brake output (pin 2) = 0 V
Activate controller simulta
neously
1. Brake output (pin 2) = 24 V
2. Position control with
Set = Actual
3. SCON.ENABLED = 1
1. Position control with
set = actual
2. SCON.ENABLED = 1
3. Brake output (pin 2) = 0 V,
simultaneously force control
with 0 force
Controller is active
Brake output pin 2 = 24 V, simul
taneously switch from force con
trol to position control with stop
and set/actual comparison
1. Brake output (pin 2) = 0 V,
simultaneously stop with set/
actual comparison
2. Force control with 0 force
Disable controller simulta
neously
Brake output pin 2 = 24 V, dis
able controller simultaneously
(SCON.ENABLED = 0)
1. Disable controller
(SCON.ENABLED = 0)
2. Brake output pin 2 = 0 V
Tab.3/3: Behaviour when setting and releasing the brake
Status, action
Sequence or status for ...
Activating the controller
Disabling the controller
Brake is closed
1. Position control with
Set = Actual
2. SCON.ENABLED = 1
3. Force control with 0 force
Disable controller
(SCON.ENABLED = 0)
Brake is open
4. Position control with
Set = Actual
5. SCON.ENABLED = 1
Disable controller
(SCON.ENABLED = 0)
Tab.3/4: Behaviour for activating and deactivating the controller
3−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.1.6
Motion Complete (MC)
Motion Complete (MC) defines whether a positioning task is
active. Motion Complete rules:
MC = 0 is set at the start of a positioning task, and this
before ACK = 1 for:
Start record or direct mode
(position or force control)
Jog mode
Start homing
Identification and movement test.
MC = 0 is not set for:
Stop
Disable controller
MC = 1 is set:
if the MC condition for the started positioning task is
met (compare this with the list of positioning tasks
when MC = 0 is set).
if the drive has been stopped or disabled and
speed = 0.
MC is set after device has been switched on for the
first time (status Drive (controller) disabled")
In the case of force control, the breakaway force can re
sult in the MC condition possibly being met already at the
beginning of the task. Here, the criteria for the MC condi
tion can be influenced by the monitoring time, tolerance,
and other parameters.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−17
3. Drive functions
Position control
The Motion Complete (MC) signal indicates whether the last
started task has been ended. It is made up of several logical
conditions. See Tab.3/5 and Fig.3/4.
Condition
Description
Permanent entry in tolerance
window for position
The actual position reaches the tolerance window and does not
exit it again during the set monitoring time. The monitoring time
(PNU 1154) can be configured in expert mode with the FCT
(controller data −> position controller). The tolerance window
corresponds with the target position +/− the currently set tolerance.
Permanent entry in tolerance
window for speed
The actual speed reaches the speed tolerance window and does not
exit it again during the set monitoring time. The monitoring time is
the same as for the position (PNU 1154). The tolerance window is
equivalent to +/− 4 mm/s.
Starting timeout
(fault E31)
After starting the setpoint curve, the axis must have moved by at
least 11 mm within the timeout time (PNU 1153). Otherwise, the
CMAX signals a starting timeout.
Positioning timeout
(fault E30)
At the end of the setpoint curve, the position and speed conditions
must be met. If one of the two conditions is not met by the end of
the timeout time (PNU 1153), the CMAX signals a positioning time
out.
Tab.3/5: Conditions for Motion Complete
For the quality class Fast stop", MC is set as soon as the
actual position has reached the tolerance window position.
The monitoring time is not waited and the speed condition is
not taken into consideration. That means that the axis might
still be moving when MC occurs. It is possible that the toler
ance could be exited again.
Due to the fast stop, the positioning time is shortened accord
ingly (= time to MC). This is suitable for positions which do
not require high precision.
3−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
aJ
3
aJ
1
2
4
aJ
5
6
aJ
7
8
9
SPOS.MC
1 Position target setpoint
6 Start of the setpoint curve
2 Position setpoint value/actual value 7 End of the setpoint curve
3 Positioning tolerance
8 1. timeout (as starting timeout)
4 Speed setpoint value / actual value 9 2. timeout (as positioning timeout)
5 Speed tolerance
aJ Monitoring time
Fig.3/4: Motion Complete (position control)
Information regarding monitoring time in Fig.3/4:
Setting with PNU 1154, default = 30 ms.
Setting with FCT only in expert mode under controller
data, position control, monitoring time.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−19
3. Drive functions
Force control
In the case of force control, the MC conditions correspond to
those of position control, and correspondingly refer to the
force setpoint and force tolerance.
Special features:
3.1.7
No MC is output during the speed control phase (see sec
tion 3.1.2).
Timeout: PNU 1163.
No speed monitoring (i.e. the drive can move).
No standstill warning.
No starting timeout (function is covered by pressure
monitoring, see fault E50).
Dynamically updated controller status bits MOV, DEV and STILL
The status byte SPOS delivers three dynamically updated
controller status bits.
Bit
Description
SPOS.MOV
Axis is moving
SPOS.DEV
Following error / outside of tolerance
SPOS.STILL
Standstill warning
Tab.3/6: Controller status bits
3−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Movement monitoring (SPOS.MOV)
The bit SPOS.MOV indicates that the drive is moving. For this,
CMAX checks whether the speed signal exceeds the internal
limit (4 mm/s).
The internal status Drive in motion" is additionally filtered
with the switch−off time to simplify the evaluation in a PLC
program.
1 Target setpoint value 1
2 Reference setpoint
value
2
3
3 Actual value
4 Speed
4
5 Speed tolerance
5
6 Motion Complete
(SPOS.MC)
7 Internal status
6
Drive in motion"
8 Axis is moving
7
(SPOS.MOV)
9 Switch−off time TOFF
8
9
99
Fig.3/5: Movement monitoring
Overview of parameters involved
Parameters involved
Description
PNU
Speed tolerance (fixed: ±4 mm/s or 0.16 in/s)
Switch−off time TOFF (fixed: 30 ms)
Tab.3/7: Parameters involved in movement monitoring
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−21
3. Drive functions
Following error or tolerance monitoring (SPOS.DEV)
The bit SPOS.DEV (deviation" = control fault) indicates that
the control fault (i.e. SET/ACTUAL deviation) has exceeded a
certain value. The permissible deviation depends on the
movement status of the drive.
During positioning (MC = 0): Following error
After reaching Motion Complete: Tolerance window
There is no difference between the behaviour of position and
force control. Only the parameters and signals used are dif
ferent. The following figure shows the principle. The designa
tions refer to position control.
1 Target setpoint value 1
2 Reference setpoint
2
value
3
3 Actual value
4 Position tolerance
5 Following error toler
ance
6 Control faults
7 Motion Complete
(SPOS.MC, B2)
8 Deviation
4
5
4
5
6
4
5
4
5
(SPOS.DEV, B5)
9 Following error
aJ Outside of position
ing tolerance
7
8
9
aJ
Fig.3/6: Following error or tolerance monitoring
3−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Regarding Fig.3/6:
1 to 3: Setpoint value and actual value curves. The setpoint
value here refers to the reference setpoint value which is gen
erated by the trajectory planning.
4 to 6: Enlarged illustration of the control fault and the two
tolerances. The following error tolerance (11 mm) is much
greater than the positioning tolerance (0.1 to 10 mm or 0.004
to 0.394 in).
7: The MC signal determines which tolerance is used.
Overview of parameters involved (see section 5.4.6)
Parameters involved
Description
PNU
Position control
Target setpoint value: Target position
300:02
Output of the reference setpoint value generator − position
1)
Actual value: Actual position
300:01
Current deviation: Position deviation
300:03
Following error tolerance (fixed: 11 mm or 0.43 in)
Positioning tolerance
411:xx or
545
Target setpoint value: Target force
301:02
Output of the reference setpoint value generator − force
1)
Actual value: Actual force
301:01
Force deviation
301:03
Following error tolerance (fixed: 5 N or 1.12 lbf )
Force tolerance
411:xx
or 552
Force control
1)
No parameter defined, but available in trace
Tab.3/8: Involved following error or tolerance monitoring parameters
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−23
3. Drive functions
Standstill monitoring (SPOS.STILL)
The standstill warning bit indicates whether the drive has
moved again since reaching Motion Complete.
SPOS.STILL
Description
=0
No movement
=1
Warning: Drive moved after MC.
The bit remains set until the next start.
Tab.3/9: Standstill monitoring states
Properties:
3−24
Standstill monitoring is activated as soon as SPOS.MC = 1
is set. It is only executed when position control is active.
If Fast stop" is configured, standstill monitoring is deacti
vated (i.e. a standstill warning is not initiated, even if the
drive is still moving after MC).
Speed condition: The warning is set if the drive moved for
longer than a filter time TF of 30ms. The filter time pre vents the warning from being initiated due to noise, etc.
Position condition: The warning is set if the drive has
moved relative to the MC position by more than half
the positioning tolerance, but at least by 0.1 mm or
0.004 in/s (=standstill tolerance). Here, the drive may
move outside of the actual positioning tolerance.
One of the two conditions must be met in order for the
warning bit to be set. Here, no warning is entered in the
diagnostic memory. The warning bit is reset when the next
positioning task is started.
SPOS.STILL is reset when the controller is disabled.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
1 Target position
2 Reference position
3 Actual position
4 Position tolerance
1
2
4
5
3
5 Standstill tolerance
6 Speed tolerance
6
7 Standstill monitoring
7
active
8 Motion Complete
(SPOS.MC, B2)
8
9
9 Standstill error
(SPOS.STILL)
aJ
aA
aJ Position condition met: Standstill tolerance exited
aA Speed condition met: Drive movedfor30 ms.
Fig.3/7: Standstill monitoring
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−25
3. Drive functions
Overview of parameters involved (see sections 5.4.4, 5.4.5, 5.4.12)
Parameters involved
Description
PNU
Current setpoint position
300:02
Actual position
300:01
Target position window = current tolerance 4
411:xx
or 545
Standstill position window = current tolerance * 0.5 5
But at least 0.1 mm.
0.5 *
(411:xx
or 545)
Monitoring time
1132:04
Start (FHPP)
SPOS.MC = positive edge: Motion Complete
Acknowledgement
(FHPP)
SPOS.STILL = 1: The drive has moved outside the standstill tolerance win
dow
Tab.3/10: Parameters involved in standstill monitoring
3−26
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.1.8
Limitation of setpoint values
In order to position quickly without overshoots when reaching
the position or force setpoint value, CMAX limits setpoint
values for accelerations, etc. which are too high.
During dynamic identification it is determined what maximum
acceleration values allow for overshoot−free positioning.
These values can lie under the physically achievable acceler
ations and decelerations, depending on the mass, starting
and target positions, etc. The setpoint values specified by the
user for the speed and acceleration are limited to the maxi
mum values determined independently by the CMAX during
positioning.
The CMAX generates a data record during a positioning task,
which compares the user setpoints with the maximum values
determined by the controller. In the FCT, the used values can
be displayed under the Limits" tab in expert mode.
If dynamic identification is not carried out, the maximum per
mitted values for acceleration must be determined by the
user. By using these determined limits as setpoint values,
overshoot−free positioning is guaranteed.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−27
3. Drive functions
Position control
If a setpoint curve is generated based on acceleration set
points which the drive can’t follow, this can lead to over
shoots at the target position.
With dynamic identification, the maximum attainable speed
as well as the acceleration and deceleration ability of the
drive system are ascertained.
The goal is to make overshoot−free positioning behaviour
possible during positioning.
Examples can be found in the online help of the FCT CMAX
plug−in.
Force control
The target force and force ramp are limited during force con
trol.
Analogue to position control, the start and target values are
displayed on the FCT.
The target value is always the target force. The starting value
is the last setpoint value. If position control was active, the
last setpoint value is always 0 N.
The starting and target positions are also valid, but are not
displayed by the FCT.
The respective actual position is used here.
3−28
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Parameter for limiting values
The parameter for limiting values (PNU 1173) contains a
structure with the values required for display. When the
CMAX has defined values, it sets the bit in the status word to
New values available".
PNU 1173: Limiting values
Index Status value
Unit
EI 1)
Description
1
Status word
Status, record number and additional information:
Bit:
Description
0
= 1: New values available
1
= 1: Acceleration has been limited
2
= 1: Deceleration has been limited
3
= 1: Speed has been limited
4
= 1: Force setpoint has been limited
5
= 1: Force ramp has been limited
6 to 15 Reserved
16 to 23 For record select mode: Number of the last
executed record.
24
= 0: Record select mode
= 1: Direct mode
25
= 0: Position setpoint
= 1: Force setpoint
26
= 0: Free profile
= 1: Automatic profile
27 to 31 Reserved
2
Starting posi
tion
Position
1
Starting position (actual position at start)
3
Target posi
tion
Position
1
Target position for position control, end position for force
control
4
Acceleration
setpoint
Accel.
7
That is the acceleration setpoint desired by the user.
5
Maximum
acceleration
Accel.
7
The maximum possible acceleration determined by the
controller. The maximum acceleration is determined from
identification data and depends on the mass, start and
target position.
6
Deceleration
setpoint value
Accel.
7
That is the deceleration setpoint desired by the user.
1)
Units index
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−29
3. Drive functions
PNU 1173: Limiting values
Index Status value
Unit
EI 1)
Description
7
Maximum de
celeration
value
Accel.
7
The maximum possible deceleration determined by the
controller. The maximum deceleration value is deter
mined from identification data and depends on the mass,
start and target position.
8
Speed set
point
Speed
6
That is the speed setpoint desired by the user.
9
Maximum
speed
Speed
6
The maximum possible speed determined by the con
troller. This speed is calculated from the acceleration and
deceleration.
10
Target force
Force
3
For force control only: Target force.
11
Maximum
force value
Force
3
That is the maximum possible force which the drive can
produce. This value depends on the mass and direction in
which the force is acting (not for horizontal configur
ation).
Without mass compensation (horizontal), the maximum
force is 90% of the nominal cylinder force.
12
Force ramp
setpoint value
Force
ramp
8
The set ramp specified by the user
13
Force ramp
maximum
value
Force
ramp
8
The maximum force ramp determined by the controller.
14
Starting force
Force
3
For force control only: Starting force (last setpoint value)
1)
Units index
Tab.3/11: Limiting values
3−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
When is there reliable data in the parameter values?
The bit 0 of the status word must be set. If the bit is not set,
the information which follows in the structure does not be
long together. It comes from different positioning operations,
or the data was not yet completely initialised.
Once the values have been determined, they remain in the
CMAX until the FCT reads them out. Resetting the bit 0 in the
status word by the FCT allows the CMAX to overwrite the old
values again.
Exception
Depending on the positioning type, the individual values are
filled at different times. In the event of an error or stop, the
information might already be available, but it also might not.
The values are initialised during switch−on and after identifi
cation. Otherwise, the last entry always remains there.
Record chaining
Also, during record chaining, a maximum of one record can
be in the controller at any one time. According to the above−
described handshake, it is a question of time when the FCT
has read out the data and the CMAX can fill the structure with
new data. Without a relatively long waiting time (seconds)
between two consecutive records, the FCT cannot display the
limit values of both records.
The user has no way of controlling the read−out. If the data
from the second record are to be determined, this must be
carried out individually or with a correspondingly long pause.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−31
3. Drive functions
3.2
3.2.1
Commissioning operations
Movement test
The movement test is for detecting defects in the tubing con
nection.
Note
If the tubing connections of the VPWP get mixed up, the
control direction is reversed. When activating the con
troller, the drive would move at maximum speed into the
end position.
Carry out the movement test in the following cases:
·
During commissioning after parametrisation. The CMAX
expects the movement test to be carried out after
parametrisation and indicates this by showing C03 on
the display.
·
When components are exchanged or the tubing connec
tion has been disconnected and reconnected.
Special cases:
3−32
If the movement test is to be skipped (not recommended),
the status of the movement test must be set accordingly.
The movement test status is automatically reset by the
CMAX in the event of faults E01 and E08.
If a movement test is to be carried out at a later time
(e.g. after exchanging hardware), the status of the move
ment test might have to be reset manually.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Carrying out the movement test
The movement test must be carried out without activating the
controller. The valve is only controlled here. The valve control
value is then calculated independently of any deviation. In
stead, a chamber of the cylinder is deliberately pressurized
until the drive moves. Based on the position change, it is de
cided whether it moved in the right direction.
1. To carry out the movement test, it must be enabled
(CCON.ENABLE = 1, CCON.STOP =1). The Status move
ment test" parameter (PNU 1174) contains a flag (bit 0)
for the executed movement test. If bit 0 has the value 0,
the controller remains inactive, even if the CMAX is en
abled. The CMAX still signals back the status enabled".
2. If a clamping unit is configured, this must be released
before beginning the movement test.
Note
Especially with a vertical configuration, releasing the
clamping unit with the controller deactivated can lead to
the drive dropping down directly after starting or even
during the course of the movement test.
· Make sure that this does not pose a safety risk.
· Recommendation for vertical operation: Deliberately
allow the drive to drop down to a stop or into the end
position before starting the movement test.
3. With the positive edge at CPOS.START, the movement test
is started when commissioning operation number 2 is
registered. The two parameters must have the value 0
here. When another function or positioning is started, the
error E14 is signaled.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−33
3. Drive functions
4. The CMAX then starts an internal sequence where the
valve control values are directly specified and a corre
sponding evaluation is carried out based on the reaction
of the drive. Finally, the result is stored in the Status
movement test" parameter. The end of the movement test
is signalised with SPOS.MC = 1.
If the tubing connection is correct, the controller is enabled at
the end of the movement test.
Here, bit 0 in the movement test status is automatically set
to 1 by the CMAX. The CMAX display changes to 000".
If the tubing connection is incorrect of if no clear result was
determined, bit 0 remains 0. The controller is not enabled and
error message E13 or E15 is output.
PNU 1174: Status movement test
Bit
Description
0
= 0: Movement test must be carried out
= 1: Movement test does not have to be carried out
1
= 0: Movement test was not carried out
= 1: Movement test was carried out
2
= 0: Result of the movement test is not clear
= 1: Result of the movement test is clear
3
= 0: Tubing connection error
= 1: Tubing connection OK
4
= 0: Movement test was not skipped
= 1: Movement test was skipped
5 ... 31
Not relevant (reserved)
Tab.3/12: Status movement test
3−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
The status of the movement test can be influenced by writing
the commissioning operation parameter (PNU 1192:07):
= 1: Movement test is reset and must be carried out again.
= 2: Movement test is set to does not have to be executed"
and is therefore skipped.
The parameter can only be written when the CMAX is in com
missioning mode and there is no enable.
Typical causes of error in application
If bit 0 in the Movement test" parameter (PNU 1174) has
the value 0, the CMAX can only execute a movement test.
Every other task (e.g. identification, jogging, etc.) leads to
an error.
Information for a correct tubing connection
Valve control value
Ventilation Exhaust
The drive
−100%
1 −−> 4
2 −−> 3
... moves in the direction of decreas
ing actual values
0%
Closed
Closed
... does not move
+100%
1 −−> 2
4 −−> 5
... moves in the direction of increas
ing actual values
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−35
3. Drive functions
3.2.2
Homing
For drives with incremental measuring systems, homing must
have been carried out before a positioning task can be done.
Homing can be carried out in each supported operating mode
except for parametrising mode.
The drive references with respect to a stop or, as a special
case, the current position. Reaching the stop is detected
when the piston comes to a standstill. Here, the possibility
that this standstill was caused by a lack of air pressure must
be ruled out.
Since the axis zero point for pneumatic axes must fundamen
tally be placed at the cylinder zero point, the drive (as op
posed to electric drives, for example) does not automatically
move to this zero point.
For a description of the homing methods, see section 3.2.4.
General homing information
3−36
The axes lose their reference:
when switched off, reset, etc.
possibly when there are errors in the sensor interface
or axis string
when homing is started again.
If the drive has a position measuring system with an abso
lute encoder, homing is not possible. An edge at the
CPOS.HOME input leads to a fault. No movement is in
itiated.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.2.3
Homing sequence and parametrisation
The drive references with respect to a stop (or the current
actual position).
Sequence (does not apply to referencing at the actual
position):
1. Reset the homing status to Homing not executed".
2. Search for the reference point (mechanical stop).
3. Wait for standstill for 500 ms. Afterwards, the pressurized
cylinder chamber must have a chamber pressure measur
ing at least 2/3 of the set operating pressure.
4. Determine the axis zero point/cylinder zero point by
setting the corresponding offset to the reference point
(current position = 0 + project zero point offset).
5. After reaching the stop, the CMAX sets the status
SPOS.REF = 1. The end of homing is signalised afterwards
with SPOS.MC.
Overview of parameters involved (see also section 5.4.12)
Parameters involved
Description
PNU
Axis zero point offset
1130
Homing method (permissible: −18, −17, 35)
1131
Homing speed
1132
Start (FHPP)
CPOS.HOME = positive edge: Start homing
Acknowledgement
(FHPP)
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MC = 1: Movement completed
SPOS.REF = 1: Drive referenced
Tab.3/13: Parameters involved in homing
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−37
3. Drive functions
The axis zero point offset has a great influence on CMAX con
troller optimisation. Even small values (a few mm) must be
specified as exactly as possible:
The distance between the used stop (of the reference
point) and the cylinder end position (retracted piston rod)
is measured as the offset and entered as a negative value.
When the piston rod is completely retracted (cylinder end
position) the value 0 must be entered as the offset.
Note
If the offset is imprecisely entered, the drive could end up
vibrating strongly depending on the setting of the involved
parameters.
· Always carry out identification again after the offset has
been corrected.
3−38
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.2.4
Homing run methods
The homing methods are oriented towards CANopenDS 402.
Homing methods
Hex
Dec
Description
23h
35
Current position
· The current position is saved as the reference
point.
There is no movement, not even for checking
whether pressure is applied.
EFh
−17
Negative stop
· Run at homing speed in negative direction to
stop. This position is saved as a reference
point.
EEh
−18
Positive stop
· Run at reference speed in positive direction to
stop. This position is saved as a reference
point.
Tab.3/14: Overview of homing methods
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−39
3. Drive functions
3.2.5
Identification and adaptation
During identification, mainly those parameters are deter
mined which are influenced by component fluctuations (e.g.
valve covers, cylinder friction) or unknown installation factors
(e.g. tubing connection, external friction), but the knowledge
of which is important for the controller function.
For a good identification result, all boundary conditions must
be correctly set, especially the basic data (mass without
workpiece and workpiece mass, supply pressure, etc.), as
well as the mechanical drive characteristics (especially the
axis zero point offset).
Repeat the identification if one of these parameters changes
during operation.
When does identification have to be carried out?
Identification is required during commissioning, when the
valid configuration data changes or when certain components
are exchanged (see Exchanging components", section
A.3.2). If the CMAX detects a corresponding change when
comparing the set with the actual configuration, a correspon
ding error message is generated and the controller is not acti
vated.
You must decide for yourself whether the identification data
should be reset. E.g., after a fault due to mixed up axis
strings, the identification data can continue to be used after
changing them back.
3−40
The CMAX signals a warning if identification should be
carried out due to a change.
The CMAX signals a fault if identification must be carried
out due to a change.
The identification status parameter (PNU 1171) contains
information about the identification status.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Static identification
With static identification, characteristics are ascertained
which have an effect on the behaviour of the system at the
beginning and end of the movement as well as on that of the
standstill control. This includes static friction of the drive and
the valve characteristics in the range of the mid−position
(valve hysteresis).
Dynamic identification
With dynamic identification, the maximum attainable speed
as well as the acceleration and deceleration ability of the
drive system are ascertained.
This identification must be carried out in the case of axes
which should move at maximum speed (automatic profile).
If the mass changes considerably during operation, identifica
tion should be carried out both with and without the work
piece.
The dynamic part of the identification can be deactivated.
This is important for cases where the structure cannot with
stand dynamic stress.
No maximum values for the system speed and acceleration
are determined without the dynamic identification having
been carried out. For tasks with an automatic profile", a
warning (W17) is output and the task is carried out with a
free profile" and the valid specified values.
The user determines the moving behaviour of the axis with
the acceleration values. It might be necessary to manually
optimise these values.
Carrying out identification
Only for pneumatic drives with incremental position measur
ing system (e.g. type DNCI−...):
Homing must be carried out before the identification run.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−41
3. Drive functions
Identification sequence
During static identification, the axis first moves to the middle
of the nominal stroke and carries out smaller movements in
both directions.
If the middle of the nominal stroke cannot be approached due
to the software end position, the CMAX moves close to the
software end position in question at the start of static identifi
cation.
For dynamic identification, there should be at least 100 mm of
free space available for movement.
The axis moves in the entire traversing range:
No software end positions parametrised:
The axis moves in the entire nominal stroke of the drive
with a safety distance of about 10% of the nominal stroke
to the stops.
Software end positions parametrised:
The axis moves in the entire defined effective stroke up to
the software end positions.
The identification run consists of several steps:
1. Static identification.
2. Dynamic identification (if configured).
3. If dynamic identification has been carried out: Determina
tion of the maximum values for acceleration and deceler
ation for a stroke of 90% of the effective stroke in both
directions.
3−42
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Carrying out identification
1. Set commissioning mode.
2. Prepare identification:
Set commissioning operation 1.
Parameter 1 = 0.
Parameter 2 = current workpiece mass in system of
units
3. Start with CPOS.START.
4. Wait for SPOS.MC.
5. The CMAX enters the identification result in the identifica
tion status (PNU 1171).
PNU 1171: Identification status
Bit
Description
0
= 0: Identification was not yet carried out
= 1: Identification was carried out at least once
1
= 0: Static identification results not available.
= 1: Static identification carried out successfully.
2
= 0: Dynamic identification results not available.
= 1: Dynamic identification carried out successfully.
3 ... 31
Not relevant (reserved)
Tab.3/15: Identification status
Notes:
If the mass changes considerably during operation,
identification should be carried out both with and without
the workpiece.
If the identification run is interrupted while in progress,
static or dynamic identification data determined up to
that point remains active.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−43
3. Drive functions
Resetting identification
The identification data can be reset manually with
PNU 1192:03. See section 5.4.16.
The adaptation data is also reset here.
Recommendation:
After exchanging components or changing parameters, the
identification data should be reset before carrying out a new
identification run.
Adaptation
After successful identification, the adaptation values are
automatically determined during operation.
Adaptation is able to independently improve non−optimal
control behaviour. The reason for poor control behaviour in
small tolerance windows are long−term effects and impre
cisely identified values.
Deactivating adaptation
Adaptation can be deactivated via the parametrisation. That
usually isn’t required in any configuration. Only in extremely
rare cases does adaptation lead to worsened positioning be
haviour.
Important: Not every deterioration in the positioning behav
iour is due to faulty adaptation. Wear or weak construction
can also lead to the positioning times gradually being pro
longed, for example, or even the number of E30 messages
piling up. For this reason, one should only deactivate adapta
tion if this is justified.
3−44
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Faulty adaptation could be the reason for the following be
haviour:
After commissioning, the positioning behaviour gradually
deteriorates. The positioning times become longer and
the machine cycle gets bigger. E30 errors occur more
often.
After identification, the behaviour drastically improves
without making any other changes. Afterwards, however,
it begins to deteriorate slowly again until identification is
carried out again.
In these cases, adaptation could be responsible. If this is your
guess, deactivate adaptation and carry out identification
again afterwards.
If the positioning behaviour doesn’t change again afterwards,
adaptation was probably the cause and should remain deacti
vated.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−45
3. Drive functions
3.2.6
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:
Moving to teaching positions
Moving the drive out of the way (e.g. after a system fault)
Manual traversing as a normal operating mode (manually
operated feed).
Sequence
1. When one of the signals Jog positive / Jog negative"
(CPOS.JOGP/CPOS.JOGN) is set, the drive starts to move
slowly (creeping phase). Due to the slow speed, a position
can be defined very accurately.
If JOGP and JOGN are set at the same time, JOGN has
priority.
2. If the signal remains set for longer than the configured
creeping period, the speed is increased until the confi
gured maximum speed is reached. This way, large strokes
can be traversed quickly.
3. If the signal changes to 0, the drive will be braked with
the maximum set deceleration.
4. The drive stops automatically if it reaches a software end
position. The software end position is not passed; the
travel for stopping is taken into account in accordance
with the set ramp. Here, too, Jog mode is only exited again
after CPOS.JOGx = 0.
3−46
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
1 Creeping speed
2
(slow travel)
2 Maximum speed
Speed v(t)
3 Acceleration
1
4 Deceleration
5 Creeping period
3
4
t [s]
CPOS.JOGP or
CPOS.JOGN (Jog
positive/negative)
1
0
5
Fig.3/8: Sequence diagram for jog mode
Special operating states
Before referencing, jogging is only possible at reference
speed.
If the drive is outside of the software end positions,
jogging can be used to move it into the allowed range.
If the drive is outside of the software end positions and is
not in commissioning mode, the drive stops if it is to be
moved further out by jogging. No diagnostic message will
be output.
If the software end positions are deactivated, the drive
moves to the hardware end positions.
In commissioning mode, the software end positions can
be passed. Here, the drive first stops at the software end
positions. Jogging must be restarted at the end position.
The drive moves at creeping speed to the hardware end
positions by means of an edge( } teaching the software
end positions).
When the software end positions are passed, warning
W35 is signaled.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−47
3. Drive functions
If the CMAX determines that the axis came to a standstill
before reaching the target position (software end position
or hardware end position), e.g. due to a stop or obstacle,
the drive is stopped.
CPOS.JOGN has priority. If JOGP and JOGN are set at the
same time, the negative direction is moved in.
Timeout during jogging
The timeout during jogging is not caught, independent of the
operating mode. If the axis is clamped and isn’t moving at all,
error E31 (no movement after start) is generated.
If the CMAX determines that the axis came to a standstill be
fore reaching the target position (software end position or
hardware end position), e.g. due to a stop or obstacle, error
E30 (target position cannot be reached) is signaled.
Errors E31 and E30 can occur both during the creeping run as
well as during the maximum speed phase. This is because
CMAX executed two positioning tasks internally.
Since the drive can jog up to the hardware end position in
commissioning mode, the timeout here is possible in prin
ciple. Jogging up to the hardware end position is for teaching
the software end positions or the project zero point. Reaching
the stop might very well be desired here.
To avoid a timeout here, the status bit SPOS.MOV should be
evaluated. If this is a logic 0 for at least 50 ms, jogging should
be terminated.
3−48
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Overview of parameters involved (see also section 5.4.7)
Parameters involved
Description
PNU
Jog mode, creeping speed
530
Jog mode, maximum speed
531
Jog mode, acceleration
532
Jog mode, deceleration
533
Jog mode, creeping period in ms
534
Mass during jog mode
536 / 605 1)
Start (FHPP)
CPOS.JOGP = positive edge: Jog positive (towards increasing actual
values)
CPOS.JOGN = negative edge: Jog negative (towards decreasing actual
values)
Acknowledgement
(FHPP)
SPOS.MOV = 1: Drive is moving
SPOS.MC = 0: (Motion Complete)
1)
Depending on the parametrisation (PNU521), the default value is used for the workpiece mass.
See section 5.3.
Tab.3/16: Parameters involved in jog mode
The ratio of the speeds to one another is not limited. PNU 531
can be less than or equal to PNU 530.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−49
3. Drive functions
3.2.7
Teaching
The following values can be taught:
Setpoint values in the record list (record selection)
Project zero point and software end positions (commis
sioning).
Setpoint value sequence in the record list
Position or force values can be taught. The existing setpoint
values are overwritten here. The type is determined by the
control mode in record control byte 1 (RCB1).
1. Set record select mode
(OPM2 = 0 + OPM1 = 0).
The record number (PLC output data, byte 3) must be
set on the record which is to be taught. It is trans
ferred to CPOS.TEACH with a positive edge.
If a force value is to be taught, the control mode must
be set to force" in record control byte 1 (RCB1).
2. Via jog mode, the drive is put into the desired position by
positioning or manually (by moving by hand in Drive
disabled" state).
3. Teaching is done via the bit handshake in the control and
status bytes CPOS/SPOS (Fig.3/9).
3−50
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
1 PLC:
Prepare teaching
Teach value
CPOS.TEACH
2 CMAX:
1
0
Ready for teaching
1
3 PLC:
Teach now
Acknow−
ledgement
SPOS.TEACH
4 CMAX:
0
1
Value transferred
2
3
4
Fig.3/9: Handshake during teaching
Notes:
The drive must not stand still for teaching. However, a
speed of 1 m/s means that the actual position changes by
1 mm every millisecond. With the usual cycle times of the
PLC + fieldbus + CMAX, there will be inaccuracies of sev
eral millimetres, even at a speed of only 100 mm/s.
It is still possible to teach the setpoint value if a record is
disabled.
If the setpoint value of a non−initialised record is taught,
a corresponding new record is initialised and assigned
default values. Here, the position is fundamentally taught.
Only absolute setpoint values are taught. During teach
ing, bit RCB1.ABS = 0 is therefore set in record control
byte 1 of the taught record.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−51
3. Drive functions
Project zero point and software end position sequence
These values can only be taught in commissioning mode.
The PLC must notify the CMAX what is being taught in the set
parameter 1 (byte 4).
1. Set commissioning mode.
(OPM2 = 1 + OPM1 = 0).
2. The last commissioning operation (e.g. identification)
must have been ended. Teaching is not permissible while
a commissioning operation is active and will lead to a
fault.
3. Via jog mode, the drive is put into the desired position by
positioning or manually (by moving by hand in Drive
(controller) disabled" state).
Note: The software end positions may be passed during
jogging. Outside of the software end positions, the drive
only moves at creeping speed.
4. Enter the teach target in the PLC output data. The function
number (byte 3) is ignored.
I/O data: Commissioning, teach function
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
CCON
CPOS
Function
Param. 1: = 0
Teach
target
Input
data
SCON
SPOS
Function
Param. 1: Primary actual value
Teach
target
Byte 7
Byte 8
Teach target (byte 4)
3−52
Value
Applies to
PNU
What’s taught is
3
500:00
Project zero point
4
501:01
Negative software end position
5
501:02
Positive software end position
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
5. Teaching is done via the bit handshake in the control and
status bytes CPOS/SPOS (Fig.3/9). The teach tar get is
acknowledged in byte 4 of the input data (parameter 1)
with the positive edge at SPOS.TEACH.
Notes:
The drive should be stopped during teaching.
The signaled actual position changes suddenly when
teaching the project zero point.
As long as CPOS.TEACH = 1, the CMAX does not accept
any starting edge. Therefore, no function can be started
during teaching. Jogging is permissible, however.
The acknowledgement of the teach target (byte 4 of the
input data, parameter 1) is reset when there is a:
rising edge at CPOS.TEACH
rising edge at CPOS.START
change in the operating mode (CCON.OPM1/CCON.OPM2)
When teaching the software end position, there should be
no parameter error E09. That means that the upper soft
ware end position must always be greater than the lower
one. If that is not the case, error E44 is signaled and the
taught value is not accepted.
Recommendation: First teach the upper software end
position and then the lower one. If no software end posi
tion has been taught yet, the lower software end position
can also be taught first. The upper software end position
is then automatically set to the upper hardware end posi
tion by the CMAX.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−53
3. Drive functions
Typical errors and warnings during teaching
No.
Type
Cause
W35
Actual position is out The software end positions were passed during teaching.
side of the software
end position
E44
Teaching not possible Teaching cannot be executed. For reasons, see Tab.3/17.
E46
Start during teaching
is not allowed.
Commissioning mode: During CPOS.TEACH = 1, no commissioning
operation can be started. Reason: Both the teaching function as well
as the commissioning operation use parameter 1.
Causes for E44: Teaching not possible
Teaching is not possible in direct mode (no teach target).
Homing not executed
Commissioning: Unknown teach target specified in parameter 1
Record selection: Impermissible record number (0 or > 64)
Record selection: Impermissible control mode preset in the selected record
Commissioning: Teaching lower software end position >= upper software end position is not
permissible
Commissioning: Teaching upper software end position <= lower software end position is not
permissible
Commissioning: Teaching is not permissible while a commissioning operation is being executed.
Tab.3/17: Causes for error E44 during teaching
The cause for E44 during teaching is shown in the diagnostic
memory in accordance with Tab.3/17.
3−54
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.3
Record select operating mode (record select mode)
A record can be started in the Drive enabled" state. This
function is usually used for:
moving to any records in the record list by the PLC
processing a positioning profile by linking records
known target positions that seldom change (recipe
change).
Controller functions
Tab.3/18 shows the suppor ted controller functions during
record selection.
Controller function
is supported
Point−to−point (PTP) positioning
Yes
PTP force control
Yes
Continuous positioning
No
Continuous force control
No
On−the−fly setpoint switching
Yes
Tab.3/18: Supported controller functions
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−55
3. Drive functions
Overview of parameters involved (see also section 5.4.5)
Parameters involved
Description
PNU
All parameters of the record data, see sections 3.3.2,
Tab.3/20
401 ... 412 1)
Default values, depending on PNU 403 1)
600 ... 608
Start (FHPP)
CPOS.START = positive edge: Start
Jogging and referencing have priority.
Acknowledgement
(FHPP)
SPOS.MC = 0: Motion Complete
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MOV = 1: Drive is moving
1)
Depending on parametrisation (PNU403), instead of record data in PNU 406 to 412, the default
values are used from PNU 600 to 608. See section 5.3.
Tab.3/19: Record Select parameters involved
3−56
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.3.1
Start of a record
1
Setpoint record
number
Output data
N−1
N
N−1
N
N+1
0
1
Start
CPOS.START
0
1
Acknowledge Start
SPOS.ACK
0
1
Motion Complete
SPOS.MC
0
1
Actual record
number
Input data
0
1
2
tmin
3
4
5
6
7
tmin: at least 1 bus cycle waiting time. Recommendation: 1 PLC cycle.
Not required if consistent data transmission is used.
Fig.3/10: Record start sequence
1 Set the required record number in the PLC’s output data.
Until the start, the CMAX continues to reply with the num
ber of the record last processed.
SCON.FAULT must be 0 during the entire sequence.
2 If SPOS.ACK (Acknowledge Start) = 0, the PLC can initiate
execution of the record with a rising edge at CPOS.START.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−57
3. Drive functions
3 The CMAX accepts the record number and starts positio
ning, i.e. the setpoint curve.
In the PLC input data, the actual record number is set to
the current record and SPOS.MC is reset.
4 The CMAX signalises with the rising edge at SPOS.ACK
that the PLC output data have been accepted and that the
positioning task is now active.
5 The PLC recognises the acknowledgement SPOS.ACK = 1
in its input data and resets CPOS.START in its output data.
6 CMAX acknowledges the resetting of CPOS.START by re
setting SPOS.ACK.
7 After the PLC has registered SPOS.ACK = 0, it may write
the new setpoint values in its output data. The CMAX
ignores this until the next start.
Once the record or record chain has been ended,
SPOS.MC is set.
Notes
As soon as the PLC detects the rising edge at SPOS.ACK, it
can assume that MC is valid. From the PLC’s point of view,
the falling edge at MC can occur at the same time as the
rising edge at ACK. 3 and 4 then cannot be distin
guished.
In the event of faults, the task might not be acknowledged
with SPOS.ACK (depending on the fault). For this reason,
the SCON.FAULT bit must always be evaluated in addition.
Typical causes of error in applications:
3−58
Referencing has not been carried out.
Selection of an invalid record number or a record that has
not been initialised.
The target value lies outside the software end positions.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Errors in the record parameters, e.g. an impermissible
switching condition (see section 3.3.3).
Subsequent record with active record switching not initia
lised.
If the next record is configured with an automatic profile,
only the condition MC (or none) are permissible. Other
wise, a warning (W37) is signaled and the free profile is
used.
The CMAX does not react to the rising edge at
CPOS.START:
It must be checked whether SPOS.ACK was really reset.
After the PLC sets CPOS.START = 0 (Fig.3/10 6 ), it must
wait for SPOS.ACK = 0 (Fig.3/10 7 ). Otherwise, it may
be that the time for START = 0 is too short to be recog
nised by the CMAX.
Notes regarding force control
If Force control" is set as the control mode with a rising edge
at CPOS.START in RCB1, the CMAX interprets the setpoint
specification as a force setpoint. It activates the force control
and adjusts the value with the parametrised ramp. The speed
is limited to the value in the Velocity" parameter.
When the setpoint value has been reached, taking into ac
count the tolerance, the MC" signal is set. The force is con
trolled again until a new starting edge resets the controller
mode to positioning.
If the stroke or speed limits are exceeded, an error is sig
naled. If there is a stop or error type F1 (controlled), there is a
switch to position control (set = actual, etc.).
Force tasks following positioning tasks with a relative setpoint
value refer to force 0.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−59
3. Drive functions
3.3.2
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 1) Name
Position control
401
Record control byte 1
RCB1
Setting for positioning task:
absolute/relative, position/force control, ...
402
Record control byte 2
RCB2
Record control:
Settings for conditional record switching and record chaining
404
Setpoint value
Position setpoint value
405
Preselected value
Preselected value according to RCB2
406
Speed
Speed
407
Acceleration
Start up acceleration 2)
2)
408
Deceleration
Slow down acceleration 2)
2)
410
Mass
Workpiece mass
411
Tolerance
Position tolerance
Force tolerance
412
Force ramp
not used
Force ramp
1)
2)
Force control
Force setpoint value
The default values are used depending on PNU 403 (RPC). See Tab.3/19.
The acceleration and deceleration parameters are not used for force control.
Tab.3/20: Record parameters
3−60
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.3.3
Conditional record switching / record chaining (PNU 402)
Record select operating mode allows several positioning
tasks to be linked. This means that several records are auto
matically executed one after the other after START. This al
lows a travel profile to be defined, e.g. switching to another
speed after a position is reached.
To do this, a (decimal) condition is set in RCB2 to define that
the following record N + 1 is automatically executed after the
current record.
A numerical value is usually linked with the condition, e.g.
the switching position. This value is defined in PNU 405
(preselected value).
Motion Complete (SPOS.MC) is only set after the last ex
ecuted record.
If the MC condition is reached before the switching condition
is met, the record chain is interrupted and SPOS.MC is set. In
this case, bit 3 in the record status byte (RSB.RCE) is set and
a fault is signaled.
Record switching in record 64 leads to an execution error.
Switching can be suppressed by setting bit B7. In this case,
the CMAX executes the addressed record without an error
message. Switching is ignored, however, and the next record
is not executed.
This function is not meant for normal operation (debugging
function with FCT).
Record control byte 2 (PNU 402)
Bits
0 to 6
Numerical value 0 to 128: Switching condition as a list, see Tab.3/23
Bit 7
= 0: Record switching (bit 0 to 6) is not disabled (default)
= 1: Record switching disabled
Tab.3/21: Settings for conditional record switching and record chaining
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−61
3. Drive functions
Mode of action of the Start, Ack, MC and RCx signals
Signal
Bit
Description
START
CPOS.START
Start of the first record of the record chaining
MC
SPOS.MC
End of the record chain
RC1
RSB.RC1
First record chain executed: After the first switch, bit 0 in the record
status byte (RSB) is set.
RCC
RSB.RCC
Record chain complete: At the end of positioning (MC=1), RCC is set to
show that all parametrised switches were executed.
RCE
RSB.RCE
Record chain error: A record switch has been parametrised which could
not be executed.
Tab.3/22: Record parameters
Special case: Switching between force and position
If there is a record switch with switching from force control to
position control without changing direction, the drive first
stops. This is necessary so that the forces which were built up
before can be relieved.
Only afterwards is the new target position approached.
Restriction: Switching to a record with automatic profile
A record switch to a record with an automatic profile is only
possible with the switch condition MC".
If such a switch is set, a warning (W37) is signaled during
execution and the free profile is used.
3−62
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Defined switching conditions in the CMAX
Value Condition
Description
0
No switch.
1
Reserved
2
Position
The preselected value is inter
preted as the position value 1.
The switch happens as soon as
the current actual position ex
ceeds the preselected value in the
direction of travel 2.
As there is no need to stop, the
drive reaches its target position
quicker.
Speed
Position
1
MC
2
3
Force
The preselected value is inter
preted as the force value 1.
There is a switch when the current
actual force has exceeded the
preselected value 2 .
The first command doesn’t
necessarily have to be a force
command. Example: Slow posi
tioning to the end point. When
the force threshold has been
reached, force control is switched
to.
Force
1
Speed
MC
2
Notes:
The meaning of exceed" is derived from the starting and target values of the
force (analogously to positioning).
When switching from a positioning task: Besides the expected counteracting
force, the force for accelerating the mass and the friction of the system also
determine the current force value, and with this, the switching position.
Therefore, only a small degree of switching position reproducibility is to be
expected in this case. Only when the axis is positioned against a spring force,
for example, and the force which occurs here is more than twice the frictional
forces, including the acceleration force, does the switch result in more−or−
less reproducible behaviour.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−63
3. Drive functions
Defined switching conditions in the CMAX
Value Condition
Description
4
The preselected value is inter
preted as the time T1 1.
Switch: The drive moves slowly up
to the unknown workpiece posi
tion 2 (to the end point) and
stops there 3 .
When a standstill is reached, the
time T1 begins. As soon as this
has elapsed, the next record is
executed 4.
If the drive didn’t move up to
100 ms after the start of the
record (e.g. because it’s already
at the end point), standstill is also
registered and the time T1 is
started.
Standstill
Speed
Workpiece position
2
Position
Drive is moving
1
MC
3
4
Notes:
To avoid a timeout, the configured timeout time is prolonged by the time T1
in this record.
If a standstill is detected, after the time elapses, switching continues, even if
the axis is moving again (no monitoring time).
The axis can not only be stopped with an obstacle (wanted or unwanted), but
also with a lack of pressure.
When switching from a force task: Since the force ramp also determines the
switching point of the force at a standstill, only low reproducibility with re
gard to the position and force value can be expected.
5
Time
The preselected value is inter
preted as the time T1 1.
The time T1 is started at the
beginning of positioning.
The next record is switched to
once the time has elapsed 2.
MC can already be reached here.
Position
Speed
MC
1
2
3−64
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Defined switching conditions in the CMAX
Value Condition
Description
6 ...
10
Reserved
11
Stroke
The preselected value is inter
preted as the stroke 1 (position
difference, with sign). The stroke
refers to the last target position,
not the actual position reached
during the last positioning.
The switch 2 occurs after reach
ing the specified stroke.
If the current record has already
been started by means of chain
ing, the preselected value refers
to the switching position.
If the record is started without
MC, the preselected value refers
to the starting position.
12
MC
The preselected value includes a
waiting time T1 1 in millisec
onds.
The waiting time starts after re
aching the target setpoint value,
i.e. when the MC condition is met.
Switching occurs after this wait
ing time 2 elapses.
Therefore, the axis is at a stand
still for a moment during position
ing, but not necessarily during
force control.
Target position
Speed
Position
1
MC
2
Position
Speed
MC
1
2
Note:
Motion Complete is also not set to 1 for this switching condition while the
record is being processed, but only when the CMAX has carried out the last
chained record.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−65
3. Drive functions
Defined switching conditions in the CMAX
Value Condition
13
Description
Stroke after Switching is only permissible in a
force record.
force
The preselected value is inter
preted as the stroke 1 (position
difference, with sign).
After reaching the MC condition
for the force task 2, monitoring
of the actual position is started.
The switch 3 occurs as soon
as the stroke 1 set in the pre−
selected value has been passed.
The stroke specified in the pre−
selected value refers to the actual
position at the time the MC condi
tion was reached for the force
task 2.
Target force
Force
1
Position
Target position
MC
Monitoring active
2
3
Notes:
The position could be difficult to reproduce and the absolute position is
usually no known or evident because the position at the time the MC condi
tion was met is not output.
The direction of the stroke must agree with the specified direction in which
the force acts. Otherwise, a diagnostic message (W27/E27) is output.
If the stroke or speed monitoring is violated, the current positioning record is
ended and record switching does not occur.
The timeout time (force) begins to elapse when the MC condition is met for
the force task. If the stroke is not reached within the timeout time, the cur
rent positioning record is ended, no record switching occurs, SPOS.MC is set
to 1 and a diagnostic message (W28/E28) is output.
If the timeout time for force control is deactivated (set to 0), the drive waits
indefinitely for the switching position to be reached.
3−66
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Defined switching conditions in the CMAX
Value Condition
Description
14
Switching is only permissible in a
force record.
The preselected value is inter
preted as the position value 1.
Switching occurs as soon as the
current actual position reaches
the preselected value, indepen
dently of whether the MC condi
tion for the force task has already
been met (case 3, signals with
solid lines) or not (case 2, sig
nals with dashed lines).
Attention: SPOS.MC (Motion Com
plete) is not set to 1 during record
processing, but only when the
CMAX has carried out the last
chained record.
Position at
force
Force
1
Switching position
Target position
Position
Target
force
MC
2
3
Notes:
The direction of the switching position with respect to the starting position
must agree with the specified direction of the acting force. Otherwise, a
diagnostic message (W27/E27) is output.
If the stroke or speed monitoring is violated, the current positioning record is
ended and record switching does not occur.
The timeout time (force) begins to elapse again when the MC condition is
met for the force task. If the switching position is not reached within the
timeout time, the current positioning record is ended, no record switching
occurs, SPOS.MC is set to 1 and a diagnostic message (W28/E28) is output.
If the timeout time for force control is deactivated (set to 0), the drive waits
indefinitely for the switching position to be reached.
15 ...
128
Reserved
Tab.3/23: Switching conditions
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−67
3. Drive functions
3.4
Direct operating mode (direct mode)
In the Operation enabled" state (direct mode), a positioning
task is formulated directly in the I/O data, which is trans
mitted by the CPX node (e.g. via the fieldbus). The setpoint
values are reserved in the PLC here.
Typical applications
The function is used in the following situations:
Moving to any position within the effective stroke.
The target positions are unknown during designing or
change frequently (e.g. several different workpiece posi
tions).
A traversing profile consisting of chaining records is not
necessary.
The drive is to continuously follow a setpoint value.
The position setpoints should be reserved in the PLC for
another reason.
Typical causes of error in applications
3−68
No referencing carried out.
Target position or target force cannot be reached or are
outside of the software end positions.
Timeout (target position or target force are not reached).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
Overview of parameters involved (see also sections 5.4.8 and 5.4.9)
Parameters involved
Description
PNU 1)
Position control
Basic speed value 2)
540
Direct mode acceleration
541
Direct mode deceleration
542
Workpiece mass
544
Tolerance
Force control
Basic value for force ramp
545
2)
550
Workpiece mass
551
Force tolerance
552
Damping time in ms
553
Speed limit for force control
554
Start (FHPP)
CPOS.START = positive edge: Start
CDIR.ABS = absolute/relative setpoint value
CDIR.COM1/CDIR.COM2 = control mode (see section 2.2.1)
CDIR.CONT = continuous tracking
Jogging and referencing have priority.
Acknowledgement
(FHPP)
SPOS.MC = 0: Motion Complete
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MOV = 1: Drive is moving
1)
Depending on parametrisation (PNU403), instead of basic values in PNU 540 to 554, the default
values are used from PNU 600 to 608. See section 5.3.
2) The PLC transfers a percent value in the control bytes, which is multiplied by the basic value in
order to get the final setpoint value.
Tab.3/24: Parameters involved, direct mode
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−69
3. Drive functions
3.4.1
Start of a positioning task
1
Setpoint values
Output data
N−1
N+1
N
N+2
0
1
Start
CPOS.START (B1)
0
1
Acknowledge Start
SPOS.ACK (B1)
0
1
Motion Complete
SPOS.MC (B2)
0
1
2
3
4
tmin
tmin: at least 1 bus cycle waiting time. Recommendation: 1 PLC cycle.
Not required if consistent data transmission is used.
Fig.3/11: Start the positioning task
The sequence of remaining control and status bits
behave according to record select operating mode.
See sections 3.3.1, Fig.3/10.
1 The desired setpoint value (position, force) and the posi
tioning condition (absolute/relative, speed or force ramp,
etc.) are set in the output data of the PLC.
SCON.FAULT must be 0 during the entire sequence.
2 With the rising edge at CPOS.START, the CMAX accepts
the setpoint values, starts the positioning task, sets
SPOS.MC = 0 and acknowledges the starting edge with
SPOS.ACK.
3−70
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3 After resetting CPOS.START and the acknowledgement
SPOS.ACK = 0, a new setpoint value can be started at any
time.
There is no need to wait for MC.
The CMAX internally calculates tne necessary steps to
execute the new positioning task. If a change of direction
is required, for example, the drive is first braked until
speed = 0 is reached. Only then is the new setpoint posi
tion transferred to the controller. No fault message is gen
erated.
4 Once the last setpoint position is reached,
MC SPOS.MC = 1 is set.
Notes:
As soon as the PLC detects the rising edge at SPOS.ACK, it
can assume that MC is valid. From the PLC’s point of view,
the falling edge at MC can occur at the same time as the
rising edge at ACK.
In the event of faults, the task might not be acknowledged
with SPOS.ACK. For this reason, the SCON.FAULT bit must
always be evaluated in addition.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−71
3. Drive functions
Setpoint value limitation
The setpoint values are limited according to Tab.3/25.
Setpoint value limitation
Value
Description
Limit values
(rel/abs, if
necessary)
Error or
warning
Secondary
setpoint,
position
Speed as a percentage of the basic value
(PNU540 or PN U 600).
0 % ... 100%
0.01 m/s to 10 m/s
No
Workpiece mass as a percentage of the basic
value of the workpiece mass (PNU 551 or
PNU 605)
0 % ... 100%
0 kg to 2000 kg 1)
No
Primary set
point, posi
tion
Position.
−10,000 mm to
+10,000 mm 2)
Yes
Secondary
setpoint,
force
Force ramp as a percentage of the basic value of
the force ramp (PNU 550 or PNU 608)
0% ... 100%
10 N/s to 10.000 N/s
No
Workpiece mass as a percentage of the basic
value of the workpiece mass (PNU 551 or
PNU 605)
0% ... 100%
0 kg to 2000 kg 1)
No
Force
− 100.000 N to
+100.000 N 2)
Yes
Primary set
point, force
1)
2)
The sum of the tool and workpiece masses must not exceed 2000 kg.
The setpoint values are limited to the software or hardware end positions or the set force limit.
Tab.3/25: Setpoint value limitation in direct mode
3−72
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. Drive functions
3.4.2
Continuous setpoint specification (tracking mode)
Continuous setpoint specification active
1
Setpoint value
Output data
N
N−1
0
N+1
N+
19
N+
20
N+
21
1
Start
CPOS.START
0
1
Acknowledge Start
SPOS.ACK
0
1
Motion Complete
SPOS.MC
0
1
2
3
4
Fig.3/12: Start the positioning task
1 Set the desired setpoint value (position, force) and the
speed setpoint in the output data of the PLC.
2 If SPOS.ACK = logic 0 1, the PLC can start the continuous
setpoint value mode with the rising edge at CPOS.START
2. The CMAX accepts the currently registered setpoint
value and the speed setpoint and starts the positioning
task.
3 As long as CPOS.START = 1, the setpoint value can be
changed at any time. The CMAX makes the axis position
follow the setpoint value and takes the set accelerations
and speeds into account.
4 The setpoint tracking is ended 4 with a falling edge at
CPOS.START 3.
The drive is stopped with a stop ramp.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3−73
3. Drive functions
3−74
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Faults and diagnostics
Chapter 4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−1
4. Faults and diagnostics
Contents
4.1
4.2
4.3
4.4
4.5
4−2
Overview of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1
Error numbers on the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2
Fault groups: Classification according to the cause . . . . . . . . . . . .
4.2.3
Fault level: Classification according to the response to the fault . .
4.2.4
Reset types: Behaviour in the event of fault acknowledgement . .
4.2.5
Error number and warning numbers . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1
Latest diagnostic status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2
Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3
Fault status (PNU 227) and additional information (PNU 203) . . . .
4.3.4
Diagnostic code and additional information with reset,
switching on and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of diagnostic messages and faults . . . . . . . . . . . . . . . . . . . . .
Diagnostics via standard functions of the CPX terminal . . . . . . . . . . . . . . . .
4.5.1
Status bits of the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2
I/O diagnostic interface and diagnostic memory . . . . . . . . . . . . . .
4.5.3
Split up: Parametrising via the I/O diagnostic interface . . . . . . . . .
4−3
4−4
4−6
4−6
4−7
4−8
4−9
4−31
4−31
4−32
4−36
4−41
4−44
4−47
4−47
4−48
4−51
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.1
Overview of diagnostics options
The CMAX supports a number of different options for diag
nostics and error handling in the CPX terminal.
An overview is shown in Tab.4/1.
Access/
Function
Diagnostics
option
Brief description
Detailed
description
Local
Display on the
device
LED display, dis
play / 7−
segment display
The LEDs and the display directly indi
cate operating and fault statuses.
Fast on−the−spot" diagnosis.
CMAX system
description
CPX−MMI
The CPX−MMI can be used to display the Description of the
CPX module diagnosis 1).
CPX−MMI
Local
FCT with CMAX
with PC (e.g.
plug−in
during startup)
PLC
via I/O data
PLC
via communi
cations profile
1)
Plain−text display of all diagnostic in
Help for the CMAX
formation during startup and servicing. FCT PlugIn
Full access to the diagnostic functional
ity of the CMAX.
CPX−FMT
The CPX−FMT can be used to display the Help for the CPX−FMT
CPX module diagnosis 1).
Module output
and input data
Diagnostic information is constantly
transferred in the SCON status byte
(e.g. actual values, WARN and FAULT
bits etc.). Direct access to the status
(e.g. current position) and diagnostic
status via the CPX node.
CPX status bits,
I/O diagnostic
interface
The CPX module diagnosis 1) is reported Section 4.5
to the CPX node Optimum integration
into the CPX module concept.
FHPP diagnostics
Diagnostic parameters
Section 4.3
Diagnostic memory
Section 4.3.2
Section 2.2
The CPX diagnostics only show the fault groups of the CMAX.
Tab.4/1: Diagnostics options
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−3
4. Faults and diagnostics
4.2
Faults and warnings
The CMAX permanently monitors the operating status and
issues corresponding diagnostic messages in the event of
deviations from the nominal status.
The diagnostic messages are categorised as faults (errors) or
warnings, depending on the cause or effect, and can be
evaluated in detail and then processed.
Faults
Events and statuses that jeopardize or prevent correct oper
ation of the CMAX are reported as faults. A list of the fault
messages is provided in section 4.2.5.
Response to a fault
Depending on the type of fault, the CMAX will respond to this
in the respective way.
The red error LED lights up, see CMAX system descrip
tion.
The error number E... is indicated on the display, see
CMAX system description.
SCON.FAULT = 1.
The CMAX has the Fault" status.
Depending on the type of the fault,
the axis with the stop ramp is stopped (level F1) or
the controller is disabled (level F2), drive moves
using residual energy until it comes to a standstill.
The CMAX display always indicates the fault that occurred
first. If additional faults occur, they are not indicated even if
they are more serious.
4−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Acknowledging faults
Indicated faults need to be acknowledged with CCON.RESET.
It may be necessary to eliminate the cause of the fault first.
1. Positive edge on CCON.RESET.
2. Wait 3 s (depending on the fault, the CMAX requires at the
most 3 seconds, e.g. to initialize the axis).
3. Check whether the fault has been eliminated:
if SCON.FAULT = 0: ok
if SCON.FAULT = 1:
Check fault number, eliminate cause, if necessary, see
section 4.2.5.
The CMAX always tries to acknowledge all currently pending
faults. If several faults are active at the same time, the behav
iour depends on the most serious fault.
If there are several faults pending and one fault can be de
leted after a reset, but not any others, one of the remaining
faults is indicated after the reset.
Warnings
Events and statuses that may impair operation are reported
as warnings. You will find a list of the warning messages in
section 4.2.5.
Response to a warning
In the event of warnings, the CMAX does not have the Fault"
status, but remains Ready".
Warnings are indicated with SCON.WARN = 1. The sequence
control and the axis are not affected.
Acknowledging warnings
Depending on the warning, SCON.WARN = 0
as soon as the cause has been eliminated.
with positive edge on CCON.START or CCON.RESET (pro
vided the cause was eliminated).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−5
4. Faults and diagnostics
4.2.1
Error numbers on the CPX terminal
All CMAX faults are also reported as CPX error messages
10x (100...109). These can be ev aluated via the CPX node,
e.g. via the I/O diagnostic interface.
Function number
Module diagnostic data
2008+m*4+1
Module error number (CPX error)
4.2.2
Fault groups: Classification according to the cause
The CMAX faults and warnings are arranged in groups. The
first digit indicates the group and the second digit indicates
the cause.
When reading the fault via the function number of the CPX
node, only the CPX error number is displayed. The last digit
corresponds to the CMAX fault group (first digit of the CMAX
fault number).
Fault groups of the CMAX and CPX error numbers
Group
Description
CPX error
CPX error text (MMI, configuration software)
0
Configuration error
100
[Configurationerror]
1
Execution error
101
[Executionerror]
2
Record error
102
[Record error]
3
Control error
103
[Control error]
4
System error A
104
[System error A]
5
System error B
105
[System error B]
6
Error in valve
106
[Error in valve]
7
Controller error
107
[Controller error]
8
Measuring system error
108
[Encoder error]
4−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.2.3
Fault level: Classification according to the response to the fault
The fault level is a classification according to the CMAX
response to an identified diagnostic event.
Fault level
Effects on
SCON 1)
SPOS 1)
Sequence control Axis
Fault
Warn
Open
Enabled
MC
Ref
(0)
No fault
W
(2)
Warning
No change
No change
1
F1
(5)
Fault 1
Transition to the
fault status
Stop with stop
ramp
1
0
1
F2
(6)
Fault 2
Transition to the
fault status
Controller dis
abled
1
0
0
1
FS
(15)
System
error 3)
System fully stopped,
switching on/off required
2)
x
x
x
x
x
x
1)
2)
Status bits status: = no effect; 0 = logic 0, 1 = logic 1; x = no updating
Should communication with the measuring system/sensor interface fail, the reference may be lost
(SPOS.REF = 0).
3) System error FS : Serious error in firmware (No firmware, ...): It may no longer be possible to up
date the I/O data.
Tab.4/2: Fault levels
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−7
4. Faults and diagnostics
4.2.4
Reset types: Behaviour in the event of fault acknowledgement
Depending on the type of the fault, acknowledgement leads
to various actions in the CMAX, in order to delete the active
fault message and possibly quit the fault status.
Type
Description
Example
R
Acknowledging (reset)
The reset command deletes the message. The fault is then termin
ated. It will only be reported once more if the command is repeated
without the cause of the message having been eliminated.
E33: Target posi
tion outside of the
software or hard
ware end posi
tions
F
Acknowledge if cause eliminated (fix cause and reset)
The CMAX deletes the message provided the cause has been elimin
ated. If the cause has not yet been eliminated, the message is not
deleted and the fault status is not quit.
E51: Load voltage
of the controller
outside of the tol
erance range (un
dervoltage)
N
Restart (new initialisation)
The CMAX restarts the axis after acknowledgement. In the course of
this, the controller is re−calculated. If necessary, the components
(sensor interface and valve) are re−commissioned. All fault messages
are deleted prior to restarting.
If no fault occurs during restart, the fault status is quit after the re
start. Otherwise CCON.Fault is not reset. The maximum time for a
restart is 3 s.
E60: Faulty com
munication with
the valve or no
valve present
Poff
Power off
Reset no longer possible, CMAX needs to be switched off.
E72: system soft
ware error
Tab.4/3: Acknowledging fault messages reset types
Acknowledging warnings
In the event of warnings, the CMAX does not have the
Fault" status, but remains Ready".
Warnings are deleted in the event of CCON.RESET or
CPOS.START (provided the cause was eliminated).
4−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.2.5
Error number and warning numbers
Fault group 0 configuration error
CPX error group 100 (CPX−MMI:[Configurationerror] )
No.
Message
Cause/description
Error handling
Type1)
01
The nominal configur
ation deviates from
actual configuration 2)
A component on the axis
string does not corres−
pond to the nominal con
figuration:
Measuring system or
sensor interface
(type, length).
Cylinder (type, length,
diameter).
Valve (size).
· Check component and
Level: F2
Reset: N
Info: The measuring system
and the valve were ex
changed and no longer
correspond to the nom
inal configuration or the
serial numbers have
changed.
· Check configuration of
· Exchange valve or
· Update firmware.
replace if necessary or
· Adopt actual configur
ation (download).
the axis. Check for
possible interchange
of two axis strings.
02
Unknown valve type
Connected valve is not
supported.
03
Unknown cylinder type
Connected cylinder or the · Exchange cylinder or
sensor interface is not
sensor interface or
supported.
· Update firmware.
Level: F2
Reset: N
Info: 04
Unknown measuring sys
tem type or unknown
sensor interface
Connected measuring
system or the sensor
interface is not sup
ported.
Level: F2
Reset: N
Info: · Exchange measuring
system or sensor inter
face or
· Update firmware.
Level: F2
Reset: N
Info: 1)
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) The movement test is reset to avoid tubing errors. The CMAX has C03 status. The movement test
should then be run once more.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−9
4. Faults and diagnostics
Fault group 0 configuration error
CPX error group 100 (CPX−MMI:[Configurationerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
05
Project not loaded com
pletely or block down
load active
The controller cannot be
enabled because the
nominal configuration is
not yet complete.
(Configuration status
C00, C01 or C02).
· Complete the nominal
Level: F2
Reset: R
Info: The controller cannot be
enabled because block
download is still active.
· Terminate block down
configuration, e.g.
project download.
load. Check PLC pro
gram (parametrisa
tion) and correct if
necessary.
08
Cylinder, valve or
sensor interface was
exchanged 2)
The serial number of a
component on the axis
string has changed:
Drive (measuring
system).
Valve.
1. Adopt serial number of
the component.
2. Run movement test
(recommendation).
3. Carry out identification
(recommendation).
Level: W
Reset: F
Info: x
09
Faulty parameter in the
project
Software end positions
inconsistent, see section
B.2.4.
· Read diagnostics mem Level: F2
Invalid values concerning
axis parameters or hard
ware configuration.
· Check parameters and
Reset: N
ory, determine para
meter via additional in Info: x
formation.
· Check and correct soft
ware end positions.
correct.
1)
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) The movement test is reset to avoid tubing errors. The CMAX has C03 status. The movement test
should then be run once more.
4−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 1 execution error
CPX error group 101 (CPX−MMI:[Executionerror] )
No.
Message
Cause/description
Error handling
Type1)
10
Homing not carried out
Drive with incremental
measuring system is not
referenced.
· Carry out homing.
Level: F1
Reset: R
Info: x
11
No homing provided
Homing task in the case
of absolute measuring
system.
· Do not carry out homing. Level: F1
Reset: R
Info: x
13
Wrong direction of move Cylinder and valve are in
ment during movement
correctly tubed.
test
· Check tubing connec
14
Movement test not car
ried out.
Positioning task without
valid movement test.
· Run movement test (rec Level: F2
ommended) or skip.
Reset: R
Info: x
Result of movement test
not clear
Drive jammed.
· Check low friction of
Level: F1
Reset: R
Info: x
15
Level: F2
tion, exchange on cylin Reset: R
der or valve, if necessary. Info: x
drive and guide, check
pressure build−up with
trace, if necessary.
Obstacles on travel path.
· Check travel path and
Working pressure not
sufficient to move the
mass.
· Set sufficient working
software end positions.
pressure and check con
figuration of the mass.
Cylinder not correctly pro · Check size and correct if
jected.
necessary.
Valve defective.
· Check pressure build−up
with trace, exchange
valve if necessary.
Faulty tubing connection.
· Check tubing connec
tion.
Valves installed between
valve and cylinder
(emergency stop) are
closed.
1)
· Open valves.
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−11
4. Faults and diagnostics
Fault group 1 execution error
CPX error group 101 (CPX−MMI:[Executionerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
16
Dynamic identification
failed
Incorrect mass parame
trised or transferred in
parameter 2. 2)
· Check mass and data.
Level: F1
Reset: R
Info: x
Too much mechanical
play in the system.
· Check system struc
Constructional design
not stable enough.
· Check system struc
Tubes used are too long.
· Move valve closer to
ture.
ture.
the drive.
Compressed air not suffi · Check compressed air
ciently stable.
supply.
17
18
Identification was not yet The static identification
executed
was not executed during
record start, direct oper
ating or homing.
· Execute static
Clamping unit is still acti Operation enable was
vated, operation enable given (CCON.STOP = 1)
not possible
although the clamping
unit had not yet been re
leased.
· Remove operation en
identification
Level: W
Reset: F
Info: x
Level: W
able.
Reset: F
· Release clamping unit. Info: x
1)
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) Parameter 2: Byte 4 ... 8 in commissioning mode.
4−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 1 execution error
CPX error group 101 (CPX−MMI:[Executionerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
19
Impermissible mode
change
Change between record
select operating mode
and direct operating
mode during active posi
tioning task
(SPOS.MC=0).
· Reversing only
Level: F1
Reset: R
Info: x
after completed
positioning task
(SPOS.MC = 1)
Change between record · Shifting only in stop
select operating mode or
status.
direct operating mode
Set CCON.STOP = 0
and commissioning or
and wait for
parametrisation during
SCON.OPEN = 0 and
active operation enable
SPOS.MC = 1
(CCON.STOP = 1).
1)
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−13
4. Faults and diagnostics
Fault group 2 record error
CPX error group 102 (CPX−MMI:[Recorderror] )
No.
Message
Cause/description
Error handling
Type1)
21
Impermissible record
number
When starting an invalid
record number was
pending (0 or > 64).
· Check record
Level: F1
Reset: R
Info: x
Record is not configured
Retrieved record was
not configured and con
tains no valid position
ing data.
· Check record and
The retrieved record is
not enabled for execu
tion.
· Check and enable
The demanded sequenc
ing condition is invalid.
· Check and correct the
Sequencing parame
trised in record 64.
· Remove sequencing
The selected sequenc
ing condition is not per
missible when using a
DSMI. The DSMI does
not support force con
trol.
· Correct sequencing
The selected sequenc
ing condition is only per
missible in a record with
force control.
· Check and correct
22
23
24
1)
Record is blocked
Record sequencing is
not permissible
numbers and correct
(first transfer record
number, then starting
edge).
parametrise.
record.
sequencing condi
tion.
Level: F1
Reset: R
Info: x
Level: F1
Reset: R
Info: x
Level: F1
Reset: R
Info: x
condition in record
64, correct record list
if necessary
condition
record.
Level: fault level, see section 4.2.3
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
4−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 2 execution error
CPX error group 102 (CPX−MMI:[Recorderror] )
continued
No.
Message
Cause/description
Error handling
Type1)
27
Sequencing condition
cannot be reached
during the positioning
task.
Sequencing position is
not between the start
ing position (last set
point value or actual
value at the time of
sequencing) and the
new setpoint position,
or both positions are
identical.
· Check sequencing
Level: F1 (W)
Reset: R
Info: x
conditions and cor
rect if necessary.
Check program se
quence in the PLC.
After a stop or error,
the previous position
must be approached
once more.
Sequencing force is not
between the starting
force (last setpoint value
or actual value at the
time of sequencing) and
the new setpoint force.
28
1)
Sequencing condition
was not reached
Sequencing was not ex
ecuted. MC was reached
before the sequencing
condition was fulfilled.
· Check sequencing
condition, parame
trise as warning, if
necessary.
Level: F1 (W)
Reset: R
Info: x
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−15
4. Faults and diagnostics
Fault group 3 control error
CPX error group 103 (CPX−MMI:[Controlerror] )
No.
Message
Cause/description
Error handling
30
· Remove obstacle or
Timeout: Target value not Obstacle in the travel
range (only position con
correct target posi
reached 2)
troller).
tion.
Type1)
Level: F1
Reset: R
Info: x
Compressed air not suffi · Check supply pres
cient.
sure, check hosing
connection, configure
error 50 as an error.
Very strong friction or ir
regular friction (only
position controller).
· Increase control am
Mechanical play (only
position controller)
· Check installation:
System not optimally
configured.
· Valve, mass, mount
Modified system behav
iour (only position con
troller).
· Repeat identification.
plification.
mass, stability,
guides, check play,
repeat identification.
ing position, supply
pressure, increase
timeout time, in
crease tolerance.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) The drive did not reach the target tolerance on time. (MC monitoring). Record chaining is cancelled.
Can, for instance, occur during positioning or jogging on a stop within the effective stroke.
4−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 3 control error
CPX error group 103 (CPX−MMI:[Controlerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
31
No movement after
start 2)
Pressure could not be
built up.
· Check supply pres
Drive jammed or slug
gish.
· Check guide and
Level: F1
Reset: R
Info x
Info:
Working pressure not
sufficient to move the
mass.
· Set sufficient working
Valve defective.
· Check pressure
sure.
mechanical structure.
pressure and check
configuration of the
mass.
build−up with trace,
exchange valve if
necessary.
Faulty tubing connection. · Check tubing connec
tion.
Valves installed between · Open valves.
valve and cylinder
(emergency stop) are
closed.
32
Target force outside of
the force limits
Target force outside of
the set force limits.
· Correct target force
The target force is larger
than the maximum force
that can be reached (the
maximum attainable
target force determined
by the CMAX may devi
ate from the theoretical
value calculated by the
FCT).
· Correct target force,
or force limit.
Level: F1 (W)
Reset: R
Info x
Info:
increase supply pres
sure, reduce moving
mass in vertical struc
ture, use larger drive.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) e.g. setoff timeout, i.e. the drive did not perform the minimal stroke of 11 mm within the timeout
time, or during identification.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−17
4. Faults and diagnostics
Fault group 3 control error
CPX error group 103 (CPX−MMI:[Controlerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
33
Target position outside
of the software or hard
ware end positions
Target position is out
side of the set software
end positions.
· Check and correct
Level: F1 (W)
Reset: R
Info: x
Target position is out
side of the reachable
hardware end positions.
· Check and correct
Nominal position is out
side of the set software
end positions.
· Check and correct
Nominal position is out
side of the reachable
hardware end positions.
· Check and correct
The drive was pushed
out of the valid range by
an external force.
· Prevent external
Not optimally adjusted
control leads to signifi
cant overswinging.
· Optimize control,
34
35
Setpoint value in track
ing mode outside of the
limit values
Pass software end posi
tion 2)
target position, soft
ware end positions
and project zero
point.
target position and
project zero point.
nominal position,
software end posi
tions and project zero
point.
Level: W (F1)
Reset: R
Info: x
nominal position and
project zero point.
force, if possible.
Level: W (F1)
Reset: R
Info: x
check parametrisa
tion, perform identifi
cation again.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) The actual position has exceeded a software end position during active closed loop position con
trol.
4−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 3 control error
CPX error group 103 (CPX−MMI:[Controlerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
36
Software end position
reached with force con
trol 2)
No workpiece.
· Check workpiece,
Level: F1
Reset: R
Info: x
check workpiece
position.
· Use record sequenc
ing for return travel or
stop.
Software end positions
· Correct software end
can be reached in the de
positions.
sired sequence.
37
Switch to Unassigned
Profile
An attempt was made to
sequence from an active
set into a set with Auto
Profile.
· Change subsequent
set to Unassigned
Profile, parametrise
accelerations and
velocity, if necessary
Level: W
Reset: R
Info: x
A positioning task is
· Perform dynamic
started with Auto profile,
identification or use
although no dynamic
Unassigned Profile.
identification was per
formed yet.
38
Impermissible stroke
with force control
Configured stroke limit
is exceeded with force
control.
· Check workpiece,
check stroke limit
Level: F1
Reset: R
Info: x
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) The actual position has exceeded a software end position during active force control.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−19
4. Faults and diagnostics
Fault group 3 control error
CPX error group 103 (CPX−MMI:[Controlerror] )
continued
No.
Message
Cause/description
Error handling
Type1)
39
Speed too high with
force control
Configured permissible
speed limit was ex
ceeded with force con
trol.
· Check workpiece,
Level: F1
Reset: R
Info: x
Nominal speed of the
force record is set too
large compared to the
limit speed.
· Harmonise nominal
check speed limit.
speed and speed
limit.
In the event of record se · Reduce the speed
quencing to force con
of the previous set;
trol, the actual speed of
correct speed limit
the drive is too high at
and switch off, if
the time of switching.
necessary.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
4−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 4 system error A
CPX error group 104 (CPX−MMI: [SystemerrorA] )
No.
Message
Cause/description
Error handling
Type1)
40
Impermissible control
mode with force control
Force control set for
DSMI.
· DSMI cannot execute
Level: F1
Reset: R
Info: x
Impermissible control
mode set in the RCB1 or
CDIR
· Correct RCB1 or CDIR.
Positioning mode Rela
tive" not permissible in
tracking mode
Relative bit
(CDIR.ABS=1= set in
tracking mode
· Continuous setpoint
Reserved control bits set
Reserved and not used
bit set in the CCON,
CPOS or CDIR.
· Check and correct
Neither a valve nor a
measuring system were
found during initializ
ation.
· Check installation.
Communication with the
valve and the measuring
system faulty.
· Check cables and
Communication faulty,
e.g. due to impermis
sible or damaged com
ponents on the axis
string.
· Check installation
41
42
43
1)
No peripherals present
or axis string communi
cation interrupted
force control com
mands.
specification may
only occur absolutely
CCON, CPOS and
CDIR.
Level: F1
Reset: R
Info: Level: W
Reset: F
Info: x
Level: F2
Reset: N
Info: components.
and exchange compo
nents if necessary
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−21
4. Faults and diagnostics
Fault group 4 system error A
CPX error group 104 (CPX−MMI: [SystemerrorA] )
continued
Error handling
Type1)
No.
Message
Cause/description
44
Teaching not possible 2)
Teaching (falling edge on · Only activate
Level: F1
CPOS.TEACH) is trig
CPOS.TEACH = 1 (pre Reset: R
gered unintentionally
pare teaching) directly Info: x
through disconnection or
before the teaching
switching off the control.
process. Always end
teaching immediately.
Teaching not possible
during direct operating.
· Change operating
Teaching not possible
during active commis
sioning operation.
· First end commission
In BA commissioning the
teaching target in para
meter 1 is invalid.
· Correct parameter 1.
mode.
ing operation.
Without reference teach · Perform homing prior
ing is not possible.
to teaching.
Lower software end
position (SWEL) is
larger/the same as the
upper software end
position when teaching
the SWEL to BA com
missioning. It is not
adopted.
Upper software end
position (SWEP) is
smaller/the same as the
lower software end
position when teaching
the SWEP to BA com
missioning. It is not
Continued... adopted.
· Teach upper SWEL
first.
· Correct the teach
position.
· Teach lower SWEP
first.
· Correct the teach
position.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) For exact cause, see diagnostic memory.
4−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 4 system error A
CPX error group 104 (CPX−MMI: [SystemerrorA] )
continued
No.
Message
Cause/description
Error handling
Type1)
44
Teaching not possible 2)
(continued)
Specified record number
impermissible when
teaching to BA set selec
tion
· Correct record
Level: F1
Reset: R
Info: x
Parametrised control
mode of the selected re
cord during teaching to
BA record selection not
permissible
· Correct control mode,
Invalid function number
when starting a commis
sioning operation in
commissioning mode. 3)
· Correct the function
45
Faulty commissioning
operation or parameter
number.
correct record
number.
number.
Level: F1
Reset: R
Info: x
At least one parameter
· Check and correct
of the started commis
parameter 1 and
sioning operation had an
parameter 2.
invalid value. 3)
46
47
Movement test was
started when a move
ment test has already
been successfully per
formed.
· First reset movement
Start during active teach
command not permitted
Commissioning mode:
Starting a commission
ing function during
teaching is not
permissible.
· Do not perform Start
Starting the tracking
mode requires MC
Starting the tracking
mode during an active
positioning task is im
permissible.
· End active positioning
test.
during teaching, first
end teaching.
task and wait for
Motion Compete
(SPOS.MC=1).
Level: F1
Reset: R
Info: x
Level: F1
Reset: R
Info: x
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) For exact cause, see diagnostic memory.
3) See I/O data in the description CMAX communication profile"
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−23
4. Faults and diagnostics
Fault group 5 system error B
CPX error group 105 (CPX−MMI: [SystemerrorB] )
Type1)
No.
Message
Cause/description
Error handling
50
Supply pressure is too
low 2)
Pressure in both cylin
der chambers is
<1.5bar.
· Check the compressed Level: F2 (W)
air supply.
· Wait until cylinder
Reset: F
Info: x
chambers (poss. via
leakage) are suffi
ciently filled.
· Configure as a
warning.
51
Load voltage of the con
troller outside of the tol
erance range (undervol
tage)
Load voltage < 20 V with
enabled controller or
overload on axis string.
· Check the valve load
52
Operating voltage of the
controller outside of the
tolerance range (under
voltage)
Operatingvoltage<18 V
or overload on the axis
string.
· Operating voltage
53
Load voltage overload
on the controller
Short circuit in the
cables of the axis string
(between controller and
valve or valve and sen
sor interface).
· Check the cables and
Overload on valve out
puts.
· Check and, if necessary,
Defect in the valve.
· Check the cables and
supply (VVAL).
Level: F2
Reset: F
Info: x
Level: F2
supply for the elec
Reset: F
tronics/sensors Check Info: x
(UEL/SEN)
modules in the axis
string (e.g. for a cable
breakage), replace if
necessary.
Level: F2
Reset: F
Info: x
correct the circuitry of
the outputs.
valves step by step
and exchange, if
necessary.
Defect in the CMAX con
troller.
· Check CMAX, ex
change if necessary.
1)
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
2) Enable command, but no supply pressure.
4−24
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 5 system error B
CPX error group 105 (CPX−MMI: [SystemerrorB] )
continued
No.
Message
Cause/description
Error handling
Type3)
54
Operating voltage over
load on the controller
Short circuit in the
cables of the axis string
(between controller and
valve or valve and sen
sor interface).
· Check the cables and
Level: F2
Reset: F
Info: x
Defect in the CMAX con
troller
· Check CMAX, ex
Defect in the valve
· Check the cables and
modules in the axis
string (e.g. for a cable
breakage), replace if
necessary.
change if necessary.
valves step by step
and exchange, if
necessary.
55
56
57
1)
Defect in the sensor
(measuring system) or
sensor interface
· Check the cables and
Load voltage drop: The
power pack rating is not
sufficient
The load voltage
dropped several times
when sequencing to the
valve.
The power pack rating is
probably not sufficient
· Check total load of the
Supply pressure is in
sufficient to safely move
or hold the load
Insufficient supply pres
sure was detected dur
ing homing.
· Check supply pressure
Timeout diagnostic in
terface: FCT device con
trol was deactivated
Connection between PC
and CPX node inter
rupted.
· Check the cables.
Communication break
down due to FCT.
· Restore connection.
sensor or sensor inter
face step by step and
exchange, if necessary.
power pack and use a
more powerful power
pack. Also take into
account the loads at
the valve output
(clamping unit etc.).
and increase if
necessary.
· Check parametrisation
of the supply pressure.
Level: F2
Reset: F
Info: x
Level: F1
Reset: R
Info: x
Level: W
Reset: R
Info: x
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−25
4. Faults and diagnostics
Fault group 6 error in valve
CPX error group 106 (CPX−MMI: [Error in valve])
No.
Message
Cause/description
Error handling
Type1)
60
Faulty communication
with the valve or no
valve present
When switching on, only
the position measuring
system/sensor interface
was found. The valve
was not detected.
· Check cables to the
Level: F2
Reset: N
Info: x
valve.
· Replace the valve.
Communication between · Check the cables of
CMAX and valve was in
the axis string, the
terrupted
valve and the sensor
step by step and ex
change, if necessary.
61
62
63
Valve hardware faulty
Valve over−temperature
Valve is jammed
The valve reports a
hardware error.
· Replace the valve.
Fault in initialization of
the valve.
· Exchange valve, check
The valve reports over−
temperature. (Ambient
temperature too high).
· Provide sufficient
The valve piston does
not move as expected.
· Replace the valve.
· Also check the air
firmware update of
the CMAX.
cooling.
quality (5−filter and
dry air).
64
1)
Load voltage of the valve
outside of the tolerance
range (undervoltage)
The valve reports in
sufficient load voltage.
Either the cable be
tween the CMAX and the
valve is faulty or the
valve.
Level: F2
Reset: N
Info x
Info:
· Check the cables at
the axis string.
· Check the valve, ex
change if necessary.
Level: F2
Reset: F
Info: x
Level: F2
Reset: F
Info: x
Level: F2
Reset: F
Info: x
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
4−26
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 6 error in valve
CPX error group 106 (CPX−MMI: [Error in valve])
continued
No.
Message
Cause/description
Error handling
Type1)
65
Operating voltage of the
valve outside of the tol
erance range (under−
voltage)
The valve reports in
sufficient operating volt
age. Either the cable
between the CMAX and
the valve is faulty or the
valve.
· Check the cables at
Level: F2
Reset: F
Info: x
Overload at digital valve
output
The valve reports an
overload on the digital
output.
· Check and correct the
Overload at 24V supply
output of valve
The valve reports an
overload on the voltage
output.
· Check and correct the
Preliminary warning
valve over−temperature
The valve reports a high
operating temperature.
(Ambient temperature
too high).
· Provide sufficient
66
67
68
1)
the axis string.
· Check the valve, ex
change if necessary.
circuitry.
circuitry.
cooling.
Level: F2
Reset: F
Info: x
Level: F2
Reset: F
Info: x
Level: W
Reset: F
Info: x
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−27
4. Faults and diagnostics
Fault group 7 controller error
CPX error group 107 (CPX−MMI:[Controllererror] )
No.
Message
Cause/description
Error handling
Type1)
72
system software error
Internal software error
(firmware).
· If possible, read diag
Level: FS
Reset: Poff
Info: x
nostic memory and
save and archive the
project.
· Switch controller
off/on and check
whether error occurs
again.
· Contact Support.
73
Controller hardware
faulty
No communication
possible with CMAX.
Error is only shown on
the display.
· Exchange CMAX.
Level: FS
Reset: Poff
Info: x
74
No firmware
No firmware. No com
munication possible via
fieldbus.
· Firmware download
Level: FS
Reset: Poff
Info: x
Inconsistent user data.
· Perform data reset
75
User data damaged
with FCT.
and re−commission
the axis.
76
1)
Watchdog error:
Possible loss of data
Data reset required
Internal watchdog error.
· Perform data reset
and re−commission
the axis.
· Contact Support.
Level: F2
Reset: N
Info: x
Level: F2
Reset: F
Info: x
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
4−28
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault group 8 measuring system error
CPX error group 108 (CPX−MMI:[Encodererror] )
No.
Message
Cause/description
80
Faulty communication with
the measuring system/
sensor interface or no
measuring system/sensor
interface present
Position measuring sys
· Exchange position
tem / sensor interface was
measuring system /
not detected when switch
sensor interface, check
ing on.
the cables.
81
Error handling
Type1)
Level: F2
Reset: N
Info: x
Communication between · Check the cables of the
the CMAX and the position
axis string, the valve
measuring system faulty.
and the measuring sys
tem/sensor interface
step by step and ex
change, if necessary.
Hardware of the measur Hardware of the measur · Replace the measuring
system/sensor inter
ing system or sensor inter ing system or sensor inter
face faulty.
face.
face faulty
Level: F2
Reset: N
Info: x
Fault in initialization of the · Exchange measuring
measuring system / sen
system/sensor inter
sor interface.
face, check firmware
update of the CMAX.
82
Invalid measured values or DGCI: no magnet avail
able.
measuring system error
· Check magnet with the
measuring system, ex
change proximity sen
sor if necessary.
DGCI: several magnets
present.
· Ensure: no other
DGCI: e.g.: multiple sig
nals (e.g. due to vibra
tions).
· Check structure.
· Avoid vibration.
DNCI: sensor error.
· Exchange sensor head
Level: F2
Reset: F
Info: x
magnets permitted in
the immediate vicinity
of the measuring sys
tem.
in the DNCI if necessary.
Potentiometer: Operating
voltage drop below 12 V.
1)
· Check operating volt
age, check cables for
short circuit and cor
rosion.
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−29
4. Faults and diagnostics
Fault group 8 measuring system error
CPX error group 108 (CPX−MMI:[Encodererror] )
Message
84
Reference position of the Although the controller
· Reference again.
measuring system lost
has set the status to
Referenced", the
measuring system/
sensor interface re
ported Not referenced".
Level: F2
Reset: N
Info: x
85
Operating voltage of the
measuring system/sen
sor interface outside of
the tolerance range (un
dervoltage)
Level: F2
Reset: F
Info: x
Operating voltage of the
measuring system too
low.
1)
· Check the power
supply.
· Check the cables at
the axis string.
Defective measuring sys Faulty measuring system · Check the power
Level: F2
cable.
supply.
tem cable or measuring
Reset: N
· Check the cables at
system in the electrical
Info: x
the axis string.
end−position (potentio
· It may be necessary to
meter)
switch on/off.
· Exchange measuring
system or sensor in
terface if necessary.
Measuring system in the
electrical end position
(only potentiometer)
89
Error handling
Type1)
No.
87
Cause/description
continued
Faulty data contents in
The position measuring
the position measuring
system / sensor inter
system / sensor interface face contains incorrect
or contradictory data.
· Move the measuring
system (potentio
meter) away from the
end position.
· Switch the power
Level: F2
supply off and then on Reset: N
again.
Info: x
When the error is sig
naled again:
· Replace the measur
ing system/sensor in
terface.
· Check firmware of the
CMAX.
Level: fault level, see section 4.2.3; (can alternatively be parametrised as a warning or error)
Reset: behaviour upon reset, see section 4.2.4
Info: = no info; x = additional info, see FCT or section 4.3.3
4−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.3
4.3.1
Diagnostic parameters
Latest diagnostic status
The CMAX offers various parameters for the current diagnos
tic messages.
PNU
Brief description
220
Active fault messages bit−encoded
221
Active warning messages, bit−encoded
224
Currently indicated fault ’Exx’ on the display
225
Currently active fault level
226
Current warning to be indicated in the FCT
227
Error status, bit−encoded for FCT
Tab.4/4: Diagnostic parameters
Parameter
Description
Bit−encoded messages
PNU 220
PNU 221
Each parameter is a bitfield consisting of three uint32 values and thus
contains 3x 32 bits = 96 bit memory capacity. Each of these bits in this
array represents an error number. If it is set, the corresponding fault
message is active.
Example:
PNU 220:01 = 0x00000001
Bit 0 set
E01 active
PNU 220:02 = 0x00000040
Bit 38 (32+ 6) set
E39 active
PNU 220:03 = 0x00030000
Bit 80 (32 + 32 + 16) set
E81 active
Bit 81 (32 + 32 + 17) set
E82 active
This representation is optimized for evaluation by a PLC, since this bit en
coding can be used directly to activate an MMI.
PNU 220: contains current faults
PNU 221: contains current warnings
Message on the dis
play
PNU 224
PNU 226
The PNU 224 contains the fault number currently being shown on the dis
play. This makes synchronisation between the display in the FCT and the
CMAX possible. It is always the fault that occurred first that is displayed.
The PNU 226 contains the warning number the FCT is supposed to display.
The warning is not shown on the CMAX display.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−31
4. Faults and diagnostics
Parameter
Description
Active fault level
PNU 225
In this way the FCT can display the current status of the CMAX in accord
ance with the fault level (section 4.2.3). The most serious current fault is
always responsible for the current fault level.
Bit−encoded fault
status PNU 227
The bit−encoded error status allows the FCT to indicate the exact status
of an active fault message. The coding is identical to the coding of the
PNU 203 support information. For the description, see section 4.3.3.
Tab.4/5: Parameters of the diagnostic memory
4.3.2
Diagnostic memory
The diagnostic memory contains the diagnostic messages of
the last 100 events that occurred. The memory is backed up
in the event of a power failure. If the buffer is full, the oldest
element will be overwritten. When reading, the newest entry
is read first (LIFO principle).
Number (subindex)
Diagnostic memory entry
1
Newest (last) diagnostic message.
2
Last but one diagnostic message.
...
...
100
Oldest diagnostic message.
Tab.4/6: Structure of the diagnostic memory
4−32
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Structure of an entry in the diagnostic memory
determines meaning
Time stamp
milliseconds of
the day
Days in
operation
Event
Diagnostic code
Additional
information
determines meaning
PNU 222
PNU 202
PNU 200
PNU 201
PNU 203
int32
int32
int32
int32
int32,
(bit−encoded)
Number of days in
operation
Number of milli
Diagnostic event
seconds of the day
Diagnostic number Additional in
formation for FCT
Tab.4/7: Structure of diagnostic memory entry
Parameter
Description
Time stamp
PNU 202
PNU 222
Time of the diagnostic event since the delivery status, reset device data or
firmware download in milliseconds.
PNU 222 contains the number of days
PNU 202 contains the number of milliseconds of the day
The time stamp is not a real−time clock: The time is read from the device
data (PNU 140) when the message occurs. The CMAX counts the period of
operation.
When switching off, the current time (refer to PNU 140:02) is saved, and
retrieved when switching on.
Diagnostic event
PNU 200
Type of diagnostic message.
Not only fault messages are entered into the diagnostic memory, but also
switch−on operations, resets or configuration events.
The interpretation of the diagnostic code and the additional information
depends on the type of these events.
Diagnostic number
PNU 201
The diagnostic number contains a detail on the diagnostic event. In the
event of faults and warnings this is the exact fault number, in the event of
configuration event it is the function performed etc.
Additional information
PNU 203
Detailed information on the fault. The evaluation is complex and therefore
suitable for a PLC program to a limited extent only. For description see
section 4.3.3.
Tab.4/8: Parameters of the diagnostic memory
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−33
4. Faults and diagnostics
Diagnostic events
The diagnostic event determines the meaning of the diagnos
tic code and the additional information.
Diagnostic events (PNU 200)
Value 1) Qty.
Description
Diagnostic code (PNU 201)
Additional information (PNU 203)
0
Blank entry
1
E...
Fault
Fault number (} 4.2.5)
Additional information incoming
fault
3
R...
Reset
Reset number (} 4.3.4)
Additional reset information
5
W...
Warning
Fault number (} 4.2.5)
Additional information incoming
fault
7
P...
Switch on
Switch−on information (} 4.3.4) Additional switch−on informa
tion
8
C...
Configuration
Configuration information
(} 4.3.4)
1)
Additional configuration in
formation
Other values are reserved
Tab.4/9: Values of the diagnostic events with assignment to diagnostic code and addi
tional information
Depending on the event, the FCT can provide detailed in
formation on the respective entry with the help of the addi
tional information.
Fig.4/1: Example of display of the diagnostic memory in FCT
4−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Examples of diagnostic messages
Time stamp
Event
No.
Description
2817d 17h 21.123s
Reset
R01
Reset successfully executed. All the fault messages
were deleted. There is no longer a fault.
2817d 16h 18.123s
Fault
E50
Supply pressure too low (< 1.5 bar)
Last command: Execute record, record number 64
2817d 03h 18.123s
Switch on
P01
Project data available and load (duration of the
initialization: 1289 ms).
Number of switch−on operation since last diagnostic
entry: 219
117d 03h 18.123s
Configu−ration
C05
Static and dyn. identification executed.
Duration: 178 s. Identification was successful.
Tab.4/10: More examples of diagnostic events
PNU 204: Administration of the diagnostic memory
Index
Description
Default
Min
Max
1, 2
reserved (see section 4.4, PNU 228)
3
Write 1: diagnostic memory is deleted.
Reading always delivers the value 0
Deleting is usually not required (ring buffer, when the
memory is full, the new entry overwrites the oldest).
0
0
1
4
Number of valid entries. Writing is not permitted.
0
0
100
5
Number of unread entries.
Is set to 0 when index 4 is read. With every new entry
into the diagnostic memory, the value is increased
by 1.
0
0
255
Tab.4/11: Administration of the diagnostic memory
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−35
4. Faults and diagnostics
4.3.3
Fault status (PNU 227) and additional information (PNU 203)
This additional information is designed mainly for diagnostics
performed by FCT. It supplements the error number by
helpful information such as the record number. With active
messages, it also indicates whether the error can be
acknowledged and whether the cause is still active. The
coding is the same for the parameters:
PNU 203: Additional information with errors/warnings in
the diagnostic memory. Index 1 ... 100 corresponding to
the entry number.
PNU 227: Coding of the current status of a fault.
Index 1 ... 87 corresponding to the fault number.
Since several faults may be pending simultaneously, the in
formation of the PNU 227 needs to be available for every
error number separately. Therefore, when querying, the error
number must be specified as the index.
Assignment of the additional information for future faults.
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9
internal diagnostic code
A S Reset
Level
Info
8
7
6
5
4
3
2
1
0
Details
The coding is the same for PNU 203 and 227, but it only con
tains the information that is useful and available for the re
spective parameter.
4−36
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Range
Name
Description
Bit 31..22
(203/−−)
Internal diag
nostic code
Internal diagnostic information (only for service staff ).
Bit 21
(−−/227)
A
Required action
= 0: Acknowledge: The cause of the message is currently not ac
tive or is presently not being checked.
The message can be acknowledged.
= 1: Eliminate: The cause of the message is still active.
The cause must be eliminated before the message can be
acknowledged.
Note: In the event of errors with reset type FS (bit 19 ..16) switching
on/off is always required independently of the status of the bit 21.
Bit 20
(−−/227)
S
Status of the error message
= 0: The message is currently not active.
= 1: The message is active
Bit 19..16
(203/227)
Reset
refer to 4.2.4
Describes what happens in the event of a reset command.
= 0: No reaction
= 1: R = Delete fault message(s)
= 2: F = Delete fault message, provided the cause has been elim
inated.
= 3: N = Re−initialize the axis
= 4: Poff = switch off CMAX
Bit 15−12
(203/227)
Level
refer to 4.2.3
Describes the reaction to the fault/warning
= 0: none
= 1: Information (ignore message)
= 2: W = warning
= 5: F1 = fault 1
= 6: F2 = fault 2
= 15: FS = system software fault
Bit 11..08
(203/−−)
Info
Describes what the error details refer to
see Tab.4/13.
Bit 7..0
(203/−−)
Details
Additional details on the cause of the fault
see Tab.4/13.
Tab.4/12: Assignment of the additional information for future faults.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−37
4. Faults and diagnostics
Information and details on the faults (PNU 202)
Info (bit 11 ... 08)
Details (bit 07... 00)
Value Description
Value
Description
0
No information
1
Cause of fault E08 1
(valve drive or
(valve,
measuring system 2
was exchanged)
3
4
2
4−38
Cause of fault E09 1
(faulty parameter
2
in the project)
Not specified.
Valve was exchanged.
Sensor was exchanged.
Valve and sensor were exchanged.
Not specified.
A required parameter is not configured (supply pressure,
basic mass without workpiece, control parameter).
3
The measuring system type does not match the cylinder type.
4
The cylinder length does not match the cylinder type.
5
The measuring system length does not match the cylinder
type.
6
The sensor length must be the same as the cylinder length
with this cylinder type.
7
Offset axis zero point is not permissible for this cylinder
(must be 0).
8
The offset axis zero point is faulty. Permitted range:
−Cylinder length <= offset ANP <=0
9
The cylinder diameter does not match the cylinder type.
10
The measuring system type does not match the cylinder type.
11
Two different valves were configured.
12
The lower software end position is smaller than the lower
hardware end position.
13
The upper software end position is larger than the upper hard
ware end position.
14
The lower software end position is larger than or the same as
the upper software end position.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Information and details on the faults (PNU 202)
Info (bit 11 ... 08)
Details (bit 07... 00)
Value Description
Value
3
Cause of fault E44 1
(teaching not
2
possible)
Description
Not specified.
In direct operating it is not possible to teach (no teach target).
3
Homing not carried out.
4
Commissioning: Unknown teach target specified in
parameter 1.
5
Record selection: Impermissible record number (0 or > 64)
6
Record selection: Impermissible control mode preset in the
selected record
7
Commissioning: Teaching lower software end
position >= upper software end position not permissible
8
Commissioning: Teaching upper software end
position <= lower software end position not permissible
9
Commissioning: Teaching is not permissible while a commis
sioning operation is being carried out.
4
Record number
nn
In the event of a general fault in operating mode Record
select, the number of the record started last is entered.
Value range nn: 0 to 255
5
Commissioning
operation
nn
In the event of a general fault in commissioning mode,
the commissioning operation started last is entered.
Value range nn: 0 to 255
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−39
4. Faults and diagnostics
Information and details on the faults (PNU 202)
Info (bit 11 ... 08)
Details (bit 07... 00)
Value Description
Value
Description
6
1
Switch on.
2
Enable drive.
3
Disable drive.
4
Enable drive.
5
Disable operation (stop).
10
Start direct operating.
11
Start direct operating positioning task.
12
Start direct operating force task.
13
Start direct operating positioning task continuously.
14
Start direct operating force task continuously.
20
Start homing.
21
Start homing mode 35 (current actual position).
22
Start homing mode −17 (positive against block).
23
Start homing mode −18 (negative against block).
30
Jog mode in negative direction (JogN).
31
Jog mode in positive direction (JogP).
32
Teaching
33
Teach setpoint value in record list.
34
Teach lower software end position.
35
Teach upper software end position.
36
Teach offset project zero point.
Drive function
with which the
fault occurred
Tab.4/13: Information and details for future faults
4−40
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.3.4
Diagnostic code and additional information with reset, switching on
and configuration
The diagnostic memory contains other diagnostic events
along with faults and warnings. Here the contents of what the
diagnostic number and additional information means is de
scribed.
Diagnostic event 3: Reset
A reset command was executed with FCT or with the PLC.
Diagnostic number
No.
Description
1
Successful: All the fault messages were deleted.
2
Not successful: Not all messages could be deleted.
3
New start of the axis performed.
Additional information
Info
Description
Byte 1
Number of resets so far
Byte 2
reserved
Byte 3 + 4 In case value > 0: Reset duration in milliseconds after restart of the axis
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−41
4. Faults and diagnostics
Diagnostic event 7: Switch on
The CMAX was switched on.
Diagnostic number
No.
Description
1
Normal start: Project data fully loaded.
2
Start in configuration mode C00: no project available.
3
Start in configuration mode C01: Project incomplete.
4
Start in configuration mode C02: Project incomplete.
5
Start in configuration mode C03: Movement test must be carried out.
Additional information
Info
Description
Byte 1
Number of switch−on processes so far
Byte 2
reserved
Byte 3 + 4 Duty cycle in milliseconds
4−42
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Diagnostic event 8: Configuration
A configuration/commissioning operation was executed.
Diagnostic number
No.
Description
1
Firmware was updated.
2
Data reset: All user and controller data was deleted.
3
Movement test carried out.
4
Static identification executed.
5
Static and dynamic identification executed.
6
Identification reset, identification data were deleted.
Additional information
Info
Description
Byte 1
= 1: Successfully carried out
= 2: Execution cancelled
Byte 2
reserved
Byte 3 + 4 Duration of the function in 0.1 seconds
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−43
4. Faults and diagnostics
4.4
Configuration of diagnostic messages and faults
PNU 228 permits the configuration of diagnostic events.
PNU 228: Configuration of diagnostic events
Index
Description
Default
1
Diagnostic events filter
0x0000000F
2
Fault messages filter
0x0000007F
3
Configuration of fault messages
0x000000C0
Tab.4/14: Configuration of the diagnostic messages
Diagnostic events filter
These settings allow you to determine which diagnostic ev
ents should be recorded. PNU 228:01 allows you to exclude
specific less important events from the diagnostic memory
records.
PNU 228:01: Diagnostic events filter
Which events other than faults do you want recording?
Bit
Description
Specifi
cation
0
Record warnings
1
1
Record configuration events (data reset, identification etc.)
1
2
Record reset commands
1
3
Record switch−on processes
1
4 ... 31
reserved (=: 0 !)
0
Tab.4/15: Configuration of the diagnostic messages diagnostic events filter
4−44
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Fault messages filter
The fault messages filter allows you to exclude certain faults
and warnings from the diagnostic memory records. This
makes sense for faults that are part of the normal operating
cycle because they are inherent to the process (load voltage
errors) or because they occur frequently for other reasons.
Warning: Even if these faults are not entered in the diagnostic
memory, the respective fault is reported in the corresponding
fault situation and has to be acknowledged.
PNU 228:02 fault messages filter
Do you want this fault / warning to be entered in the diagnostic memory?
Bit
Description
Specifi
cation
0
W08: Identification was not executed
1
1
W35: Actual position outside of the software end positions
1
2
W42: not used control bits set
1
3
E50: Supply pressure is too low
1
4
E51: Load voltage outside of tolerance range
1
5
W57: Timeout at the diagnostic interface
1
6
W68: Valve warning overtemperature
1
7 ... 31
reserved (=: 0 !)
0
Tab.4/16: Configuration of the diagnostic messages fault messages filter
Configuration of fault messages
Some of the faults can also be reported as warnings. This
concerns in particular function monitoring, such as maintain
ing the software end position. Often the right correct reaction
depends on the application in these cases.
With faults where both reactions are possible you can define
the behaviour of the CMAX.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−45
4. Faults and diagnostics
Not all faults can be configured individually, only selected
ones for which configuration in the CMAX makes sense.
PNU 228:03 configuration of fault messages
Which faults do you want treated as a warning?
Bit
Description
Specifica
tion 1)
0
E27: Sequencing condition cannot be reached during the positioning task.
In case of warning: Record is executed as if no record sequencing were parame
trised. Subsequent record is not executed, error E28 is not reported.
0
1
E28: Sequencing condition was not reached.
In case of warning: The CMAX stops in the record whose sequencing condition
was not reached.
0
2, 3
reserved (=: 0 !)
0
4
E32: Target force outside of the force limits.
In case of warning: If exceeded, the target force is limited to the limit value by
the CMAX.
0
5
E33: Target position outside of the software or hardware end positions.
In case of warning: If the target position is larger than the software end posi
tion, the software end position or the hardware end position (with deactivated
software end positions) is approached.
0
6
E34: Setpoint value of tracking mode outside of the limit values.
In case of warning: The setpoint value (position or force) is only adopted up to
the limit values. The axis stops at the software end position or force limit. Posi
tioning is not cancelled. If the setpoint value is smaller than the limit value, the
CMAX will track the axis.
1
7
E35: Pass software end position.
In case of warning: The axis does not stop and continues to execute the posi
tioning task (does not apply to force control).
1
8
E50: Supply pressure is too low
In case of warning: The CMAX behaves as if there were sufficient pressure.
Positionings lead to error E30 or E31.
0
9 ... 31
reserved (= 0 !)
0
1)
0 = The message is treated as a fault; 1 = The message is treated as a warning
Tab.4/17: Configuration of the diagnostic messages configuration of fault messages
4−46
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.5
Diagnostics via standard functions of the CPX terminal
Faults in the CMAX or the connected modules are reported to
the CPX node as CPX error messages. The following sections
contain the special features of the representation for the CPX−
specific diagnostic options.
4.5.1
I/O data module (control and status bytes, see section 2.2),
Status bits (see section 4.5.1),
I/O diagnostics interface (see section 4.5.2).
Status bits of the CPX terminal
Tab.4/18 shows error messages of the CMA X in the status
bits of the CPX terminal.
Bit
Diagnostic information
with 1−signal
Description
Error cause CMAX
0
Error in valve
1
Error at output
Module type in
which an error has
occurred
2
Error at input
3
Error on analogue module/
technology module
Bit 3 is set for all errors of the CMAX.
4
Undervoltage
5
Short circuit/overload
6
Wire break
7
Other error
Type of error
Tab.4/18: Overview of status bits
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−47
4. Faults and diagnostics
4.5.2
I/O diagnostic interface and diagnostic memory
A range of different diagnostic information is accessible via
the I/O diagnostic interface and the diagnostic memory of the
CPX terminal.
Diagnostic memory data
(CPX−MMI and I/O diagnostic interface)
The representation of diagnostic messages of the CMAX in
the diagnostic memory of the CPX terminal occurs as shown
in Tab.4/19.
Diagnostic memory data (10 bytes per entry, max. 40 entries)
Function no. 1)
Byte
Designation
Description
Value
3488 + n
1
2
3
4
5
Days [day]
Hours [h]
Minutes [m]
Seconds [s]
Milliseconds [ms]
Time information for the reported
error, measured from the point when
the power supply was switched on
(CPX standard).
0 ... 255
n = 10 * d + 0
0 ... 23
0 ... 59
0 ... 59
0 ... 999
(128...227)
6
Module code
Module code of the CMAX: 176
0 ... 255
n = 10 * d + 5
7
Module position
[Pos]
Module code of the CPX module that
reported the error.
0 ... 47
n = 10 * d + 6
8
Channel number
Bit 7
1
128
(0 ... 255)
n = 10 * d + 7
9
Error number [FN]
CPX error number
(see section 4.2.2)
90 ... 99
(0 ... 255)
n = 10 * d + 8
10
Following channels
Always 0 for the CMAX
0 (0 ... 63)
n = 10 * d + 9
1)
6
0
5 ... 0
0 ... 0
Description
Error in
I−channel 1
d (diagnostic event) [NB] = 0 ... 39 ; most current diagnostic event = 0
Tab.4/19: Diagnostic memory data of the CMAX
Instructions on diagnostics with the I/O diagnostic interface
can be found in the CPX system manual.
4−48
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
Example of diagnostic memory entry for error E50
Diagnostic memory data
Value
Byte
Designation
Description
Dec
Hex
Bin
1
2
3
4
5
Days [day]
Hours [h]
Minutes [m]
Seconds [s]
Milliseconds [ms]
Error was reported 22.66 ms after
switching on the power supply (bit 7 in
byte 5 is set if this is the first entry
since Power ON).
0d
0d
0d
22d
194d
00h
00h
00h
16h
C2h
00000000 b
00000000 b
00000000 b
00010110 b
11000010 b
6
Module code
Module code of the CMAX: 176
176d
B0h
10110000 b
7
Module position
[Pos]
In this case, the CMAX is CPX module
No. 2.
2d
02h
00000010 b
8
Channel number
Bit 7
1
128d
81h
10000001 b
9
Error number [FN]
CPX error number: 105
105d
69h
01101001 b
10
Following channels
Always 0 for the CMAX
0d
00h
00000000 b
6
0
5 ... 0
0 ... 0
Description
Error in I channel
Tab.4/20: Example of diagnostic memory entry
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−49
4. Faults and diagnostics
Diagnostic data of the module (I/O diagnostic
interface)
The specific representation of module diagnostic data (error
messages) of the CMAX occurs as shown in Tab.4/21 and
Tab.4/22.
Module diagnostic data: Type of error and location where error arose
Function no.
2008 + m * 4 + 0;
Description
Describes where the relevant error occurred.
Bit
Bit 0 ... 7
Values
Bit 7
1
6
0
m = module number (0 ... 47)
Type of error and location where error arose
5 ... 0 : Description
000000 : Error in I−channel 0 (axis 1)
Tab.4/21: Type of error and location where error arose
Module diagnostic data: Module error number
Function no.
2008 + m * 4 + 1;
m = module number (0 ... 47)
Description
Error number
Bit
Bit 0 ... 7 : error number
Values
100 ... 108: CPX error number, (see example Tab.4/20)
Note
For CMAX error messages, see section 4.2.2.
Tab.4/22: Module error number
4−50
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4. Faults and diagnostics
4.5.3
Split up: Parametrising via the I/O diagnostic interface
In principle, parameters can also be changed via the CPX bus
nodes or CPX−FEC−specific functions, such as acyclic services
etc.
The CMAX parameters are accessed via the I/O diagnostic
interface, see Tab.4/23.
Information on the parametrisation can be found in the de
scription of the CMAX communication profile.
Function number 1)
Parameter entry
4828 + m*64 + 0 ... 5
reserved (standard module parameters,
are not used by the CMAX).
4828 + m*64 + 6
Reserved for special module settings of
the CMAX
CMAX.
4828 + m*64 + 7
4828 + m*64 + 8 ... 11
Task control
4828 + m*64 + 12 ... 61
50 byte data (depending on the task).
4828 + m*64 + 62, 63
reserved
1)
m = module number
Tab.4/23: I/O diagnostic interface
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
4−51
4. Faults and diagnostics
Additional information
Module code
Function no: 16 + m*16 + 0:
Module code CPX−CMAX−C1−1 = 176
Revision code
Function no: 16 + m*16 + 13
Shows the module version: 0 ... 255 according to the name
plate of the module.
After a firmware update the name plate and the version no
longer match.
Serial number
784 + m*4 + 0
784 + m*4 + 1
784 + m*4 + 2
784 + m*4 + 3
Specifies the serial number of the module (8 digits).
Function no:
Structure: YMNNNNNN
Y=Year, M=Month,
NNNNNN = continuous number (BCD−encoded)
Example: 37 12 34 56
37:
Date = July 2003
(Year: 0 ... F = 2000 ... 2015; month: 0 ... C)
123456: continuous number
4−52
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Parameter
Chapter 5
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−1
5. Parameter
Contents
5.1
5.2
5.3
5.4
5−2
General parameter structure of the CMAX . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1
Password protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2
Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3
Status−dependent and operating mode dependent lock . . . . . . . .
5.2.4
Enable and stop with parametrisation . . . . . . . . . . . . . . . . . . . . . . .
Default values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1
Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2
Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3
Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.4
Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.5
Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.6
Project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.7
Setpoint values for jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.8
Direct operating mode: Positioning . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.9
Direct operating mode: Force control . . . . . . . . . . . . . . . . . . . . . . . .
5.4.10 Parameters of the default values . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.11 Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.12 Application settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.13 Controller data of position controller . . . . . . . . . . . . . . . . . . . . . . . .
5.4.14 Force controller data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.15 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.16 System data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5−3
5−5
5−5
5−8
5−9
5−10
5−11
5−17
5−17
5−25
5−32
5−39
5−43
5−52
5−59
5−62
5−65
5−67
5−71
5−77
5−82
5−85
5−88
5−93
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
5.1
General parameter structure of the CMAX
The CMAX contains a parameter set with the following structure.
Group
Indices
Description
Device data
100 ... 199
Device identification and device−specific
settings, version numbers, identifier
words, etc.
Diagnostic data
200 ... 299
Memory for diagnostic events: fault
numbers, fault time, current messages.
Process data
300 ... 399
Current setpoint values and actual values,
status data
Record list
400 ... 499
For record select operating mode.
A record contains all the setpoint value
parameters required for a positioning pro
cedure.
Project data
500 ... 529
Basic project settings: Project zero point,
setpoint value limits for position, force,
speed, ...
Setpoint value for Direct
operating
530 ... 599
Data for jogging and direct setpoint specifi
cation for position, force, ...
Default values
600 ... 699
Global default values
Drive configuration
1100 ... 1149 All axis−specific parameters for pneumatic
drives: Cylinder lengths and diameter, valve
type, ...
Controller data
1150 ... 1189 Amplification factors, identification, adapta
tion.
Commissioning data
1190 ... 1199 Actual configuration, system of measure
ment, data reset ...
Axis data
Tab.5/1: Parameter structure
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−3
5. Parameter
Parameter classes
Attribute / use
Var
Simple variable. Contains only one value.
The subindex does not have a function.
Array
Contains multiple simple variables that all have the same signifi
cance, the same limits, the same unit, etc.
Example: Record list setpoint position (PNU 404).
The elements in the array are addressed using the subindex.
Struct (Record)
Compilation of several single variables with different limit values etc.
Tab.5/2: Parameter classes for the CMAX
Data types
Attribute / use
bitarray
4−byte value whose individual bits have separate meanings.
char
8−bit ASCII characters.
int32
4−byte integer value with sign.
Tab.5/3: Data types for the CMAX
5−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
5.2
5.2.1
Access protection
Password protection
The password protection prevents unauthorised controlling
or modifying of parameters, e.g. via a freely accessible MMI
in a producing plant. The password only prevents write ac
cess reading is always possible.
There are three ways to modify parameters:
via the diagnostic interface with a PC or MMI (in prep
aration),
via fieldbus through the operating PLC (I/O data in
parametrising mode),
via fieldbus through a configuration master.
You can assign a password for the diagnostic interface in the
CMAX. Modifications are always possible via fieldbus. When
starting up the device for the first time, it will not yet have a
password created.
Areas that are protected are the modification of parameters
and the controlling of inputs, start, stop, teaching and firm
ware download. Permissible is the display of parameters,
project upload, the display of actual values, setpoint values,
diagnostic data.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−5
5. Parameter
The following parameters can be modified despite password
protection:
PNU
Parameter
Description of the reason
116
Project identifier
reserved for the FCT (synchronisation status).
130
Password
Must be writable.
133
System password
reserved for the FCT (reset CMAX in the event of Forgot password").
204:05
Number of new
entries
Diagnostic memory display (status value, no parameter).
1173:01
Limit value status
Required for the display of the limit values (status value, no para
meter).
Tab.5/4: Parameters that can be written without password
Creating a password
PNU 130 contains the password as a string. The parameter
PNU 1192:04 controls the acceptance and delivers the cur
rent status. To define a password for the CMAX:
1. Write the password in PNU 130, e.g. PNU 130
=My_password".
2. Accept the password into the device data by setting
PNU 1192:04 = 1.
The password is implemented as a string in CMAX and con
sists of 8 bytes (ASCII code: 32 to 127). This permits upper
and lower case letters, numerals and special characters such
as dash ’−’, smaller ’< ’, at ’@’ etc.
5−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
PNU 1192:04 Accept password
Access
Values
Write
= 0: Delete password
= 1: Accept password
Read
= 0: No password set
= 1: Password set and access free
= 2: Password set and access blocked
Tab.5/5: Password access control
The password must be entered when connecting with the FCT
for the first time. It then remains active until the project is
closed in the FCT.
To change it, first enter and delete the old password. Then the
new password can be entered and accepted.
The password cannot be read or reset. If you forget the pass
word, the CMAX can be completely reset. This not only de
letes the axis data but also the device data. This reset can
only be performed by FCT, not via the PLC.
Information on the password protection can be found in the
CMAX FCT−PlugIn Help and in the PNU in section 5.4.2 and
PNU 1192 in section 5.4.16.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−7
5. Parameter
5.2.2
Access via PLC and FCT
Simultaneous operation of the drive through PLC and FCT can
be locked. This is done with the bits CCON.LOCK (FCT access
blocked) and SCON.FCT_MMI (device control FCT).
Preventing FCT operation: CCON.LOCK
By setting the CCON.LOCK control bit (bit 5) the PLC prevents
the FCT from taking over device control. So if the LOCK is set,
FCT cannot write parameters or control the drive.
The PLC should be programmed not to issue this release until
the user carries out the relevant action. This generally exits
automatic operation. This means that the PLC programmer
can ensure that the PLC always knows when it has control
over the drive.
The lock is active if the CCON.LOCK has a 1 signal. It is not
mandatory to set it. If such a lock is not required, CCON.LOCK
can always be set to 0.
A subset of the parameters can also be written by the FCT if
the device control is not active. This concerns the parameters
that can be modified during optimisation".
Record list (accelerations and workpiece mass),
Controller amplifications,
Several diagnostic parameters for the FCT.
Control sovereignty acknowledgment for FCT:
SCON.FCT_MMI
SCON.FCT_MMI indicates that the drive is controlled by the
FCT and that no control over the drive is possible via the I/O
data. The PLC can react by switching to stop or manual oper
ation.
5−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
5.2.3
Status−dependent and operating mode dependent lock
This lock is designed to protect against maloperations during
the operating phase. It is not permissible to modify para
meters during operation that affect the controller.
To do this, you must change to commissioning mode (or
parametrisation, when using the cyclical I/O data). This data
is documented as commissioning data. Each parameter also
states which operating status is needed.
To write a commissioning parameter
commissioning mode or parametrising mode must be
active,
the controller must be locked (CCON.ENABLE = 0)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−9
5. Parameter
5.2.4
Enable and stop with parametrisation
The parametrisation in the cyclical I/O data requires that the
CCON.STOP signal is not set, since operation enable is not
possible.
Commissioning parameters require that the controller is
locked when writing.
Transferring parameters has the following effects on the
CCON.ENABLE and CCON.STOP signals
Operating mode
Read: CCON
Write: CCON
.ENABLE
.STOP
.ENABLE
.STOP
Record selection
x
x
x
x
Direct mode
x
x
x
x
Commissioning
x
x
0
x
0
0 / x 1)
x / 0 1)
Parametrisation
1)
x
With commissioning parameters CCON.ENABLE = 0 must be set
Tab.5/6: Effect of the parameter transfer to CCON
5−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
5.3
Default values
Default values can be used to globally specify positioning
parameters (speed, acceleration, tolerance, ...) for record
select mode and direct operating. They replace the individual
record select or direct operating parameters.
Record list
PNU401
PNU402
PNU403
PNU404
PNU405 PNU406 PNU407
PNU408
PNU410
PNU411
RCB1
RCB2
RPC
Setpoint
value
Preselect Speed
Delay
W mass
Tolerance K ramp
Acc.
PNU412
Default values
PNU 600
Speed position
PNU 601
Speed force
PNU 602
Accel.
PNU 603
Deceleration
PNU 605
Workpiece mass
PNU 606
Position tolerance
PNU 607
Force tolerance
PNU 608
Force ramp
Direct operating position
Direct operating force
Jog
PNU540
PNU541 PNU542
PNU544 PNU545
PNU550
PNU551
PNU552
PNU531
PNU532
PNU533
PNU536
Speed
Acc.
W mass
K ramp
W mass
Tolerance Speed
Speed
Acc.
Delay
W mass
Delay
Tolerance
PNU554
Fig.5/2: Effect of the default values
If in an application each record is to be moved with the same
acceleration e.g., you do not need to enter the same v alue
into the position list each time. Instead, the record list refers
to the default value.
In order to use values other than the default values in an indi
vidual record, you only need to specify the values for the re
cord parameter in this one record.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−11
5. Parameter
Advantages:
Simplifies parametrisation.
The record and direct operating parameters are by default
defined so that the respective default values are used
instead of the parameters. If the default values are
used for the parameters speed, acceleration, deceler
ation, workpiece mass and tolerance, this amounts to
5 x 64 = 320 parameters for 64 records that do not need
to be entered.
Increased data transmission performance.
Since less data is transmitted, the time required for
parametrisation is reduced. This affects serial connections
such as with the FCT, but also fieldbus connections.
When is a default value used?
For each parameter a flag defines whether the default value is
used. If you want the value from the record or the special
parameter to be used, the flag needs to be set to 1. Other
wise the default value will be used. The following parameters
contain flags for default values:
Positioning type
PNU
Index
Description
Record select mode
403
nn (record no.)
Record Parameter Control (RPC)
Jog
521
01
Direct Mode Parameter Control (DMPC)
Direct mode for position
521
02
Direct Mode Parameter Control (DMPC)
Direct mode for force
521
03
Direct Mode Parameter Control (DMPC)
Tab.5/7: Control of the default values
5−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
Parameter Control
Bit
PNU 403: RPC
PNU 521: DMPC
31
= 0: Record is blocked
= 1: Record is active
is not evaluated
30
= 0: Record is not initialised or deleted
= 1: Record is initialised by user
is not evaluated
0 ... 29
Bitfield, controls acceptance of the default values, see Tab.5/9.
= 0: Using the default values
= 1: Using the parameter from record select or direct mode
Tab.5/8: Flag for the parameter control
Parameters used depending on the bit status
Bit
Parameter
Bit = 0
Bit = 1
Record
select
mode
Jog
Position
Force
0
Speed, position
600
406
531
540
1
Force speed
601
406
554
2
Acceleration
602
407
532
541
3
Deceleration
603
408
533
542
4
(reserved)
5
Workpiece mass
605
410
536
544
551
6
Position tolerance
606
411
545
7
Force tolerance
607
411
552
8
Force ramp
608
412
550
9 ... 29
(reserved)
Tab.5/9: Parameters used
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−13
5. Parameter
How is evaluation performed?
Evaluation is performed upon start. When using the free pro
file, the CMAX checks for each target parameter whether it
should use the global setting or the individual parameter.
Individual parameter values shall be used if the respective bit
is set to 1 in the RPV (Record Parameter Control) or the MCPC
(Direct Mode Parameter Control).
Example
Let’s assume 2 types of bulk goods are to be brought to a
collection point and emptied there.
1
2
3
4
1 Position 1: 20 mm (Wait")
3 Position 3: 145.50 mm (Load 2")
2 Position 2: 75 mm (Load 1")
4 Position 4: 205.20 mm (Empty")
Fig.5/3: Example of different masses
Step
Task
1
Waiting in a waiting position to start collecting the bulk goods. Upon start the empty
slide uses the default values to travel from the starting position 1 to the first loading
position 2.
2
With increased mass (12 kg) the slide travels to the second loading position 3. Acceler
ation and speed may correspond to the default values.
3
The full container (25 kg) is moved to the unloading position 4. Here the slide needs to
travel based on reduced speed and acceleration values due to the full container.
4
From the unloading position 4 the slide can return to the initial position 1 at full speed.
Tab.5/10: Example of default values: Steps
5−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
To perform this task, the following default values are defined
first. Force control is not required, the values are not taken
into account.
Parameter
PNU
Value
Comment
Speed
600
1000 (= 1 m/s)
Acceleration
602
1000 (= 1 m/s2)
Do not use the maximum possible values
from the identification data
data.
Braking ramp
603
1000 (= 1 m/s2)
Workpiece mass
605
0
(= 0 kg)
No workpiece mass in normal status
Tolerance
606
50
(= 0.5 mm)
Tolerance = 0.5 mm
Tab.5/11: Example of default values: Specify default values
Record list: All blank fields in the record list do not need to be
parametrised explicitly. The record control bytes 1+2 can be
used as preset.
Re
cord
No.
RCB1 RCB2 RPC
(Low word)
Set
point
value
1
C000 0000h 7500
2
C000 0020h 14550
3
C000 002Dh 20520
4
C000 0000h 2000
Pre−
se
lect
Speed Accel. Delay WP
mass
Tolerance Force
ramp
Bit 0
0001
h
Bit 6
0040h
Bit 2
0004
h
Bit 3 Bit 5
0008 0020h
h
Bit 8
0100h
120
400
200
200
250
Tab.5/12: Example of default values: Record list
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5−15
5. Parameter
With this record list and the default values the drive in fact
performs the following movement.
Step
Start
Target
Speed
Acc.
Delay
WP mass
Tolerance
1
20.0 mm
75.0 mm
1.0 m/s
1.0 m/s2
1.0 m/s2
0.0 kg
0.5 mm
2
75.0 mm
145.5 mm
1.0 m/s
1.0 m/s2
1.0 m/s2
12.0 kg
0.5 mm
3
145.5 mm
205.2 mm
0.4 m/s
0.2 m/s2
0.2 m/s2
25.0 kg
0.5 mm
1.0 m/s
1.0 m/s2
1.0 m/s2
0.0 kg
0.5 mm
4
205.2 mm
20.0 mm
Tab.5/13: Example of default values: Movements performed
5−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Parameter
5.4
Description of the parameters
5.4.1
Overview of parameters
The following overview (Tab.5/14) sho ws the FHPP’s
parameters. The parameters are described in sections 5.4.2
to 5.4.16.
PNU 1)
PNU
IND
Name ((DE))
Max
Properties1)
Class
Type
Unit
RW
SH IB
NB UL
Device data, see section 5.4.2
100
1
1
Hardware version of
manufacturer
Var
int32
0
R
101
1
1
Firmware version of
manufacturer
Var
int32
0
R
102
1
1
FHPP version
Var
int32
0
R
103
X
30
Build version
Array
char
0
R
104
X
3
Software versions
Var
int32
0
R
105
1
1
Boot loader version
Var
int32
0
R
114
1
1
Controller serial number
Var
bitarray 0
R
116
X
33
FCT project identifier
Array
char
0
RW
120
X
30
Manufacturer’s device name
Array
char
0
R
121
X
30
User’s device name
Array
char
0
RW
122
X
30
Manufacturer name
Array
char
0
R
123
X
30
HTTP address of manufacturer Array
char
0
R
124
X
30
Festo order number
Array
char
0
R
130
X
30
Password
Array
char
0
W
133
X
2
Secret system password
Var
int32
0
RW
140
1
2
System time: Qty. operating
days
Struct int32
0
R
140
2
2
System time: millisec. of the
day
Struct int32
0
R
180
X
30
Name of X−axis
Array
char
0
RW
UL
181
X
30
Name of Y−axis
Array
char
0
RW
UL
1)
UL
UL
UL
see Tab.5/15
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−17
5. Parameter
PNU 1)
PNU
IND
Name (DE)
Max
Properties1)
Class
Type
Unit RW
SH IB NB UL
Diagnostics, see section 5.4.3).
200
X
100
Diagnostic event
Array
int32
0
R
201
X
100
Diagnostic number
Array
int32
0
R
202
X
100
Time stamp time of day
Array
int32
0
R
203
X
100
Additional information
Array
bitarray 0
R
204
1
5
Reserved
Struct int32
0
R
204
2
5
Reserved
Struct int32
0
R
204
3
5
Clear memory
Struct int32
0
RW
204
4
5
Number of entries
Struct int32
0
R
204
5
5
Number of unread entries
Struct int32
0
RW
220
X
3
Current faults
Array
bitarray 0
R
221
X
3
Current warnings
Array
bitarray 0
R
222
X
100
Time stamp: operating day
Array
int32
0
R
224
1
1
Currently displayed fault on
display
Var
int32
0
R
225
1
1
Active fault level
Var
int32
0
R
226
1
1
Currently displ. warning on
the FCT
Var
int32
0
R
227
X
89
Error status for FCT
Array
bitarray 0
R
228
1
3
Diagnostic events filter
Struct bitarray 0
RW
SH
228
2
3
Diagnostic messages filter
Struct bitarray 0
RW
SH
228
3
3
Fault configuration configur
ation
Struct bitarray 0
RW
SH
SH
UL
UL
Process data, see section 5.4.4
300
X
3
Position values
Array
int32
1
R
301
X
3
Force values
Array
int32
3
R
302
X
3
Pressure values
Array
int32
4
R
305
1
4
Count of positioning com
mands
Struct int32
0
R
305
2
4
Count of force commands
Struct int32
0
R
305
3
4
Cumulated stroke length
Struct int32
0
R
305
4
4
Cumulated stroke length fract. Struct int32
0
R
307
1
1
Current speed
Var
int32
6
R
308
1
1
Extended axis status
Var
bitarray 0
R
309
1
1
Valve output value
Var
int32
R
1)
0
see Tab.5/15
5−18
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
PNU 1)
PNU
IND
Name (DE)
Max
Properties1)
Class
Type
Unit RW
SH IB NB UL
Record list, see section 5.4.5
400
1
3
Setpoint record number
Struct int32
0
R
400
2
3
Actual record number
Struct int32
0
R
400
3
3
Record status byte
Struct bitarray 0
R
401
X
64
Record control byte 1
Array
bitarray 0
RW
SH
UL
402
X
64
Record control byte 2
Array
bitarray 0
RW
SH
UL
403
X
64
Record param. Control
Array
bitarray 0
RW
SH
UL
404
X
64
Record setpoint value
Array
int32
1, 3
RW
SH
UL
405
X
64
Record preselection value
Array
int32
div.
RW
SH
UL
406
X
64
Record velocity
Array
int32
6
RW
SH
UL
407
X
64
Record acceleration
Array
int32
7
RW
UL
408
X
64
Record deceleration
Array
int32
7
RW
UL
410
X
64
Record workpiece mass
Array
int32
5
RW
411
X
64
Record tolerance
Array
int32
1, 3
RW
SH
UL
412
X
64
Record force ramp
Array
int32
8
RW
SH
UL
UL
Project data, see section 5.4.6
500
1
1
Project zero point
Var
int32
1
RW
SH
NB UL
501
1
2
Lower software end position
Var
int32
1
RW
SH
NB UL
501
2
2
Upper software end position
Var
int32
2
RW
SH
NB UL
507
1
1
Stop ramp
Var
int32
7
RW
SH
UL
510
1
1
Permitted stroke during force
control
Var
int32
1
RW
SH
UL
511
1
1
Lower limit setpoint force
Var
int32
3
RW
SH
NB UL
512
1
1
Upper limit setpoint force
Var
int32
3
RW
SH
NB UL
514
1
1
Permitted speed during force
control
Var
int32
6
RW
SH
UL
521
1
3
Jog mode parameter control
Array
bitarray 0
RW
SH
UL
521
2
3
Direct mode position para
meter control
Array
bitarray 0
RW
SH
UL
521
3
3
Direct mode force parameter
control
Array
bitarray 0
RW
SH
UL
522
1
2
FHPP: Control/Status bits:
CPOS.HALT support
Struct int32
0
RW
SH IB
UL
522
2
2
FHPP: Control/Status bits:
CCON.BRAKE level
Struct int32
0
RW
SH IB
UL
523
X
8
FHPP: Setpoint/actual values
Struct int32
0
RW
SH
UL
1)
see Tab.5/15
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−19
5. Parameter
PNU 1)
PNU
IND
Name (DE)
Max
Properties1)
Class
Type
Unit RW
SH IB NB UL
Jog mode, see section 5.4.7
530
1
1
Jog mode slow speed
Var
int32
6
RW
SH
UL
531
1
1
Jog mode fast speed
Var
int32
6
RW
SH
UL
532
1
1
Jog mode acceleration
Var
int32
7
RW
SH
UL
533
1
1
Jog mode deceleration
Var
int32
7
RW
SH
UL
534
1
1
Jog mode time slow speed
Var
int32
9
RW
SH
UL
536
1
1
Jog mode workpiece mass
Var
int32
5
RW
SH
UL
Direct mode position, see section 5.4.8
540
1
1
Direct m. pos. base veloc.
Var
int32
6
RW
SH
UL
541
1
1
Direct m. pos. acceleration
Var
int32
7
RW
SH
UL
542
1
1
Direct m. pos. deceleration
Var
int32
7
RW
SH
UL
544
1
1
Direct m. pos. workp. mass
Var
int32
5
RW
SH
UL
545
1
1
Direct m. pos. tolerance
Var
int32
1
RW
SH
UL
Direct mode force, see section 5.4.9
550
1
1
Direct m. force base value
force ramp
Var
int32
8
RW
SH
UL
551
1
1
Direct m. force workpiece
mass
Var
int32
5
RW
SH
UL
552
1
1
Direct m. force tolerance force Var
int32
3
RW
SH
UL
554
1
1
Direct m. force velocity limit
Var
int32
6
RW
SH
UL
Default values, see section 5.4.10
600
1
1
Speed position mode
Var
int32
6
RW
SH
UL
601
1
1
Speed force mode
Var
int32
6
RW
SH
UL
602
1
1
Acceleration
Var
int32
7
RW
SH
UL
603
1
1
Deceleration
Var
int32
7
RW
SH
UL
605
1
1
Workpiece mass
Var
int32
5
RW
SH
NB UL
606
1
1
Tolerance position mode
Var
int32
1
RW
SH
UL
607
1
1
Tolerance force mode
Var
int32
3
RW
SH
UL
608
1
1
Force ramp
Var
int32
8
RW
SH
UL
1)
see Tab.5/15
5−20
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
PNU 1)
PNU
IND
Name (DE)
Max
Properties1)
Class
Type
Unit RW
SH IB NB UL
Axis configuration, see section 5.4.11
1100 1
1
Cylinder type
Var
int32
0
RW
SH IB
NB UL
1101 1
1
Cylinder length
Var
int32
2
RW
SH IB
NB UL
1102 1
1
Cylinder diameter
Var
int32
11
RW
SH IB
NB UL
1103 1
1
Piston rod diameter
Var
int32
11
RW
SH IB
NB UL
1110 1
1
Measuring system type
Var
int32
0
RW
SH IB
NB UL
1111 1
1
Measuring system length
Var
int32
2
RW
SH IB
NB UL
1112 1
1
Measuring system serial
number
Var
bitarray 0
RW
SH
1120 1
1
Valve type
Var
int32
0
RW
SH IB
1121 1
1
Valve serial number
Var
bitarray 0
RW
SH
1125 1
1
Valve type 2
Var
int32
0
RW
SH IB
1126 1
1
Valve 2 serial number
Var
bitarray 0
RW
SH
NB UL
NB UL
Application settings, see section 5.4.12
1130 1
1
Offset axis zero point
Var
int32
1
RW
SH IB
NB UL
1131 1
1
Homing method
Var
int32
0
RW
SH IB
UL
1132 1
1
Homing speed
Var
int32
6
RW
SH IB
UL
1140 1
1
Mounting angle
Var
int32
12
RW
SH IB
NB UL
1141 1
1
Supply pressure
Var
int32
4
RW
SH IB
NB UL
1142 1
1
Basic mass load without work Var
piece
int32
5
RW
SH IB
NB UL
1143 1
4
Workpiece loaded at power on Var
int32
0
RW
SH IB
UL
1143 2
4
Dual axis design
Var
int32
0
RW
SH IB
NB UL
1143 3
4
Clamping unit installed
Var
int32
0
RW
SH IB
UL
1143 4
4
Through piston rod
Var
int32
0
RW
SH IB
NB UL
Position controller, see section 5.4.13
1150 1
1
Pos. contr. gain factor
Var
int32
10
RW
NB UL
1151 1
1
Pos. contr. cushioning factor
Var
int32
10
RW
NB UL
1152 1
1
Pos. contr. filter factor
Var
int32
10
RW
1153 1
1
Pos. contr. timeout
Var
int32
9
RW
SH
NB UL
1154 1
1
Pos. contr. damping time for
exact stop
Var
int32
9
RW
SH
NB UL
1)
NB UL
see Tab.5/15
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−21
5. Parameter
PNU 1)
PNU
IND
Name (DE)
Max
Properties1)
Class
Type
Unit RW
SH IB NB UL
Force control, see section 5.4.14
1160 1
1
Force contr. gain factor
Var
int32
10
RW
NB UL
1161 1
1
Force contr. dynamic gain
Var
int32
10
RW
NB UL
1162 1
1
Force contr. filter factor
Var
int32
10
RW
1163 1
1
Force contr. timeout
Var
int32
9
RW
SH
NB UL
1164 1
1
Force contr. damping time for
exact stop
Var
int32
9
RW
SH
NB UL
0
RW
SH IB
NB UL
SH IB
NB UL
SH
NB UL
SH IB
NB UL
SH IB
NB UL
NB UL
Identification, see section 5.4.15
1170 1
1
Identification settings
Var
int32
1171 1
1
Identification status
Var
bitarray 0
1172 X
6
Identified maximum values
Struct int32
1173 1
14
Limit values Status
Struct bitarray 0
RW
1173 X
14
Limit values
Struct int32
R
1174 1
1
Status movement test
Var
bitarray 0
R
1175 1
1
Disable adaptation
Var
int32
0
RW
1176 X
16
Static identification data
Array
int32
0
R
6/7
div.
R
R
System data, see section 5.4.16
1190 X
43
Actual hardware configuration Struct int32
0
R
1191 X
15
Analysis data
int32
0
R
1192 1
8
Comm. funct. block download Struct int32
0
RW
1192 2
8
Comm. funct. config. status
Struct int32
0
R
1192 3
8
Comm. funct. data reset
Struct int32
0
RW
1192 4
8
Comm. funct. password status Struct int32
0
RW
1192 5
8
Comm. funct. system of meas. Struct int32
0
RW
1192 6
8
Comm. funct. system of meas. Struct int32
table
0
R
1192 7
8
Comm. funct. movem. test
status
Struct int32
0
RW
1192 8
8
Comm. funct. valve/sensor
status
Struct int32
0
R
1193 X
12
System of meas. units
Struct int32
0
R
1194 X
12
System of meas. resolution
Struct int32
0
R
1195 X
5
Start configuration
Struct int32
0
R
1199 X
7
Manufacturing data
Array
0
R
1)
Array
int32
SH IB
see Tab.5/15
Tab.5/14: Overview of CMAX parameters
5−22
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
The overview contains the following entries
Index
Physical value
PNU
Decimal parameter number
IND
Subindex (Array, Struct) decimal (X = all or several subindexes of the PNU)
Max
Max. index, largest index = array size/struct size
Class
Parameter class (Var, Array, Struct)
Type
Value type (int32, bitarray, char)
Unit
Index of the physical unit (see PNU 1193 and section B.1)
RW
Write permissions: R = read only, W = write only, RW = read and write
SH
Higher−order controller (device control) required to make changes
IB
Commissioning parameters, writing only in commissioning or parametrising mode
with disabled controller
NB
Recalculation of the controller is performed after writing
UL
Limit values are taken into account when making changes
Tab.5/15: Key on CMAX parameter overview
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−23
5. Parameter
Representation of the parameter entries
1
Cylinder length
2
PNU
PNU: 1101
Values
Unit: Length (index = 2)
Index: 1
Max. index: 1
Linear drive
3
Dimen
sion
Default
SI 0.01 mm 0
imperial 0.01 ft
0
Class: Var
Data type: int32
Semi−rotary drive
Minimum Maximum
Dimen
sion
Default
Minimum
Maximum
0
1.000.000
0,1 °
0
0
100.000
0
1.000.000
0,1 °
0
0
100.000
4
The cylinder length is stored in the sensor interface. Standard cylinders are not longer than
2,000 mm, the value range includes reserves for special applications.
When exchanging the drive, no projecting needs to be carried out as long as the specified cylinder
length deviates from the recognised cylinder length by no more than 5.00 mm. This also allows
optimisation of the effective stroke.
5
ý
o
o
o
The parameter value cannot be changed.
Writing permissible only in commissioning/parametrising mode with disabled controller.
This parameter can be written by FCT without higher−order controller.
After writing, controller recalculation is carried out.
1 Name of the parameter
2 PNU (parameter number) with index, maximum index of the PNU, class and data
type
3 Parameter values:
For integer parameters (int32) with a physical unit, the unit and the values
(default, minimum, maximum) are specified for each system of measurement
(example).
For integer parameters (int32) without a physical unit, only default, minimum and
maximum values are specified.
With bitfields (bitarray), the default value is specified. It is also specified which
bit can assume which value 0, 1 or x (any) during writing. With bitfields the CMAX
checks the status of the individual bits, not a value range.
Strings (char) are specified with their default values and the permissible charac
ters during writing.
4 Description of the parameter
5 Information about access restrictions and effects on the controller
Fig.5/4: Representation of the parameter entries
5−24
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.2
Device data
Manufacturer hardware version
PNU
PNU: 100
Values
Without unit
Index: 1
Default: 0x0100
Max index: 1
Class: Var
Minimum: −
Data type: int32
Maximum: −
Coding of the CMAX hardware version.
The version number is BCD−encoded, the upper 16 bits are not used.
Format: 0x0000HHNN (HH = main version, NN = secondary version)
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Manufacturer firmware version
PNU
PNU: 101
Values
Without unit
Index: 1
Default: 0x0100
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
Coding of the CMAX firmware version. The version number is encoded as BCD.
Format: 0xBBBBHHNN
(BBBB = build number/output version, HH = main version, NN = secondary version)
Example: 0x05050100 corresponds to the version V01.00.0505
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Version FHPP
PNU
PNU: 102
Values
Without unit
Index: 1
Default: 0x0110
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
Coding of the implemented FHPP version.
The FHPP version is changed in the event of fundamental adjustments of the FHPP definition.
Format: 0x0000HHNN (HH = main version, NN = secondary version)
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−25
5. Parameter
Build date
PNU
PNU: 103
Values
Default:
Index: 1 ... 30
−
Impermissible characters:
−
Max index: 30
Class: Array
Data type: char
Date of creation of the firmware. The date is implemented as a string.
Format DD.MM.YYYY hh:mm:ss"
Example: 03.07.2008 12:40:44
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Software versions
PNU
PNU: 104
Values
Without unit
Index: 1 ... 2
Default: 0x0100
Max index: 2
Minimum: −
Class: Var
Data type: int32
Maximum: −
Software versions of the PlugIn for firmware operation.
Index
Contains
1
Minimal version
2
Recommended version
Format (BCD): 0000HHNN (HH = main version, NN = secondary version)
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Bootloader version
PNU
PNU: 105
Values
Without unit
Default: 0x0100
Index: 1
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
Version of the bootloader installed.
In the event of a firmware update the bootloader is not overwritten. Prior to a firmware download,
the system checks whether the firmware to be written is compatible with the bootloader.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−26
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Controller serial number
PNU
PNU: 114
Index: 1
Values
Default:
−
Write:
−
Max index: 1
Class: Var
Data type: bitarray
CMAX serial number (CPX module serial number).
It consists of 8 digits. Example: 37 12 34 56
37:
Date=July 2003, (year: 0..F=2000...2015; month: 0..C)
23456:
Continuous number
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
FCT project identifier
PNU
PNU: 116
Values
Default:
Index: 1 ... 33
0"
Max index: 33
Class: Array
Impermissible characters:
?@.,!:"§|$%&/ #‘’+~*’;°^<>
Data type: char
UUID (Universally Unique Identifier) for identification of the FCT project.
FCT generates an UUID after a project download and writes this into the device as the last para
meter. The UUID is saved in the project (not visible). In the CMAX the UUID is reset to 0 as soon as a
parameter in the configuration area (PNUs >=400) is changed. Changing process and diagnostic
data does not cause a reset.
The next time the FCT connects with the device, it checks the UUID after the name. If this is identical
to the UUID in the project, synchronisation between the device and the project does not need to be
carried out.
Permissible values per character: = 0x20 ... 0xFF
Reasonable values per character: = 0" ... 9" and A" ... F"
Reset value
= 0"
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−27
5. Parameter
Manufacturer device name
PNU
PNU: 120
Values
Default:
Index: 1 ... 30
CPX−CMAX−C1−1
Max index: 30
Impermissible characters:
−
Class: Array
Data type: char
CMAX designation (type). Unused characters are filled with zero (=00h=’0’).
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
User device name
PNU
PNU: 121
Index: 1 ... 30
Max index: 30
Class: Array
Values
Default:
CMAX0001
Impermissible characters:
?@.,!:"§|$%&/ #‘’+~*’;°^<>
Data type: char
CMAX designation defined by the user. The name serves the identification by FCT and is checked by
the FCT when the connection to the device is established.
Example: CMAX1_Slot3". Unused characters are filled with zero (=00h=’0’).
The CMAX also contains an axis name (PNU 180 ff ) along with the device name.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Drive manufacturer
PNU
PNU: 122
Values
Default:
Index: 1 ... 30
Festo AG & Co. KG
Max index: 30
Impermissible characters:
−
Class: Array
Data type: char
Controller manufacturer’s name Unused characters are filled with zero (=00h=’0’).
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−28
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
HTTP drive catalog address
PNU
PNU: 123
Values
Default:
Index: 1 ... 30
www.festo.com
Max index: 30
Impermissible characters:
−
Class: Array
Data type: char
Internet address of the manufacturer. Unused characters are filled with zero (=00h=’0’).
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo order number
PNU
PNU: 124
Index: 1 ... 30
Max index: 30
Values
Default:
548932"
Impermissible characters:
−
Class: Array
Data type: char
Festo order number. This number can be used to order an identical device.
Unused characters are filled with zero (=00h=’0’).
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Password
PNU
PNU: 130
Values
Default:
Index: 1 ... 30
"" (Blank character string)
Max index: 30
Class: Array
Impermissible
characters:
?@.,!:"§|$%&/ #‘’+~*’;°^<>
Data type: char
Password for operating the CMAX via the PC interface.
On delivery the device does not have a password created.
See section 5.2.1.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−29
5. Parameter
System password
PNU
PNU: 133
Index: 1 ... 2
Max index: 2
Class: Array
Data type: int32
Internal password for the FCT.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
System time: count operating days .
PNU
PNU: 140
Values
Days
Index: 1
Default: −
Max index: 2
Class: Struct
Minimum: −
Data type: int32
Maximum: −
Number of operating days since new state, device data reset or a firmware download.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
System time: milliseconds of the day .
PNU
PNU: 140
Values
ms
Default: −
Index: 2
Max index: 2
Class: Struct
Minimum: −
Data type: int32
Maximum: −
Number of milliseconds of the current operating day (PNU 140:01).
When switching on, the last value before switching off is loaded.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
The PNU 140 does not contain data of a real−time clock.
The number of operating days is counted by the CMAX, saved
when switching off and re−loaded when switching on. 1 oper
ating day consists of:
24 * 60 * 60 * 1000 ms = 86.400.000 ms
5−30
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Name of axis X
PNU
PNU: 180
Values
Default:
Index: 1 ... 30
Axis X
Max index: 30
Class: Array
Impermissible characters:
?@.,!:"§|$%&/ #‘’+~*’;°^<>
Data type: char
Name of the axis / the drive on the axis interface X.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Name of axis Y
PNU
PNU: 181
Index: 1 ... 30
Max index: 30
Class: Array
Values
Default:
Axis Y
Impermissible characters:
?@.,!:"§|$%&/ #‘’+~*’;°^<>
Data type: char
Reserved for future extensions.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−31
5. Parameter
5.4.3
Diagnostic memory
The diagnostic memory and the diagnostic parameters are
described in detail in the sections 4.3 and 4.4.
Diagnostic event
PNU
PNU: 200
Values
Without unit
Default: 0
Index: 1 ... 100 Max index: 100 Class: Array
Minimum: −
Data type: int32
Maximum: −
Type of diagnostic message, see section 4.3.2.
Not only fault messages are entered into the diagnostic memory of the CMAX, but also switch−on
operations, resets or configuration events. The interpretation of the diagnostic code and the addi
tional information depends on the type of these events.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Diagnostic number
PNU
PNU: 201
Values
Without unit
Default: 0
Index: 1 ... 100 Max index: 100 Class: Array
Minimum: −
Data type: int32
Maximum: −
The diagnostic number contains a detail on the diagnostic event. In the event of faults and warnings
this is the exact fault number, in the event of configuration event it is the function performed etc.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Time stamp: time of the day
PNU
PNU: 202
Values
ms
Index: 1 ... 100 Max index: 100 Class: Array
Default: 0
Minimum: −
Data type: int32
Maximum: −
Time of the current operating day in milliseconds at the time when the fault occurs.
This time stamp is not a real−time clock. The time is read from the device data PNU140 when the
fault occurs.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Additional information
PNU
PNU: 203
Index: 1 ... 100 Max index: 100 Class: Array
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Data type: bitarray
The parameter contains detailed information about the fault. This information mainly serves conveni
ent diagnostics using the FCT. The evaluation is complex and therefore not suitable for a PLC pro
gram. For description see section 4.3.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Reserved
PNU
PNU: 204
Values
Without unit
Index: 1
Default: 1
Max index: 5
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Reserved. Is not used by the CMAX.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−33
5. Parameter
Reserved
PNU
PNU: 204
Values
Without unit
Index: 2
Default: 2
Max index: 5
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Reserved. Is not used by the CMAX.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Clear memory
PNU
PNU: 204
Values
Without unit
Index: 3
Default: 0
Max index: 5
Minimum: 0
Class: Struct
Data type: int32
Maximum: 1
Write 1: The entire diagnostic memory is deleted. Reading always delivers the value 0.
Deleting is usually not required, since the memory is organised as a ring buffer. If the memory is full,
the new entry overwrites the oldest.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Number of entries
PNU
PNU: 204
Values
Without unit
Default: 0
Index: 4
Max index: 5
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Number of assigned entries in the diagnostic memory.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−34
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Number of unread entries
PNU
PNU: 204
Values
Without unit
Index: 5
Default: 0
Max index: 5
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Number of new entries since switching on. FCT deletes the value after reading the diagnostic
messages. Every new entry increments the value.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Current faults
PNU
PNU: 220
Index: 1 ... 3
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 3
Class: Array
Data type: bitarray
Current faults Each parameter is a bitfield consisting of three uint32 values and thus contains
3x 32 bits = 96 bit memory capacity. Each bit in this array represents a fault number. If it is set,
the corresponding fault message is active.
Example: PNU 220:01 = 0x00000001
Bit 0 set
E01 active
Bit 38 (32 + 6) set
E39 active
PNU 220:02 = 0x00000040
PNU 220:03 = 0x00030000
Bit 80 (32 + 32 + 16) set
E81 active
Bit 81 (32 + 32 + 17) set
E82 active
This representation is designed for evaluation by a PLC. Bit coding can be used directly to approach
an MMI. Fault texts, see section 4.2.5.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Current warnings
PNU
PNU: 221
Index: 1 ... 3
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 3
Class: Array
Data type: bitarray
Current warnings, refer to current fault messages (PNU 220). The distinction allows the PLC to
respond to faults and warnings specifically.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−35
5. Parameter
Time stamp: day of operation .
PNU
PNU: 222
Values
Days
Index: 1 ... 100 Max index: 100 Class: Array
Default: 0
Minimum: −
Data type: int32
Maximum: −
Time of the current operating day in milliseconds at the time when the fault occurs.
This time stamp is not a real−time clock. The time is read from the device data PNU140 when the
fault occurs.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Current error code on display
PNU
PNU: 224
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
Fault number currently shown on the display. This makes synchronisation between the display in the
FCT and the CMAX possible. It is always the fault that occurred first that is displayed.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Current fault level
PNU
PNU: 225
Values
Without unit
Default: 0
Index: 1
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
In this way the FCT can display the current status of the CMAX in accordance with section 4.2.3.
The most serious current fault is always responsible for the current fault level.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−36
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Current warning to be displayed in FCT
PNU
PNU: 226
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: −
Class: Var
Data type: int32
Maximum: −
The PNU 226 contains the warning number the FCT is supposed to display. Warnings are not dis
played on the CMAX display.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Fault status for FCT
PNU
PNU: 227
Index: 1 ... 89
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 89
Class: Array
Data type: bitarray
The bit−encoded error status allows to indicate the exact status of a fault message. The coding
is identical to the coding of the additional information in PNU 203. For the description, see
section 4.3.3.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Filter diagnostic events
PNU
PNU: 228
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 0000 0000 xxxx
Max index: 3
Class: Struct
Data type: bitarray
This setting can be used to define the scope of the records. By default the CMAX records very large
quantities of information. Not all are equally important. Certain information can selectively be ex
cluded from the records, see section 4.4. In this way only the most important events are included in
the diagnostic memory. For allocation, see 4.4.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−37
5. Parameter
Filter diagnostic message
PNU
PNU: 228
Index: 2
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 0000 00xx xxxx
Max index: 3
Class: Struct
Data type: bitarray
This filter allows you to exclude certain faults and warnings from the diagnostic memory records.
This makes sense for faults that are part of the normal operating cycle because they are inherent to
the process (load voltage errors) or because they occur frequently for other reasons. For allocation,
see 4.4.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Fault behaviour configuration
PNU
PNU: 228
Index: 3
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 000x xxxx xxxx
Max index: 3
Class: Struct
Data type: bitarray
Some of the faults can also be reported as warnings. This concerns in particular function monitoring,
such as maintaining the software end position. Often the right correct reaction depends on the ap
plication in these cases. For allocation, see 4.4.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−38
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.4
Process data
Position values
PNU
PNU: 300
Values
Unit: Position (index = 1)
Index: 1 ... 3
Max index: 3
Linear drive
Class: Array
Data type: int32
Semi−rotary drive
Dimension Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0.01 mm
−
−1.000.000 1.000.000 0,1 °
−
−100.000 100.000
Imperial 0.001 in
−
−393.701
0,1 °
−
−100.000 100.000
393.701
Index
Value
1
Current actual position of the controller
2
Current setpoint position of the controller
3
Current controller deviation
When force control is active, the current setpoint position is tracked to the actual position.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Force values
PNU
PNU: 301
Values
Unit: Force (index = 3)
Index: 1 ... 3
Max index: 3
Linear drive
Dimension
SI 1 N
Imperial 1 lbf
Class: Array
Data type: int32
Semi−rotary drive
Default
Minimum
−
−
Maximum Dimen
sion
Default
Minimum Maximum
−1.000.000 1.000.000 1 Nm
−
−1.000.000 1.000.000
−224.809
−
−737.561 737.561
224.809
1 lbf ft
Index
Value
1
Current actual force of the controller
2
Current setpoint force of the controller
3
Current controller deviation
When position control is active, the current setpoint force = 0.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−39
5. Parameter
Pressure values
PNU
PNU: 302
Values
Unit: Pressure (index = 4)
Index: 1 ... 3
Max index: 3
Linear drive
Imperial 1 psi
Index
1
2
3
Data type: int32
Semi−rotary drive
Dimension Default
SI 0,1 bar
Class: Array
Minimum
Maximum
Dimension Default
Minimum Maximum
−
−120
120
0,1 bar
−
−120
120
−
−174
174
1 psi
−
−174
174
Value
Pressure valve chamber 1
Pressure valve chamber 2
Calculated supply pressure
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Count of positioning commands
PNU
PNU: 305
Values
Without unit
Index: 1
Default: 0
Max index: 4
Class: Struct
Minimum: 0
Data type: int32
Maximum: 2.147.483.647
Total of start commands of the position controller that were executed.
Jogging, homing or identifications are not counted.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Count of force commands
PNU
PNU: 305
Values
Without unit
Default: 0
Index: 2
Max index: 4
Class: Struct
Minimum: 0
Data type: int32
Maximum: 2.147.483.647
Total of start commands of the force control that were executed.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−40
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Cumulated stroke length
PNU
PNU: 305
Values
Unit: Always in metres, irrespective of the system of measurement
Index: 3
Default: 0
Max index: 4
Class: Struct
Minimum: 0
Data type: int32
Maximum: 2.147.483.647
Total of movement changes of the drive since new state, the last data reset or a firmware download.
Records all the movements performed by the drive, irrespective of control mode or enable.
Warning: Specified in metres, not in the user system of measurement.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Cumulated stroke length fraction
PNU
PNU: 305
Values
Unit: Always in micrometres, irrespective of the system of measurement
Index: 4
Default: 0
Max index: 4
Class: Struct
Minimum: 0
Data type: int32
Maximum: 1.000.000
Total of movement changes of the drive since the last full meter was reached (PNU305:3).
Records all the movements performed by the drive, irrespective of control mode or enable.
Warning: Specified in micrometres, not in the user system of measurement.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Current speed
PNU
PNU: 307
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Data type: int32
Semi−rotary drive
Dimension Default Minimum
SI 0,001 m/s −
Imperial 0.01 ft/s
Class: Var
−
Maximum
Dimension Default Minimum
Maximum
−10.000.000 10.000.000 1 °/s
−
−10.000.000 10.000.000
−3.280.840 3.280.840 1 °/s
−
−10.000.000 10.000.000
Calculated actual speed.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−41
5. Parameter
Additional axis status
PNU
PNU: 308
Index: 1
Values
Default:
−
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Additional status information of the controller.
These are also valid in parametrising mode if SPOS is not available.
Bit 0
Referenced
SPOS.REF
Bit 1
Motion Complete
SPOS.MC
Bit 2
Drive in motion
SPOS.MOV
Bit 3
Contouring error/tolerance error
SPOS.DEV
Bit 4
Bit 5
Bit 6
In tolerance
Standstill warning
Supply pressure in tolerance
−
SPOS.STILL
−
Bit 12
Bit 13
Bit 14
Position control is active
Standstill control is active
Force control is active
−
−
−
All bits not mentioned are reserved.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Valve output value
PNU
PNU: 309
Values
Without unit
Default: 2047
Index: 1
Max index: 1
Minimum: 0
Internal setpoint specifcation for the valve.
Value
Standardised
setpoint value
Ventilation
4095
−100 %
1 −−> 4
2047
0%
closed
0
+100 %
1 −−> 2
Venting
2 −−> 3
closed
4 −−> 5
Class: Var
Data type: int32
Maximum: 4095
Drive moving
... towards smaller actual values
... not
... towards larger actual values
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−42
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.5
Record list
Requested record number
PNU
PNU: 400
Values
Without unit
Index: 1
Default: 0
Max index: 3
Minimum: 0
Class: Struct
Data type: int32
Maximum: 64
The record number that was accepted with the last starting edge.
If no record was started yet, the value will be 0 (no permissible record number).
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Actual record number
PNU
PNU: 400
Values
Without unit
Index: 2
Default: 0
Max index: 3
Minimum: 0
Class: Struct
Data type: int32
Maximum: 64
The number of the record executed last.
If no record was executed yet, the value will be 0. This is no permissible record number.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Record status byte
PNU
PNU: 400
Index: 3
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 3
Class: Struct
Data type: bitarray
Record status byte (RSB): contains a feedback code that is transferred to the input data.
In accordance with FHPP, only bits 0 ... 7 are defined. Bits 8 ... 31 are always 0. For a description of
the bits, see section 2.2.3.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−43
5. Parameter
Record control byte 1
PNU
PNU: 401
Index: 1 ... 64
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 0000 0xxx 0xxx
Max index: 64
Class: Array
Data type: bitarray
The record control byte 1 (RCB1) controls the most important settings for the positioning task.
It corresponds to the CDIR in direct mode, see section 2.2.4).
Bit
Name
Description
0 (ABS) Absolute/Relative = 0: Setpoint value is absolute
= 1: Setpoint value is relative 1)
1 (COM1) Control mode 1
= 0: Position control
= 1: Pressure/Force control
2 (COM2) Control mode 2
Only with position control (COM1=0):
= 0: Unassigned profile
= 1: Auto−profile
3
Reserved, must be 0
4 (VLIM) Velocity limit
For force control:
value deactivated = 0: Velocity limit value active
= 1: Velocity limit value deactivated
5 (XLIM) Stroke limit value With force control:
deactivated
= 0: Stroke monitoring active
= 1: Stroke monitoring deactivated
6 (FAST) Fast stop
= 0: Exact stop
= 1: Fast stop
7...32
Reserved, must be = 0.
1)
The setpoint value is relative to the last setpoint value (with MC and record sequencing with condi
tion MC") or to the actual value (if MC is not present). Force tasks following position tasks refer to
force 0.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−44
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Record control byte 2
PNU
PNU: 402
Index: 1 ... 64
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 0000 xxxx xxxx
Max index: 64
Class: Array
Data type: bitarray
Record control byte 2 (RCB2) controls conditional record sequencing.
Bits 0 ... Bit 6: = Sequencing condition for automatic record chaining (decimal value)
0: no sequencing; 2: Position; 3: Force; 4: Standstill; 5: Time; 11: Stroke;
12: MC; 13: Stroke after force; 14; position at force
Bit 7:
= 1: Disable record sequencing, in case a condition was defined.
(only for debugging purposes, not for normal control purposes).
Values not stated are impermissible (−> fault). For description see section 3.3.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Record parameter control
PNU
PNU: 403
Index: 1 ... 64
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
xx00 0000 0000 0000 000x xxxx
Max index: 64
Class: Array
Data type: bitarray
xxxx xxxx
The parameter RPC controls the disabling of the record and adoption of the default values.
Bits 0 ... 12 = 0: used value in the record parameter PNU 406 ff
= 1: Used default values acc. to PNU 600 ... 612
For information on the default values, see section 5.3.
Bits 30
= 0: Record is not initialised or deleted
= 1: Record initialised by user
Not initialised records can contain data, but are not executed.
FCT indicates these records as blank records (no upload/download or deviation during
synchronisation)
Bits 31
= 0: Record disabled (inactive)
= 1: Record enabled (active)
Disabled or inactive records are not executed.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−45
5. Parameter
Record setpoint value
PNU
PNU: 404
Values
Unit depends on control mode: Position (index = 1) or force (index = 3)
Default: 0
Index: 1 ... 64
Max index: 64
Class: Array
Minimum: −1.000.000
Control mode position (RCB1.COM1 = 0):
Control mode force (RCB1.COM1 = 1):
Data type: int32
Maximum: 1.000.000
Position setpoint value in unit position (index 1)
Force setpoint value in unit force (index 3)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Record preselection value
PNU
PNU: 405
Values
Unit depends on sequencing condition: Position, force, time (index = 1, 3, 9)
Default: 0
Index: 1 ... 64
Max index: 64
Class: Array
Minimum: −1.000.000
Data type: int32
Maximum: 1.000.000
Contains the value at which sequencing occurs.
The meaning depends on the condition in RCB2 (PNU 402):
Switch. condition
Phys. unit
Index of the unit
2 Position
Position value
Index = 1
3 Force
Force value
Index = 3
4 Standstill
Time
Index = 9
5 Time
Time
Index = 9
11 Stroke
Position
Index = 1
12 MC
Time
Index = 9
13 Stroke after force Position
Index = 1
14 Position at force
Position
Index = 1
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−46
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Record velocity
PNU
PNU: 406
Values
Unit: Speed (index = 6)
Index: 1 ... 64
Max index: 64
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Array
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
0
0
10.000
1 °/s
0
0
10.000
0
0
3.281
1 °/s
0
0
10.000
Velocity setpoint value, depends on the control mode and travel profile (PNU 401):
Control mode position, unassigned profile:
Maximum speed at which the drive is to be moved. Depending on the setpoint stroke and the
parametrised accelerations, this speed may not be reached.
Control mode position, auto−profile:
Parameter is ignored. The maximum speed is derived from the movement profile determined during
identification.
Control mode force:
Maximum speed at which the drive travels. If the actual speed reaches this value, the force control
switches to positioning and continues at this speed until it arrives at the workpiece and the speed
reduces or the setpoint force is reached. The default value of 0 deactivates switching to position
control, see section B.8.6.
Default values: For position control:
For force control:
RPC bit 0
RPC bit 1
Default value from parameter PNU 600
Default value from parameter PNU 601
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−47
5. Parameter
Record acceleration
PNU
PNU: 407
Values
Unit: Acceleration (index = 7)
Index: 1 ... 64
Max index: 64
Linear drive
Dimension
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 0
Imperial 0.01 ft/s2
Class: Array
0
Minimum
Maximum Dimension Default Minimum Maximum
0
100.000
1 °/s2
0
0
100.000
0
32.808
1 °/s2
0
0
100.000
Velocity setpoint value for starting up, depending on the control mode and travel profile (PNU 401):
Control mode position, unassigned profile:
Setpoint acceleration of the controller. If dynamic identification was performed, this value is reduced
to a value that can be reached by the drive.
Control mode position, auto−profile:
This parameter is ignored. The acceleration is derived from the movement profile determined during
identification.
Control mode force:
This parameter is ignored.
Default values: For position control:
For force control:
RPC bit 2
Default value from parameter PNU 602
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−48
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Record deceleration
PNU
PNU: 408
Values
Unit: Acceleration (index = 7)
Index: 1 ... 64
Max index: 64
Linear drive
Dimension
Data type: int32
Semi−rotary drive
Default
SI 0.001 m/s2 0
Imperial 0.01 ft/s2
Class: Array
0
Minimum
Maximum
Dimension Default
Minimum Maximum
0
100.000
1 °/s2
0
0
100.000
0
32.808
1 °/s2
0
0
100.000
Velocity setpoint value for braking, depending on the control mode and travel profile (PNU 401):
Control mode position, unassigned profile:
Setpoint deceleration of the controller for axis braking. If dynamic identification was performed, this
value is reduced to a value that can be reached by the drive.
Control mode position, auto−profile:
This parameter is ignored. The deceleration is derived from the movement profile determined during
identification.
Control mode force:
This parameter is ignored.
Default values: For position control:
For force control:
RPC bit 3
Default value from parameter PNU 603
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−49
5. Parameter
Record workpiece mass
PNU
PNU: 410
Values
Unit: Mass (index = 5)
Index: 1 ... 64
Max index: 64
Linear drive
Dimension
SI 0.1 kg
Imperial 1 lb
Class: Array
Data type: int32
Semi−rotary drive
Default Minimum
Maximum
Dimension Default
Minimum Maximum
0
0
20.000
1 kg cm2
0
0
2.000
0
0
4.409
0.1 lb in2
0
0
6.834
Current workpiece mass.
Deviations from the actual mass load worsen the positioning behaviour. From mass changes of ap
prox. 30%, the current mass should be specified. The total moving mass is the sum of workpiece
load without workpiece (PNU 1142) and workpiece mass.
For vertical installation, the correct workpiece mass is absolutely essential in order to calculate the
zero force of the force control. An error in the data can lead to a movement of the axis if the default
is 0 N.
Default values: For position control:
For force control:
RPC bit 5
RPC bit 5
Default value from parameter PNU 605
Default value from parameter PNU 605
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Record tolerance
PNU
PNU: 411
Values
Unit depends on control mode: Position, force (index = 1or 3)
Index: 1 ... 64
Default: 0
Max index: 64
Minimum: 1
Class: Array
Data type: int32
Maximum: 1.000
Specification of the tolerance to be used with this record.
Control mode position (RCB1.COM1 = 0):
Position tolerance in unit position (index 1)
Control mode position (RCB1.COM1 = 1):
Force tolerance in unit force (index 3)
Default values: For position control:
For force control:
RPC bit 6
RPC bit 7
Default value from parameter PNU 606
Default value from parameter PNU 607
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−50
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Record force ramp
PNU
PNU: 412
Values
Unit: Force ramp (index = 8)
Index: 1
Max index: 64
Linear drive
Dimension
SI 1 N/s
Imperial 1 lbf/s
Class: Array
Data type: int32
Semi−rotary drive
Default
Minimum
0
10
Maximum Force control is not permissible
p
with semi−
rotary drives.
100.000
0
2
22.481
The force ramp permits setting the increasing speed of the force. The controller generates a
sin2−shaped increase of the setpoint force for optimization of the controller behaviour, see
section B.8.7.
Default values: For position control:
For force control:
RPC bit 8
Default value from parameter PNU 608
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−51
5. Parameter
5.4.6
Project data
General description of the dimensional reference system, see
section B.2.
Project zero point
PNU
PNU: 500
Values
Unit: Position (index = 1)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default Minimum
Maximum Dimension Default Minimum Maximum
SI 0.01 mm
0
−1.000.000 1.000.000 0,1 °
0
−100.000 100.000
Imperial 0.001 in
0
−393.701
0,1 °
0
−100.000 100.000
393.701
Reference point for position values in the application. See section B.2.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
5−52
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Software end position
PNU
PNU: 501
Values
Unit: Position (index = 1)
Index: 1 ... 2
Max index: 2
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 0.01 mm
0
0
1.000.000 0,1 °
Dimension Default
0
Minimum Maximum
0
100.000
Imperial 0.001 in
0
0
393.701
0,1 °
0
0
100.000
Permissible range for position setpoint values. Starting with a target position outside of the limit
setpoint values is not permissible and will lead to a fault or warning. If the software end positions are
passed in the running process, the system will issue a warning. The offset to the axis zero point (not
to the project zero point!) is specified. Specifying 0 for both software end positions deactivates the
software end positions.
Index 1: Lower software end position
Index 2: Upper software end position
The controller checks the software end positions for plausibility and generates a fault, if necessary.
Notes on calculating the software end positions and a sample calculation of the maximum values can
be found in section B.2.4.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Stop deceleration
PNU
PNU: 507
Index: 1
Values
Unit: Acceleration (index = 7)
Max index: 1
Linear drive
Dimension
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 10.000
Imperial 0.01 ft/s2
Class: Var
3.000
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
10.000
10
100.000
3
32.808
1 °/s2
10.000
10
100.000
Deceleration in the event of stop or fault. The stop ramp is only applied if it is larger than the deceler
ation of the current task.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−53
5. Parameter
Permitted stroke during force control
PNU
PNU: 510
Values
Unit: Position (index = 1)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 0.01 mm
5.000
100
1.000.000 0,1 °
Dimension Default
100
Minimum Maximum
10
100.000
Imperial 0.001 in
2.000
39
393.701
0,1 °
100
10
100.000
Maximum permitted stroke with active force control.
With active force control, the actual position relative to the start position must not change by more
than the amount specified in this parameter. In this way you can ensure that, if force control is acti
vated by mistake (Workpiece missing" for example), the axis will not perform an uncontrolled move
ment.
This parameter is only taken into account during force control, if the CMAX has Operation enabled."
status.
Monitoring can be deactivated by setting the bits RCB1.XLIM or CDIR.XLIM.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Lower limit setpoint force)
PNU
PNU: 511
Values
Unit: Force (index = 3)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N
Imperial 1 lbf
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
0
−100.000
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
0
0
−22.481
0
Smallest permitted setpoint value for a force control. A smaller setpoint value leads to a fault or
warning.
If both the smallest and the largest (PNU 512) permissible force setpoint value are set to zero, the
setpoint limits are ignored when executing a force task.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
5−54
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Upper limit setpoint force
PNU
PNU: 512
Values
Unit: Force (index = 3)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N
Imperial 1 lbf
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
0
0
Maximum Force control is not permissible
p
with semi−
rotary drives.
100.000
0
0
22.481
Largest permitted setpoint value for a force control. A larger setpoint value leads to a fault or
warning.
If both the smallest (PNU 511) and the largest (PNU 512) permissible force setpoint value are set to
zero, the setpoint limits are ignored when executing a force task.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Permitted speed during force control
PNU
PNU: 514
Index: 1
Values
Unit: Speed (index = 6)
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
200
10
500
1 °/s
200
10
500
65
3
164
1 °/s
200
10
500
Max. permitted speed after start of a force command. This parameter is used for monitoring, not to
limit the speed. If the actual speed exceeds the set value, a fault is indicated, the axis stops and the
force command is cancelled.
The speed limit value must be significantly larger than the speed limit of parameters 406 / 554,
otherwise monitoring will lead to an error when reaching the speed limit. The speed limit value
should preferably be used as a security when the speed limiting (406/554) was deactivated.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−55
5. Parameter
Jog mode parameter control
PNU
PNU: 521
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 1101
Max index: 3
Class: Array
Write:
0000 0000 0000 0000 0000 000x xxxx xxxx
Data type: bitarray
This parameter determines the use of the default values for jogging.
A set bit means that the jog parameters (PNU 53x) are used instead of the default values (PNU 6xx),
see section 5.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode position parameter control
PNU
PNU: 521
Index: 2
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 000x xxxx xxxx
Max index: 3
Class: Array
Data type: bitarray
This parameter determines the use of the default values for a positioning task in direct operating
mode.
A set bit means that the parameters for direct mode position (PNU 54x) are used instead of the de
fault values (PNU 6xx), see section 5.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode force parameter control
PNU
PNU: 521
Index: 3
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
0000 0000 0000 0000 0000 000x xxxx xxxx
Max index: 3
Class: Array
Data type: bitarray
This parameter determines the use of the default values for a positioning task in direct operating
mode.
A set bit means that the parameters for direct mode force (PNU 55x) are used instead of the default
values (PNU 6xx), see section 5.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−56
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
FHPP: Control/Status bits: CPOS.HALT support
(FHPP: Control/Status bits: CPOS.HALT support)
PNU
PNU: 522
Values
Without unit
Index: 1
Default: 0
Max index: 2
Minimum: 0
Class: Struct
Data type: int32
Maximum: 1
Configuration of the intermediate stop (CPOS.HALT, reserved for future extensions).
Value
Function
0
Intermediate stop status is not supported.
1
Reserved
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
FHPP: Control/Status bits: CCON.BRAKE level
(FHPP: Control/Status bits: CCON.BRAKE level)
PNU
PNU: 522
Values
Without unit
Index: 2
Default: 0
Max index: 2
Minimum: 0
Class: Struct
Data type: int32
Maximum: 1
Effect of clamping unit/brake.
Value
Function
0
Brake opens (switching output on valve at 24V) with CCON.BRAKE = 1
1
Brake opens (switching output on valve at 24V) with CCON.BRAKE = 0
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−57
5. Parameter
FHPP: Setpoint and actual values .
PNU
PNU: 523
Values
Without unit
Default: 0
Index: 1
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 1
The setpoint and actual values in the cyclical I/O data can be defined for the various controller
modes. See also section 2.2.
Controller mode Index Setpoint/Actual value
Value
Transmitted is
Position
1
Secondary setpoint
= 0:
Speed in percent of PNU 540
= 1:
Workpiece mass in percent of PNU 544
2
Primary setpoint
= 0:
Setpoint position in user units
= 1:
reserved
3
Secondary actual value = 0:
Display of the actual speed in percent
= 1:
reserved
4
Primary actual value1)
= 0:
Display of the actual position in user
units
= 1:
Display of the actual force in the user
units
Force
5
Secondary setpoint
= 0:
Force ramp in percent of PNU 550
= 1:
Workpiece mass in percent of PNU 551
6
Primary setpoint
= 0:
Setpoint force in user units
= 1:
reserved
7
Secondary actual value = 0:
Display of the actual speed in percent
= 1:
reserved
8
Primary actual value1)
= 0:
Display of the actual position in user
units
= 1:
Display of the actual force in the user
units
Default value for each index is the value 0.
1)
The setting for the primary actual value is valid in the record select operating mode, direct operat
ing mode and commissioning mode. All the other setpoint and actual values are only applicable in
direct mode.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−58
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.7
Setpoint values for jog mode
Jog mode slow speed
PNU
PNU: 530
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
50
10
500
1 °/s
50
10
500
15
3
164
1 °/s
50
10
500
Slow speed for jogging.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Jog mode fast speed
PNU
PNU: 531
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
200
10
10.000
1 °/s
200
10
10.000
65
3
3.281
1 °/s
200
10
10.000
Maximum speed after expiration of the jogging slow speed period.
Depending on PNU 521:01, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−59
5. Parameter
Jog mode acceleration
PNU
PNU: 532
Values
Unit: Acceleration (index = 7)
Index: 1
Max index: 1
Linear drive
Dimension
Imperial
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 100
0.01 ft/s2
Class: Var
30
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
100
10
100.000
32.808
1 °/s2
100
10
100.000
3
Jogging acceleration.
Depending on PNU 521:01, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Jog mode deceleration
PNU
PNU: 533
Values
Unit: Acceleration (index = 7)
Index: 1
Max index: 1
Linear drive
Dimension
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 500
Imperial 0.01 ft/s2
Class: Var
150
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
500
10
100.000
3
32.808
1 °/s2
500
10
100.000
Jogging deceleration.
Depending on PNU 521:01, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−60
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Jog mode time slow speed
PNU
PNU: 534
Values
Unit: Time (index = 9)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 1 ms
3.000
0
1.000.000 1 ms
Dimension Default
3.000
Minimum Maximum
0
1.000.000
Imperial 1 ms
3.000
0
1.000.000 1 ms
3.000
0
1.000.000
Duration of the slow speed phase.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Jog mode workpiece mass
PNU
PNU: 536
Values
Unit: Mass (index = 5)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.1 kg
Imperial 1 lb
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
0
0
2.000
0
0
6.834
0
0
20.000
1 kg cm2
0
0
4.409
0.1 lb in2
Workpiece mass during jogging.
Depending on PNU 521:01, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−61
5. Parameter
5.4.8
Direct operating mode: Positioning
Direct mode position base velocity
PNU
PNU: 540
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
2.000
10
10.000
1 °/s
1.000
10
10.000
650
3
3.281
1 °/s
1.000
10
10.000
Base velocity in position control direct mode.
The master transmits a percent value in the output data which is multiplied by the base value to
reach to the final setpoint speed.
Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode position acceleration
PNU
PNU: 541
Index: 1
Values
Unit: Acceleration (index = 7)
Max index: 1
Linear drive
Dimension
SI
0,001 m/s2
Imperial 0.01 ft/s2
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
1.000
10
100.000
1.000
10
100.000
2.000
10
100.000
1 °/s2
650
3
32.808
1 °/s2
Acceleration in position control direct mode.
Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−62
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Direct mode position deceleration
PNU
PNU: 542
Values
Unit: Acceleration (index = 7)
Index: 1
Max index: 1
Linear drive
Dimension
Imperial
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 2.000
0.01 ft/s2
Class: Var
650
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
1.000
10
100.000
32.808
1 °/s2
1.000
10
100.000
3
Deceleration in position control direct mode.
Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode position workpiece mass
PNU
PNU: 544
Values
Unit: Mass (index = 5)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.1 kg
Imperial 1 lb
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
0
0
20.000
1 kg cm2
0
0
2.000
0
0
4.409
0.1 lb in2
0
0
6.834
Workpiece mass in position control direct mode.
Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−63
5. Parameter
Direct mode position tolerance
PNU
PNU: 545
Values
Unit: Position (index = 1)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.01 mm
Imperial 0.001 in
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
100
10
1.000
0,1 °
10
1
100
40
4
394
0,1 °
10
1
100
Tolerance in position control direct mode.
Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−64
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.9
Direct operating mode: Force control
Direct mode force base value force ramp
PNU
PNU: 550
Values
Unit: Force ramp (index = 8)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N/s
Imperial 1 lbf/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
1.000
10
Maximum Force control is not permissible
p
with semi−
rotary drives.
100.000
200
2
22.481
Base value for the force ramp in direct mode. The master transmits a percent value, which is multi
plied by the base value to reach the final setpoint speed.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode force workpiece mass
PNU
PNU: 551
Values
Unit: Mass (index = 5)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.1 kg
Imperial 1 lb
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
0
0
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
20.000
0
0
4.409
Workpiece mass in force control direct mode.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−65
5. Parameter
Direct mode force tolerance force
PNU
PNU: 552
Values
Unit: Force (index = 3)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N
Imperial 1 lbf
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
10
1
Maximum Force control is not permissible
p
with semi−
rotary drives.
1.000
3
0
225
Tolerance window in force control direct mode.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Direct mode force velocity limit
PNU
PNU: 554
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
100
0
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
500
30
0
164
Maximum speed at which the drive travels. If the actual speed reaches this value, the force control
switches to positioning and continues at this speed until it arrives at the workpiece and the speed
reduces or the setpoint force is reached. The default value of 0 deactivates switching to position
control, see section B.8.6.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−66
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.10 Parameters of the default values
Default value speed position mode
PNU
PNU: 600
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
2.000
10
10.000
1 °/s
1.000
10
10.000
650
3
3.281
1 °/s
1.000
10
10.000
This value contains the speed preset by the user. It is used in all records with position control where
no individual speeds are specified.
RPC−Bit = Bit 0 (= 00000001h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Default value speed force mode
PNU
PNU: 601
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
50
0
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
500
15
0
164
This value contains the speed preset by the user. It is used in all records with force control where no
individual speeds are specified.
RPC−Bit = Bit 1 (= 0000.0002h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−67
5. Parameter
Default value acceleration
PNU
PNU: 602
Values
Unit: Acceleration (index = 7)
Index: 1
Max index: 1
Linear drive
Dimension
Imperial
Data type: int32
Semi−rotary drive
Default
SI 0.001 m/s2 2.000
0.01 ft/s2
Class: Var
650
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
1.000
10
100.000
32.808
1 °/s2
1.000
10
100.000
3
This value contains the acceleration preset by the user. It is used in all records with position control
where no individual acceleration is specified.
RPC−Bit = Bit 2 (=0000.0004h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Default value deceleration)
PNU
PNU: 603
Values
Unit: Acceleration (index = 7)
Index: 1
Max index: 1
Linear drive
Dimension
Imperial
Data type: int32
Semi−rotary drive
Default
SI 0,001 m/s2 2.000
0.01 ft/s2
Class: Var
650
Minimum
Maximum
Dimension Default
Minimum Maximum
10
100.000
1 °/s2
1000
10
100.000
32.808
1 °/s2
1000
10
100.000
3
This value contains the deceleration preset by the user. It is used in all records with position control
where no individual deceleration is specified.
RPC−Bit = Bit 3 (= 0000.0008h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−68
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Default value workpiece mass
PNU
PNU: 605
Values
Unit: Mass (index = 5)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.1 kg
Imperial 1 lb
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
0
0
20.000
1 kg cm2
0
0
2.000
4.409
0.1 lb in2
0
0
6.834
0
0
This value contains the workpiece mass preset by the user.
RPC−Bit = Bit 5 (= 0000.0020h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Default value tolerance position mode
PNU
PNU: 606
Values
Unit: Position (index = 1)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.01 mm
Imperial 0.001 in
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
100
10
1.000
0,1 °
10
1
100
40
4
394
0,1 °
10
1
100
This value contains the tolerance for position control preset by the user. It is used in all records with
position control where no individual tolerance is specified.
RPC−Bit = Bit 6 (=0000.0040h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−69
5. Parameter
Default value tolerance force mode
PNU
PNU: 607
Values
Unit: Force (index = 3)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N
Imperial 1 lbf
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
10
1
Maximum Force control is not permissible
p
with semi−
rotary drives.
1.000
3
0
225
This value contains the tolerance for force control preset by the user. It is used in all records with
force control where no individual tolerance is specified.
RPC−Bit = Bit 7 (=0000.0080h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Default value force ramp
PNU
PNU: 608
Values
Unit: Force ramp (index = 8)
Index: 1
Max index: 1
Linear drive
Dimension
SI 1 N/s
Imperial 1 lbf/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
1.000
10
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
10.000
200
2
2.248
This value contains the force ramp preset by the user.
RPC−Bit = Bit 8 (=0000.0100h)
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.11 Drive configuration
The hardware configuration is important for calculating the
controller. The data is recognized automatically as much as
possible. Data not recognized must be defined by the user,
e.g. based on the name plate.
If one of the following values was determined by the auto
matic hardware recognition, only the value that was stored in
the sensor or valve can be written. Writing any other value
leads to a parameter error. If no stored value was found for a
parameter, parametrising in the specified area is always
possible.
Further information can be found in section B.3.
Cylinder type
PNU
PNU: 1100
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: 1
Class: Var
Data type: int32
Maximum: 5
The cylinder type is stored in the sensor interface. The following types are defined in the CMAX:
Value Type
0
Unknown
1
Rodless linear drive
2
Piston−rod drive
3
DGCI
4
DNCI
5
DSMI
255 Impermissible type (poss. firmware update required)
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−71
5. Parameter
Cylinder length
PNU
PNU: 1101
Values
Unit: Length (index = 2)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 0.01 mm
0
5.000
1.000.000 0,1 °
Dimension Default
0
Minimum Maximum
500
100.000
Imperial 0.01 mm
0
5.000
1.000.000 0,1 °
0
500
100.000
The cylinder length is stored in the sensor interface. Standard cylinders are not longer than
2,000 mm, the value range includes reserves for special applications.
When exchanging the drive, no projecting needs to be carried out as long as the specified cylinder
length deviates from the recognized cylinder length by no more than 5.00 mm. This also allows op
timization of the effective stroke.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Cylinder diameter
PNU
PNU: 1102
Values
Unit: Diameter (index = 11)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0.01 mm
0
1.200
20.000
0.01 mm
0
1.200
20.000
Imperial 0.01 mm
0
1.200
20.000
0.01 mm
0
1.200
20.000
The cylinder diameter is stored in the sensor interface.
If the cylinder diameter was recognized by CMAX (e.g. during DGCI), the value cannot be overwritten.
Parallel axes can be parametrised in the FCT by specifying double axis", the CMAX then automatically
calculates the resulting piston surface.
Other diameters can only be projected via user−specific cylinder types.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Piston rod diameter
PNU
PNU: 1103
Values
Unit: Diameter (index = 11)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0.01 mm
0
0
20.000
0.01 mm
0
0
20.000
Imperial 0.01 mm
0
0
20.000
0.01 mm
0
0
20.000
The piston rod diameter cannot be recognized automatically. However, the Festo standard drives
have a fixed allocation of cylinder diameters to piston rod diameters. This allocation is stored in the
FCT.
With other drives and special applications, the piston rod diameter can be parametrised as required
by using the user−defined type.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Measuring system type (sensor type)
PNU
PNU: 1110
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: 1
Class: Var
Data type: int32
Maximum: 4
The sensor type is read from the sensor interface.
If the sensor interface delivers no known type, a fault (E04) is generated. The sensor interface is not
commissioned in this case.
ID
Type
0
Unknown
1
Digital position measuring system DGCI
2
Digital position measuring external
3
Potentiometer
4
Encoder
255
Impermissible type, poss. firmware update?
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
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5. Parameter
Measuring system length (sensor length)
PNU
PNU: 1111
Values
Unit: Length (index = 2)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 0.01 mm
0
5.000
1.000.000 0,1 °
Dimension Default
0
Minimum Maximum
500
100.000
Imperial 0.01 mm
0
5.000
1.000.000 0,1 °
0
500
100.000
With the DGCI and the DNCI the cylinder length and the measuring system length need to tally.
The sensor length is stored in the sensor interface with the DGCI.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Measuring system serial number (sensor serial number)
PNU
PNU: 1112
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Each sensor interface has a unique serial number.
The serial number can be used to identify exchanged hardware, see appendix A.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Valve type
PNU
PNU: 1120
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: 1
Class: Var
Data type: int32
Maximum: 5
The valve type is read from the valve. The type is always recognized. If the valve delivers no known
type, a fault (E04) is generated. The valve is not commissioned in this case.
ID
Valve type
0
Not configured
1
VPWP−2
2
VPWP−4
3
VPWP−6
4
VPWP−8
5
VPWP−10
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Valve serial number
PNU
PNU: 1121
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Each valve has a unique serial number.
The serial number is important for identifying exchanged hardware, see appendix A.3.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−75
5. Parameter
Valve 2 type
PNU
PNU: 1125
Values
Without unit
Index: 1
Default: 0
Max index: 1
Class: Var
Minimum: 1
Data type: int32
Maximum: 5
Reserved (see valve type 1 − parameter for second valve).
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Valve 2 serial number
PNU
PNU: 1126
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Reserved (see valve serial number 1 − parameter for second valve).
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.12 Application settings
Offset axis zero point
PNU
PNU: 1130
Values
Unit: Position (index = 1)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
SI 0.01 mm
0
−1.000.000 1.000.000 0,1 °
0
−100.000 100.000
Imperial 0.001 in
0
−393.700
0,1 °
0
−100.000 100.000
393.700
Dimension Default Minimum Maximum
Difference between the axis zero point (AZ) and the reference position (REF) or difference between
the axis zero point (AZ) and the sensor zero point (SZ).
The axis zero point (AZ) is calculated as:
AZ = REF + offset axis zero point (DNCI)
or
AZ = SZ + offset axis zero point (external measuring system: potentiometer)
The axis zero point must be placed on the cylinder zero point for servo−pneumatic drives. With the
DGCI the measuring system is calibrated, specification of an offset is not permitted.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Homing method
PNU
PNU: 1131
Values
Without unit
Index: 1
Default: −17
Max index: 1
Minimum: −128
Class: Var
Data type: int32
Maximum: 127
Defines the method by which the drive performs homing, see section 3.2.2.
hex
dec
Description
23h
35
Adopt current actual position as reference position
EFh
−17
Searching for negative stop
EEh
−18
Searching for positive stop
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−77
5. Parameter
Homing speed
PNU
PNU: 1132
Values
Unit: Speed (index = 6)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,001 m/s
Imperial 0.01 ft/s
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
50
10
200
1 °/s
50
10
200
15
3
66
1 °/s
50
10
200
Speed at which the drive searches for the stop during homing.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Mounting angle
PNU
PNU: 1140
Values
Unit: Mounting angle (index = 12)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,1 °
0
−900
900
0,1 °
0
−900
900
Imperial 0,1 °
0
−900
900
0,1 °
0
−900
900
Mounting angle for the drive
A specification of −90° to −0.1° means that the sensor zero point is at the top and the drive moves
downward towards larger positions. With values from 0.1 to 90° the sensor zero point is at the bot
tom and the drive moves to the top.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Supply pressure
PNU
PNU: 1141
Values
Unit: Pressure (index = 4)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0,1 bar
Imperial 1 psi
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
60
30
100
0,1 bar
60
30
100
85
44
145
1 psi
85
44
145
Supply pressure applied to the valve.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Basic massload without workpiece
PNU
PNU: 1142
Values
Unit: Mass (index = 5)
Index: 1
Max index: 1
Linear drive
Dimension
SI 0.1 kg
imperial 1 lb
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
50
1
2.000
200
2
6.834
50
5
20.000
1 kg cm2
10
1
4.409
0.1 lb in2
Basic mass or existing mass for all positioning tasks.
Calculation of the moving mass:
1 Moving mass without workpiece (PNU 1142)
This is the mass of the loading device fixed to the
slide. This mass must always be moved by the drive
(minimal mass to be moved).
2 Current workpiece mass (PNU 605/410/...)
If the drive also has to move workpieces of different
weights, this variable share must be defined as work
piece mass.
The CMAX calculates the sum of both mass data for every positioning process. The respective mass
is determined based on the specified variable workpiece mass (PNU 605 is the global default value).
However, it is also possible to specifiy the workpiece mass individually in each record (PNU 410), in
jog mode (PNU 536) and in direct mode (PNU 544 or 51).
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−79
5. Parameter
Workpiece loaded at power−on
PNU
PNU: 1143
Values
Without unit
Index: 1
Default: 0
Max index: 4
Minimum: 0
Class: Var
Data type: int32
Maximum: 1
If a controller is enabled, the last valid workpiece mass is always used. After the first enable after
switching on, usually no workpiece is loaded, so CMAX only takes into account the basic mass with
out a workpiece (PNU 1142). This parameter defines whether the workpiece should also be taken
into account when switching on.
0 = Workpiece not loaded when switching on.
The workpiece is only loaded during operation.
1 = When switching on, the workpiece is already in the loading device.
Note: With every positioning command either the default value (PNU 605) or the value from the indi
vidual parameter (PNU 410, 536, 544 or 551)in the controller is used for the workpiece mass. As
soon as the first positioning process has occured after switching on, the parameter Workpiece mass
when switching on" will have no effect any more.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Dual axis design
PNU
PNU: 1143
Values
Without unit
Default: 0
Index: 2
Max index: 4
Minimum: 0
Class: Var
Data type: int32
Maximum: 1
Parametrising a dual axis.
With a parallel axis, two parallel drives/cylinders are mechanically coupled and controlled jointly. The
second axis has no measuring system, so only one axis is controlled − the other one is simply also
supplied with compressed air through the valve. The double effective piston surface is automatically
calculated by the CMAX and does not need to be entered.
0 = Design as single axis
1 = Design as dual axis
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Clamp unit installed
PNU
PNU: 1143
Values
Without unit
Index: 3
Default: 0
Max index: 4
Minimum: 0
Class: Var
Data type: int32
Maximum: 1
Defines whether or not a clamping unit is installed.
The behaviour of the CMAX depends on the clamping unit. Upon start the clamping units needs to be
released, for example, otherwise the CMAX will indicate a fault.
0 = not available
1 = available
PNU 522 (FHPP settings) determines what effect the control bit CCON.BRAKE has.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Through piston rod
PNU
PNU: 1143
Values
Without unit
Index: 4
Default: 0
Max index: 4
Minimum: 0
Class: Var
Data type: int32
Maximum: 1
Defines whether the piston rod of a piston drive should be double−ended (through) or single−ended.
A through piston rod is required for operating a clamping unit. The controller takes into account the
resulting effective piston surface.
0 = Single−ended piston rod
1 = Double−ended piston rod
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−81
5. Parameter
5.4.13 Controller data of position controller
Position control gain factor
PNU
PNU: 1150
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
Position control amplification, see section B.7
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Position control cushioning factor
PNU
PNU: 1151
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
Position control cushioning, see section B.7
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Position control filter factor
PNU
PNU: 1152
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
Position control filter factor, see section B.7
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Position control timeout
PNU
PNU: 1153
Values
Unit: Time (index = 9)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 1 ms
2.000
0
100.000
1 ms
2.000
0
100.000
Imperial 1 ms
2.000
0
100.000
1 ms
2.000
0
100.000
Time within which the actual position must reach the tolerance window after the position setpoint
has reached the target value. This means the time starts when the setpoint value generation has
elapsed.
If the time is set to 0, no monitoring is carried out.
The time is additionally used for monitoring the start behaviour. If with a positioning task the drive
has not moved by at least 11 mm within the parametrised time after the start signal, a fault is gener
ated (setoff timeout")
Note:
Deactivation of the positioning timeout parameter may cause a record not to be concluded with MC
and to remain active permanently, e.g.:
if the drive comes to a halt before its setpoint position (due to an obstacle),
if the drive does not reach its setpoint position (depends on specified tolerance).
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−83
5. Parameter
Position control damping time for exact stop
PNU
PNU: 1154
Values
Unit: Time (index = 9)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 1 ms
30
10
1.000
1 ms
30
10
1.000
Imperial 1 ms
30
10
1.000
1 ms
30
10
1.000
This is the duration the actual value must be within the tolerance window without interruption before
MC is generated.
If the time is too short, an overswing may lead to MC, but the actual position may leave the tolerance
again. If the time is too long, the positioning time is unnecessarily prolonged. With larger drives, we
recommend selecting a longer time.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
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Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.14 Force controller data
Force control gain factor
PNU
PNU: 1160
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Data type: int32
Semi−rotary drive1)
Linear drive
Dimension
Class: Var
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
The gain factor is used to increase the control amplification. It makes the controller respond to devi
ations more strongly and faster. If this factor is increased too much, the valve starts to hum. This
occurs especially with static force setpoints and with standstill control. This humming can be re
duced by varying the filter amplification or reducing the amplification.
1)
Force control is not permissible with semi−rotary drives. However, the parameter is used for stand
still control.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Force control dynamic gain
PNU
PNU: 1161
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Data type: int32
Semi−rotary drive1)
Linear drive
Dimension
Class: Var
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
Dynamic amplification is only effective in the area of the force ramp, in other words when the force
setpoint changes. This parameter is suitable for improving the truth to path in the area of the ramp,
when amplification cannot be further optimized.
1)
Force control is not permissible with semi−rotary drives. However, the parameter is used for stand
still control.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−85
5. Parameter
Force control filter factor
PNU
PNU: 1162
Values
Unit: Amplification (index = 10)
Index: 1
Max index: 1
Data type: int32
Semi−rotary drive1)
Linear drive
Dimension
Class: Var
Default
Minimum
Maximum
Dimension Default
Minimum Maximum
SI 0,01
100
10
1.000
0,01
100
10
1.000
Imperial 0,01
100
10
1.000
0,01
100
10
1.000
The signal filter factor can be used to influence the signal noise of the pressure sensors. When in
creasing the factor, the filter becomes faster and consequently the noise lounder. At the same time
phase shift decreases.
1)
Force control is not permissible with semi−rotary drives. However, the parameter is used for stand
still control and should not be modified.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Force control timeout
PNU
PNU: 1163
Values
Unit: Time (index = 9)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
SI 1 ms
2.000
0
Maximum Force control is not permissible
p
with semi−
rotary d
drives.
100.000
Imperial 1 ms
2.000
0
100.000
Time within which the actual force must reach the tolerance window after the force ramp has reached
the target value. This means the time starts when setpoint value generation has elapsed.
If the time is set to 0, no monitoring is carried out.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
5−86
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Force control damping time for exact stop
PNU
PNU: 1164
Values
Unit: Time (index = 9)
Index: 1
Max index: 1
Linear drive
Dimension
Class: Var
Data type: int32
Semi−rotary drive
Default
Minimum
SI 1 ms
100
10
Maximum Force control is not permissible
p
with semi−
rotary drives.
1.000
Imperial 1 ms
100
10
1.000
This is the duration the actual value must be within the tolerance window without interruption before
MC is generated.
If the time is too short, an overswing may lead to MC, but the actual force may leave the tolerance
again. If the time is too long, the positioning time is unnecessarily prolonged. With larger drives, we
recommend selecting a longer time.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−87
5. Parameter
5.4.15 Identification
Identification settings
PNU
PNU: 1170
Values
Without unit
Index: 1
Default: 0
Max index: 1
Class: Var
Minimum: 0
Data type: int32
Maximum: 1
The parameter allows you to make certain settings that concern identification.
= 0: Identification permits high accelerations
= 1: Only perform the static identification (low accelerations)
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Identification status
PNU
PNU: 1171
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Current status according to the identification carried out last.
Bit 0 = 0: Identification has not yet been carried out.
= 1: Identification has been carried out at least once.
Bit 1 = 0: Results of the static identification are not available.
= 1: Static identification carried out successfully.
Bit 2 = 0: Results of the dynamic identification are not available.
= 1: Dynamic identification carried out successfully.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−88
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Identified maximum values
PNU
PNU: 1172
Values
See description of the respective index.
Index: 1
Default: 0
Max index: 6
Minimum: −
Maximum values determined during identification.
Index
Value
Direction of travel
1
Acceleration
positive
2
Deceleration
positive
3
Speed
positive
4
Acceleration
nagative
5
Deceleration
negative
6
Speed
negative
Class: Array
Data type: int32
Maximum: −
Unit
Acceleration (index 7)
Deceleration (index 7)
Speed (index 6)
Acceleration (index 7)
Acceleration (index 7)
Speed (index 6)
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−89
5. Parameter
Limit values
PNU
PNU: 1173
Values
See description of the respective index.
Default: 0
Index: 1
Max index: 14
Minimum: −
Class: Array
Data type: int32
Maximum: −
Information on the limits for the positioning stroke carried out last, see section3.1.8.
Index
Value
Unit
1
Status: see below
−
2
Start position (actual value)
Position (index 1)
3
Target position
Position (index 1)
4
Setpoint acceleration
Acceleration (index 7)
5
Maximum acceleration value
Acceleration (index 7)
6
Setpoint deceleration
Acceleration (index 7)
7
Maximum deceleration value
Acceleration (index 7)
8
Setpoint speed
Speed (index 6)
9
Maximum speed value
Speed (index 6)
10
Setpoint force
Force (index 3)
11
Maximum force value
Force (index 3)
12
Force ramp setpoint
Force ramp (index 8)
13
Maximum force ramp value
Force ramp (index 8)
14
Starting force (last setpoint)
Force (index 3)
The status word is used as a handshake between CMAX and FCT. As soon as the bit 0 is set by the
controller, the data are no longer overwritten. In this way the FCT can consistently read the data.
After reading, FCT writes a 0 into the status word as confirmation, and the controller updates the
values. The status word (index 1) may be written by the FCT without higher−order controller. It is also
not necessary to enter a password.
Bit
Status information
0
= 1: New values are now available
1
= 1: Acceleration was limited
2
= 1: Deceleration was limited
3
= 1: Speed was limited
4
= 1: Force setpoint value was limited
5
= 1: Force ramp was limited
6 ... 15 Reserved
16 ... 23 In case of Record select mode: Number of the record executed last.
24
= 0: Record select mode / = 1: Direct mode
25
= 0: Positions setpoint/ = 1: Force setpoint value
26
= 0: Unassigned profile / = 1: Auto−profile
27 ... .31 Reserved
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−90
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Status movement test
PNU
PNU: 1174
Index: 1
Values
Default:
0000 0000 0000 0000 0000 0000 0000 0000
Write:
−
Max index: 1
Class: Var
Data type: bitarray
Current status of the movement test.
Bit 0
= 0: Movement test must be carried out
= 1: Movement test does not have to be carried out
Bit 1
= 0: Movement test was not carried out
= 1: Movement test was carried out
Bit 2
= 0: Result of the movement test is not clear
= 1: Result of movement test is clear
Bit 3
= 0: Tubing error
= 1: Tubing OK
Bit 4
= 0: Movement test was not skipped
= 1: Movement test was skipped
Information about the movement test can be found in section 3.2.1.
As long as the movement test has to be carried out (bit 0 = 0), the controller is not enabled.
SCON.ENABLED = 1 only indicates that movement enable is available for the movement test, the
valve is only operated if it is controlled.
With a starting edge for another task other than the movement test the fault E14 Movement test not
executed" is issued.
FCT indicates the status Movement test" in the Advanced data" frame. The LED turns green when
the parameter value has the status (binary, byte 1) xxx0 1111.
If the hardware was exchanged, the movement test is automatically reset by the CMAX (example:
exchange valve and change back again). This is not reversible.
The movement test staus can be reset or skipped with PNU 1192:07.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−91
5. Parameter
Disable adaptation
PNU
PNU: 1175
Values
Without unit
Index: 1
Default: 0
Max index: 1
Minimum: 0
Class: Var
Data type: int32
Maximum: 1
This parameter is used to deactivate adaptation. This is practically not required in any configuration,
only in extremely rare cases does adaptation worsen the positioning behaviour. In most case adapta
tion is useful. It improves the absolute reachable precision of the drive.
Important: Worsening of the positioning behaviour is not in all cases caused by a faulty adapta
tion. Wear or an invalid design can cause e.g. the positioning times to incr ease or even the number
of E30 fault messages to grow. Therefore adaptation should only be deactivated in justified cases.
Load changes are usually no reason to deactivate adaptation.
A faulty adaptation could be the reason for the following behaviour:
After commissioning, the positioning behaviour deteriorates with time. Positioning times become
longer, the machine cycle becomes longer. Fault E30 occurs frequently.
After identification the behaviour is significantly better without any other changes having been
made. But then is slowly starts be worsen again until you perform the next identification.
In these cases, adaptation could be the reason. If you think this is the case, you should deactivate
adaptation and then re−run the identification. If the positioning behaviour does not change after
wards, adaptation was probably the reason and it should remain deactivated.
Values: 0 = Adaptation is performed
1 = Adaptation is disabled
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Static identification data
PNU
PNU: 1176
Values
Without unit
Default: 0
Index: 1
Max index: 16
Minimum: −
Class: Array
Data type: int32
Maximum: −
Offsets and hysteresis values (internal parameter) determined during static identification.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−92
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
5.4.16 System data
Actual hardware configuration
PNU
PNU: 1190
Values
see description of the respective index.
Index: 1
Default: 0
Max index: 33
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Hardware configuration found after switching on (actual configuration).
Value 0 means that the parameter could not be recognized automatically.
The actual configuration contains the same parameters as the setpoint configuration (PNU 1100 to
1129). Units and values are identical. For comparison, the PNUs are listed here as well.
Value of setpoint
Index
Value
configuration
Unit
1
Cylinder type
PNU 1100
2
Cylinder effective length
PNU 1101
Length (index 2)
3
Cylinder diameter
PNU 1102
Diameter (index 11)
4
Piston rod diameter
PNU 1103
Diameter (index 11)
5
Cylinder nominal length
PNU 1101
Length (index 2)
10
Sensor type
PNU 1110
11
Sensor length
PNU 1111
Length (index 2)
12
Sensor serial number
PNU 1112
13
Sensor resolution
1 m
14
Sampling time
1 sec
15
Sensor additional information
16
Firmware version
20
Valve 1 type
PNU 1120
21
Valve 1 serial number
PNU 1121
22
Valve 1 firmware version
23
Valve 1 hardware version
30
Valve 2 type
PNU 1125
31
Valve 2 serial number
PNU 1126
32
Valve 2 firmware version
33
Valve 2 hardware version
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−93
5. Parameter
Notes on PNU 1190:
5−94
Behaviour on delivery or after resetting the axis or
device data: The recognized configuration is not auto
matically included in the setpoint configuration. Instead
the setpoint configuration is filled with 0. The setpoint
configuration must be written in a way that is compatible
with the actual configuration.
Behaviour upon normal start: If the recognized hardware
does not correspond with the setpoint configuration, this
will trigger error handling. A decision is made as to
whether the change must lead to a warning or a fault.
Possibly the controller will not be activated.
If an identification is performed successfully, the serial
numbers are adopted so that the warning Exchanged
hardware" is no longer issued the next time the device is
switched on.
The piston rod diameter is not provided by the sensor
interface. The actual configuration always contains the
value0. Ho wever, since this is a valid value for rodless
drives, the value0 is not consider ed as not recognized"
in the case of the piston rod diameter. Therefore no
SETPOINT−ACTUAL check is performed after switching on.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Analysis data
PNU
PNU: 1191
Values
Without unit
Index: 1
Default: 0
Max index: 15
Minimum: −
Class: Array
Data type: int32
Maximum: −
Internal data for controller qualification.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Commissioning function block download
PNU
PNU: 1192
Values
Without unit
Index: 1
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 1
After writing a parameter, controller initialisation is carried out. During this tests are carried out as to
whether certain parameters match, e.g. whether the lo wer software end position is smaller than the
upper software end position. If an error is detected, an error message is generated and the CMAX
changes to fault status.
Activating block download can temporarily deactivate these tests. The controller only checks the
data when the block download has finished.
Write
Read
= 1: Start block download
= 1: Block download active
= 0: End block download
= 0: Block download not active
The controller is only recalculated after writing the block download = 0 (end block download)
While block download is active, start cannot be executed. Activating the block download is ended at
the latest when switching off the CMAX. In this case, controller recalculation is carried next time the
CMAX is switched on.
The controller can be enabled when block download is activated. However, the user must disable the
controller if he/she intends to write parameters that require this (2nd option set). If the controller is
disabled, it must not be enabled for as long as block download is active. This would otherwise lead
to E05 (in the event of enable, the project is not fully loaded or block download active).
If during establishment of the connection the FCT detects that block download is active and force
mode was active, it assumes that block download remained active unintentionally (as a result of
communication breakdown, program crash, computer failure etc.). FCT ends block download and
issues a message in the Output" window. This automatic termination of block download can be
suppressed by the PLC by setting CCON.LOCK = 1,
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−95
5. Parameter
Commissioning operation
configuration status
PNU
PNU: 1192
Values
Without unit
Default: 0
Index: 2
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 4
When commissioning a certain number of parameters must be transmitted in a certain order. This
parameter provides information about the status of parametrising and about the next commissioning
step to be performed.
Possible return values
Display
= 0: Waiting for system of measurement C00
= 1: Waiting for cylinder type
C00
= 2: Waiting for axis data
C00
= 3: Waiting for movement test
C00
= 4: Axis configuration completed
depending on respective operating mode
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−96
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Commissioning function data reset
PNU
PNU: 1192
Values
Without unit
Index: 3
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 3
This parameter serves to delete axis and identification data.
The axis data must be deleted if a new drive was connected to the CMAX or if the system of measure
ment is to be changed.
Deleting identification data can make sense if modifications were made in the system that lead to a
significantly different positioning behaviour. They need to be deleted if one of the following para
meters is to be deleted:
Cylinder type or cylinder length by more than 5.00 mm
Cylinder diameter or piston rod diameter
Dual axis" setting
Measuring system type or measuring system length of more than 5.00 mm
Valve type
Supply pressure with a change of more than 1 bar
Mounting position with a change of more than 3°
The parameter can only be written (reading always delivers 0):
= 0: No effect
= 1: reserved
= 2: Delete identification data
= 3: Delete axis data and identification data
When deleting the axis data, the CMAX carries out the following steps:
1. Deactivate controller.
2. Reset axis data to delivery status, delete identification data and adaptation data.
3. Transition to status C00: Waiting for system of measurement
The diagnostic memory is not deleted during axis data reset.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−97
5. Parameter
Commissioning function password status
PNU
PNU: 1192
Values
Without unit
Index: 4
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 2
PNU 130 contains a password. The parameter PNU 1192:04 controls the acceptance and delivers the
current status.
Write
Read
= 0: Delete password
= 0: No password set
= 1: Accept password
= 1: Password set and access free
= 2: Password set and access blocked
After acceptance the password needs to be entered each time a connection is established via the
diagnostic interface in order to change parameters.
Sequence:
1. Writing PNU 130: = My_password"
2. Writing PNU 1192:04 = 1 for acceptance
To change it, first enter the old password and then delete it. Then the new password can be entered
and accepted.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
ý This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Commissioning function
system of measurement
PNU
PNU: 1192
Values
Without unit
Default: 0
Index: 5
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 2
The system of measurement must be defined prior to parametrising. The metric or imperial system
of measurement is selected.
No parameter from PNU 300 onwards can be read or written as long as this index has the value 0
and the table for the system of measurement is not defined.
Write
Read
= 0: Not permissible
= 0: Not configured
= 1: Metric / SI
= 1: Metric / SI
= 2: Imperial / US
= 2: Imperial / US
Switching the system of measurement (1 to 2 or 2 to 1) is not possible. A changeover requires per
forming an axis data reset first (PNU 1192:03).
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.
5−98
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Commissioning function
system of measurement table
PNU
PNU: 1192
Values
Without unit
Index: 6
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 4
The system of measurement table corresponds to the selected table as per section B.1 (see specified
table). The table contains the unit (millimetre or inch) used for every dimension and the scaling. The
system of measurement table is derived from the system of units and the cylinder type.
No parameter from PNU 300 onwards can be read or written as long as this index has the value 0 and
the table for the system of measurement is not defined.
Read:
= 0: Not configured
= 1: Metric / Linear (Tab.B/3)
= 2: Imperial / Linear (Tab.B/4)
= 3: Metric / Rotative (Tab.B/5)
= 4: Imperial / Rotative (Tab.B/6)
Writing is not permitted.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Commissioning function
movement test status
PNU
PNU: 1192
Values
Without unit
Index: 7
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 2
Define status of the movement test.
Write:
= 1: Movement test is reset and must be carried out again
= 2: Movement test is set to does not have to be carried out" and is skipped
Read:
= 0: Movement test does not have to be carried out.
= 1: Movement test must be carried out.
Note: PNU 1174:01 contains the bit−encoded status of the movement test with the details (skipped,
executed etc.). This parameter 1192:07 is designed as a possibility for resetting and skipping the
movement test and modifies the PNU 1174:01 when writing.
o The parameter value cannot be changed.
ý Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−99
5. Parameter
Commissioning function
valve and sensor status
PNU
PNU: 1192
Values
Without unit
Index: 8
Default: 0
Max index: 8
Minimum: 0
Class: Struct
Data type: int32
Maximum: 0
Internal parameter.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
System of measurement units
PNU
PNU: 1193
Values
Without unit
Default: 0
Index: 1 ...12
Max index: 12
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Determines the physical units, see section B.1.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
System of measurement for resolution
PNU
PNU: 1194
Values
Without unit
Default: 0
Index: 1 ... 12
Max index: 12
Minimum: −
Class: Struct
Data type: int32
Maximum: −
Determines the scaling/resolution or number of decimal places, see section B.1.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−100
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5. Parameter
Start configuration
PNU
PNU: 1195
Values
See description of the respective index.
Index: 1 ... 5
Default: 0
Max index: 5
Minimum: −
Class: Struct
Data type: int32
Maximum: −
These are important configuration data at the time of adopting the serial numbers. The current con
figuration may only be modified within certain limits after this point in time.
Index Value
Setpoint
configuration
Unit
Tolerance
1
Cylinder length
PNU 1101
Length (index 2)
5.00 mm
2
Sensor length
PNU 1111
Length (index 2)
5.00 mm
3
Sampling time
1 sec
−
4
Mounting position
PNU 1140
Mounting angle (index 12) 3°
5
Supply pressure
PNU 1141
Pressure (index 4)
1 bar
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Notes on PNU 1195:
The actual configuration is
compatible: The actual configuration corresponds with
the setpoint configuration within the permissible limits.
Serial numbers may vary.
identical: The actual configuration corresponds with the
identification configuration within the permissible limits.
The serial numbers are identical.
If the configuration is not identical, warning W08 (component
exchanged) is issued upon the first start. If it is not compat
ible, error message E01 (configuration error) is issued. The
application data is used to check whether certain changes
are permissible without resetting the identification data.
Only automatically recognized configuration data can be
compared to the setpoint configuration.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
5−101
5. Parameter
Manufacturing data
PNU
PNU: 1199
Values
Without unit
Default: 0
Index: 1 ... 7
Max index: 7
Minimum: −
Class: Array
Data type: int32
Maximum: −
Internal parameter.
ý The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
5−102
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
Parametrisation
Chapter 6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−1
6. Parametrisation
Contents
6.1
6.2
6.3
6−2
Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1
Request identifiers, response identifiers and error numbers . . . . .
6.1.2
Special features of the system of measurement . . . . . . . . . . . . . . .
Cyclic parametrising in parametrising mode . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1
Example of parametrising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2
Sequence chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPX module parameter and acyclic parametrising . . . . . . . . . . . . . . . . . . . .
6.3.1
CPX function numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2
Startup parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3
Acyclic parameter request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4
Festo Parameter Channel FPC (function 1) . . . . . . . . . . . . . . . . . . . .
6−3
6−4
6−6
6−7
6−8
6−12
6−13
6−13
6−14
6−15
6−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
6.1
Festo Parameter Channel (FPC)
The FPC is used for transmitting parameters. The PLC sends
a request to the CMAX consisting of a parameter number,
a subindex, a value and a task identifier. The CMAX responds
with the PNU, the subindex, the value and a response
identifier. This process takes several bus cycles.
FPC
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Request
Subindex
Parameter identifier
Parameter value
Response
Subindex
Parameter identifier
Parameter value
Byte 7
Tab.6/1: Structure of FPC
Parameter identifier
Bit
15
14
13
12
11
10
9
8
Request
Request Identifier
Parameter number
Response
Response identifier
Parameter number
7
6
5
4
3
2
1
0
Tab.6/2: Structure of parameter identifier
Component
Abbrevia
tion
Description
Parameter identifier
ParID
16 bit identifier, consisting of ReqID/ResID and parameter
number.
Request identifier
ReqID
Request identifier:
Reading value, Changing value, ...
Response identifier
ResID
Response identifier
Value transmitted, error ...
Parameter number
PNU
Parameter number for addressing a parameter.
Subindex
IND
Subindex for addressing an array element.
Parameter value
Value
Parameter value (in the event of an error the error number as
a response)
Tab.6/3: FPC components
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−3
6. Parametrisation
6.1.1 Request identifiers, response identifiers and error numbers
Description
ReqID
ResID (+)
ResID ()
Request
with response
in the event of
an error
No request
0
0
0
Read parameter value
6
5
7
Change parameter value
8
5
7
Tab.6/4: Request identifiers and response identifiers
Rules:
6−4
There are the data types integer, character (char) and
bitfield.
Each parameter value is transmitted as a 32−bit value.
A string is an array of characters that can only be trans
mitted individually via the cyclic channel. The value NUL
(=0x00) is interpreted as the string end. A PLC must al
ways transmit the zero as the last character.
Simple variables have no subindex.
The transmitted subindex can have the values 0 and 1.
The value 0 corresponds to not used". It is recommend
able to set the subindex to 1 as if the parameter were an
array with a component. Values that are > 1 are rejected
with error 3.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
Error
Error description
0
Impermissible PNU.
1
Parameter value cannot be changed.
2
Lower or upper value limit exceeded.
3
Invalid subindex.
11
No higher−order controller. FCT must accept device control in order to write this parameter.
This error can only be generated via the service interface.
12
The password entered is wrong.
17
Request cannot be carried out due to operating status. Please check operating mode, stop
and enable signals.
101
Request ID is not supported.
102
Parameter cannot be read (password).
103
The system of measurement has not been configured yet. Access to the parameter is not
possible.
104
The cylinder type has not been configured yet. Access to the parameter is not possible.
105
The system of measurement has already been configured and cannot be changed without a
data reset.
106
Cylinder type cannot be changed since it does not match the system of measurement.
107
The value cannot be changed since there is identification data. Please reset the identification
data before writing the value.
108
The parameter value does not match the hardware recognised.
(Note: the cylinder type must match the measuring system)
109
Serial numbers cannot be changed before the identification data has been reset.
Tab.6/5: Error numbers for parameter transmission
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−5
6. Parametrisation
6.1.2
Special features of the system of measurement
The following special rules apply to accessing the system of
measurement. For detailed information on the system of
measurement, see section B.1:
6−6
The system of measurement cannot be switched over at
will. To change the system of measurement, the axis data
must be reset.
After defining the system of measurement (metric / im
perial), the cylinder type must be transmitted. This de
fines the movement type translatorily / rotatorily.
Only when the system of measurement has been defined,
can PNUs be accessed that are larger than PNU 300 (ex
ceptions: PNU 1100, 1190).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
6.2
Cyclic parametrising in parametrising mode
In parametrising mode the FPC can be used to transmit one
parameter at a time in the cyclic I/O data.
The PLC enters the request in the output data and waits until
the CMAX has entered a response in the input data. This pro
cess takes several bus cycles.
FPC in the cyclic I/O data (see also I/O allocation in section 2.2.6)
Byte 1
Output
data
CCON
Input
data
SCON
Byte 2
Byte 3
Byte 4
Subindex
Parameter identifier
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Request byte 1 ... 7 of the FPC, see section 6.1, Tab.6/1
Subindex
Parameter identifier
Parameter value
Response byte 1 ... 7 of the FPC, see section 6.1, Tab.6/1
Tab.6/6: FPC in the cyclic I/O data
In the first byte, the control byte CCON is transmitted which
controls the operating mode and controller enable. The CMAX
responds with the SCON status byte.
Please note that the CCON.STOP bit must not be set since the
CMAX cannot switch to operation enabled" status in para−
metrising mode.
CCON.STOP = 1 leads to a warning.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−7
6. Parametrisation
6.2.1 Example of parametrising
Programmers can use the following example as an orientation
for implementation.
Example
Wrote
setpoint
position
Record
3 = 27.89 mm
Parameter request
(PLC output data)
ReqID = 8 (= Write value)
PNU = 404 (= Record list
setpoint value)
IND = 3 (= Record 3)
Value = 27.89 * 100 = 2789
Parameter response
(PLC input data)
ResID = 5 (= Value has been
transmitted)
PNU = 404 (= Record list setpoint
value)
IND = 3 (= Record 3)
Value = 2789
Fig.6/5: Example of parametrising
Preparing for parametrising
Establish status for switching operating mode
Switching is permitted in the statuses Controller disabled",
Controller enabled" or Fault".
Example Controller enabled" status.
Allocation of the control bytes (prepare mode switch)
Bit
B7
B6
B5
CCON
Byte 1
OPM2
OPM1
LOCK
x
x
1
...
not relevant.
Byte 5...8 Recommendation: set to 0
B4
B3
B2
B1
B0
x
RESET
x
BRAKE
x
STOP
0
ENABLE
1
Feedback from the CMAX: Check operational status in status
byte. SCON.OPEN must be 0.
Allocation of the status bytes (prepare mode switch)
Bit
B7
SCON
Byte 1
OPM2
OPM1
x
x
not relevant.
...
Byte 5...8
6−8
B6
B5
B4
FCT_MMI 24VL
0
1
B3
B2
B1
B0
FAULT
x
WARN
x
OPEN
0
ENABLED
1
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
Switch to parametrising mode
Switching is permitted in the statuses Controller disabled",
Controller enabled" or Fault".
Example Controller enabled" status.
Allocation of the control bytes (switch to parametrising mode)
Bit
B7
B6
B5
B4
B3
B2
B1
B0
CCON
Byte 1
OPM2
1
Set to 0
OPM1
1
LOCK
1
x
RESET
x
BRAKE
x
STOP
0
ENABLE
1
...
Byte 5...8
Feedback from the CMAX: Parametrising mode. SPOS.OPM1
and OPM2 must be 1.
Allocation of the status bytes (switch to parametrising mode)
Bit
B7
SCON
Byte 1
OPM2
OPM1
1
1
Not relevant
...
Byte 5...8
B6
B5
B4
FCT_MMI 24VL
0
1
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B3
B2
B1
B0
FAULT
x
WARN
x
OPEN
0
ENABLED
1
6−9
6. Parametrisation
Carry out parametrising
1. Step: Prepare parametrising with No request"
Allocation of the control bytes (step 1)
Bit
B7
B6
B5
B4
B3
B2
B1
CCON
Byte 1
OPM2
OPM1
LOCK
RESET
BRAKE
STOP
1
1
1
x
x
x
0
Subindex Subindex of the parameter to be transmitted =0
Byte 2
0
0
0
0
0
0
0
Para
PNU = 0
meter
0
0
0
0
0
0
0
identifier
ReqID = 0
PNU = n. r. (0000 0000 0000b)
Byte 3+4
0
0
0
0
0
0
0
Para
Value of the parameter to be transmitted = 0
meter
value
Byte 5...8
B0
ENABLE
1
0
0
0
Waiting for feedback from CMAX: No request".
Allocation of the status bytes (step 1)
Bit
SCON
Byte 1
B7
B6
B5
B4
B3
B2
OPM2
OPM1
FCT_MMI 24VL
FAULT
WARN
1
1
0
1
0
0
Subindex Subindex of the transmitted parameter: not relevant
Byte 2
0
0
0
0
0
0
Para
PNU = not relevant
meter
0
0
0
0
0
0
identifier
ResID = 0 (0000b)
PNU = not relevant
Byte 3+4
0
0
0
0
0
0
Para
Value of the transmitted parameter: not relevant
meter
value
Byte 5...8
6−10
B1
B0
OPEN
0
ENABLED
1
0
0
0
0
0
0
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
2. Step: Transmit parameter
Allocation of the control bytes (step 2)
Bit
B7
B6
B5
B4
B3
B2
B1
CCON
Byte 1
OPM2
OPM1
LOCK
RESET
BRAKE
STOP
1
1
1
x
x
x
0
Subindex Subindex of the parameter to be transmitted: 3 (0000 0011b)
Byte 2
0
0
0
0
0
0
1
Para
PNU = 404 (0001 1001 0100b)
meter
1
0
0
1
0
1
0
identifier
ReqID = 8 (1000b)
PNU = 404 (0001 1001 0100b)
Byte 3+4
1
0
0
0
0
0
0
Para
Value of the parameter to be transmitted: 2789
meter
(0000 0000 0000 0000 0001 1110 1001 0101b, 32−bit number)
value
Byte 5...8
B0
ENABLE
1
1
1
1
Check feedback from the CMAX:
1. If ResID = 0: Parameter not yet processed.
Wait.
2. If ResID = 7: Error handling (e.g. evaluate error number,
check PNU, subindex or value)
3. If ResID = 5: End waiting.
Allocation of the status bytes (step 2)
Bit
B7
B6
B5
B4
B3
B2
B1
SCON
Byte 1
OPM2
OPM1
FCT_MMI 24VL
FAULT
WARN
OPEN
1
1
0
1
0
0
0
Subindex Subindex of the transmitted parameter: 3 (0000 0011b)
Byte 2
0
0
0
0
0
0
1
Para
PNU = 404 (0001 1001 0100b)
meter
1
0
0
1
0
1
0
identifier
ResID = 5 (0101b)
PNU = 404 (0001 1001 0100b)
Byte 3+4
0
1
0
1
0
0
0
Para
Value of the transmitted parameter: 2789
meter
(0000 0000 0000 0000 0001 1110 1001 0101b, 32−bit number)
value
Byte 5...8
B0
ENABLED
1
1
1
1
3. Step: Complete parametrising with No request"
See step 1.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−11
6. Parametrisation
6.2.2 Sequence chart
Start
Step 1
First send No request" to ensure
that the previous parameter request
has been reliably terminated.
Set in output data:
Send
No Request"
Value
IND
PNU
ReqID
Input data:
(ResID <> 0) OR
(PNU <> 0) OR
(IND <> 0)
=0
=0
=0
=0
Wait
Answer
Input data:
(ResID = 0) AND
(PNU = 0) AND
(IND = 0)
Step 2
Set the desired parameter request
in the output data (request value,
IND, PNU and ReqID).
The CMAX sends No answer" for as
long as it can provide the parameter
response.
If the CMAX cannot process the
request, this is indicated by
ResID = 7. In this case the response
value contains the error number.
Set in output data:
Send parameter
Value
request
= 2789
IND
=3
PNU
= 404
ReqID = 8
ResID = 0
Wait
Answer
ResID <> 0
Check
Error
ResID = 7
(Error)
Error handling
(Check PNU,
IND, value)
ResID = 5
Step 3
Send No request" after evaluation
of the response.
Send
No Request"
Set in output data:
Value
IND
PNU
ReqID
=0
=0
=0
=0
End
Fig.6/6: Parametrisation flow chart
6−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
6.3
6.3.1
CPX module parameter and acyclic parametrising
CPX function numbers
Per module 64 byte module parameters (function no.
4828 + m*64 + 0...63) can be used in the system table.
CPX module parameter of the CMAX
Function no.
Contents
Description
4828 + m * 64 + 0
Module parameter 0
Standard module parameters, are not used by the
CMAX (reserved)
(reserved).
4828 + m * 64 + ...
Module parameters ...
4828 + m * 64 + 5
Module parameter 5
4828 + m * 64 + 6
Module configuration 1
4828 + m * 64 + 7
Module configuration 2
4828 + m * 64 + 8
Parameter control byte
4828 + m * 64 + 9
Parameter status byte
4828 + m * 64 + 10
Parameter function byte
4828 + m * 64 + 11
Parameter length byte
4828 + m * 64 + 12
Data byte 1
4828 + m * 64 + ...
Data byte ...
4828 + m * 64 + 61
Data byte 50
4828 + m * 64 + 62
Byte 62
4828 + m * 64 + 63
Byte 63
Special module settings of the CMAX (reserved).
Function head (request control)
50 byte data.
The contents depend on the request.
request
Not used (reserved).
Tab.6/7: CPX module parameter of the CMAX
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−13
6. Parametrisation
6.3.2
Startup parameter
The module parameters 0 ... 5 are not used and not trans
mitted.
The module configuration (byte 6 + 7) is transmitted from the
master to CPX by means of startup parametrising. The para
meters are reserved and described in the GSD file.
Both bytes are currently not yet used and reserved for future
functions.
The data format of the module is specified via the Data for
mat analogue value" parameter in CPX, provided it is sup
ported by the CPX node (see section 1.2).
Standard module parameter (byte 0 to 5)
The standard module parameters in byte 0 ... 5 are not used
by the CMAX.
Module configuration (byte 6 and 7)
Module configuration 1 and 2
6−14
Byte
Bit
Name
Description
6
0 ... 7
Module configuration 1
=: 0 ! (reserved)
7
0 ... 7
Module configuration 2
=: 0 ! (reserved)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
6.3.3
Acyclic parameter request
Acyclic functions in the module parameters
The CPX module parameters byte 8 to byte 61 are used to
execute acyclic functions in the CMAX. The area is divided
into a function head that serves request control and a data
field of 50 bytes.
Byte
Description
8 ... 11
Function head for request control
12 ... 61
Data range (depending on the desired function)
Currently only function 1 = Festo Parameter Channel FPC is
available which permits exchanging acyclic parameters be
tween PLC and CMAX.
The PLC transmits up to seven parameters in this data range,
while a handshake is required between PLC and CMAX.
The advantage of acyclic parametrising is that the PLC does
not need to modify the I/O data during parameter trans
mission. If the parameter does not require this, the operating
mode must not be changed and the axis must not be
stopped.
Note
With acyclic parameter transmission, ensure that the
setpoint values of a positioning task are fully transmitted
to the CMAX when the positioning task is started. If
necessary, prevent positioning tasks during the trans
mission of parameters.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−15
6. Parametrisation
General procedure
The module parameters byte 8 ... 11 contain a function head
that controls the handshake between PLC and CMAX.
Design of the function head
Byte
Name
Description
PCB
Byte 8
Parameter
control byte
(PCB)
Request
0 = Do not execute request
1 = Request request for axis 1
Parameter
status byte
(PSB)
Result
0 = Request being processed
1 = Request processed successfully
General errors:
−1 = Request (PCB) faulty
−2 = Faulty function number (FFB)
−3 = system initialisation: Request cannot be executed
−4 = A request is already being processed
Error concerning function 1 (Festo Parameter Channel)
−10 = FPC: Number of parameters (byte 12) is wrong (permissible
1...7)
Parameter
function byte
(PFB)
Function number
0 = No function
1 = Festo Parameter Channel
Parameter
length byte
(PLB)
reserved for future extensions
must be set to 0
(P8.0−P8.7)
PSB
Byte 9
(P9.0−P9.7)
PFB
Byte 10
(P10.0−P10.7)
PLB
Byte 11
(P11.0−P11.7)
Tab.6/8: Function head
6−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6. Parametrisation
Sequence
1. The PLC compiles the request data according to the func
tion number. The bytes in the data range that are not
used must also be transmitted. They should be set to 0.
2. The PLC transmits the data into the module parameters
byte 8 ... 61. When doing so it sets the PCB (byte 8) to 1.
The status byte should be set to 0.
3. The CMAX processes the request as soon as byte 61 has
been transmitted. If the CMAX has finished the proces
sing, it enters the result in the status byte PSB (byte 9).
4. The PLC reads the data 8 ... 61 until it finds a value in the
status byte PSB (byte 9) that is not equal to 0.
5. If there is a result, the PLC must check whether the re
quest was processed successfully (PSB = 1) or whether
an error was reported (PSB < 0).
Notes
Bytes 8...61 always have to be written. The request is only
processed by the CMAX after byte 61 has been trans
mitted.
If a result is retrieved before the request was requested,
PSB = 0 (request being processed).
When writing byte 8...61, make sure that PCB and PFB are
correctly allocated.
The contents of PSB are updated by the CMAX after every
write access of the PLC. The CMAX itself does not evaluate
the value written by the PLC. The value should be written
by the PLC with 0, so that the contents unequal to 0 are
reliably from the current request.
If a request is already being processed, new ones are
rejected and not processed (PSB = −4).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
6−17
6. Parametrisation
6.3.4
Festo Parameter Channel FPC (function 1)
Request control and data bytes
Byte
Contents
8
Function head
Description
Para. control byte
PCB = 1
1= Request request for axis X
9
Para. status byte
PSB = 0
Set status to 0 at start
10
Para. function byte
PFB = 1
Function number = parameter channel
11
Para. length byte
PLB = 0 (reserved)
Number of parameters
Number of parameters (permissible: 1 ... 7)
13 ... 19
Parameter 1
Byte 1 ... 7 of parameter 1
20 ... 26
Parameter 2
Byte 1 ... 7 of parameter 2
27 ... 33
Parameter 3
Byte 1 ... 7 of parameter 3
34 ... 40
Parameter 4
Byte 1 ... 7 of parameter 4
41 ... 47
Parameter 5
Byte 1 ... 7 of parameter 5
48 ... 54
Parameter 6
Byte 1 ... 7 of parameter 6
55 ... 61
Parameter 7
Byte 1 ... 7 of parameter 7
12
Data bytes
Tab.6/9: Allocation of the module parameters for parameter transmission
The individual parameters are FPC requests, as described in
section 6.1.
Structure of parameter 1 ... 7
Transmis
sion
i off
byte no. in the parameter
Byte 1
Byte 2
Request
Index
Parameter identifier
Bit 00...11: PNU
Bit 12...15: Request ID
32−bit parameter value
Response
Index
Parameter identifier
Bit 00...11: PNU
Bit 12...15: Request ID
32−bit parameter value
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Tab.6/10: Allocation of parameters 1 ... 7
6−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Notes on commissioning and service
Appendix A
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−1
A. Notes on commissioning and service
Contents
A.1
A.2
A.3
A.4
A−2
Preparations and overview for commissioning . . . . . . . . . . . . . . . . . . . . . . .
A.1.1
Checking the axis string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2
Switching on the power supply, switch−on behaviour . . . . . . . . . . .
Commissioning via the CPX node (fieldbus) . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1
C00: Basic parametrising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.2
Step−for−step instructions for basic parametrising . . . . . . . . . . . . .
A.2.3
Parametrising without hardware . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.4
C03: Movement test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.5
Homing and identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.1
Nominal/actual comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.2
Exchanging components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.3
Reconfigure axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.4
Data reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.5
Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3.6
Switch−on behaviour and power−down . . . . . . . . . . . . . . . . . . . . . . .
Programming flow charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.1
Create ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.2
Start record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.3
Reset fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.4
Switch over operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A−3
A−3
A−3
A−10
A−10
A−12
A−15
A−17
A−17
A−18
A−18
A−21
A−24
A−25
A−26
A−27
A−28
A−28
A−31
A−32
A−33
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.1
A.1.1
Preparations and overview for commissioning
Checking the axis string
Prior to commissioning:
·
A.1.2
Check the complete system structure, especially the drive
tubing and the electrical installation (see CMAX system
description).
Switching on the power supply, switch−on behaviour
Warning
High acceleration forces at the connected actuators! Unex
pected motion can cause collisions and severe injuries.
· Switching on:
Always first switch on the power supply and then the
compressed air supply.
· Switching off:
Before carrying out mounting, installation and mainten
ance work switch off the power supply and the com
pressed air supply, either simultaneously or in the fol
lowing sequence:
1. the compressed air supply
2. the power supply for the electronics/sensors
3. the load voltage supply for the outputs/valves
Always make sure that the compressed air supply and
power supply are switched off and locked before work
ing in the machine area.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−3
A. Notes on commissioning and service
Delivery status
(after switching on for the first time or after data
reset)
The connected components (valve and measuring sys
tem/ sensor interface) are automatically searched for at
the axis interface, the information received are read.
The recognized components are not automatically ac
cepted as the setpoint configuration.
Without complete parametrising 1) of the axis data, the
controller cannot be activated. Actual values are not up
dated in that case.
Standard startup
Recognisable parameters
The connected components (valve and measuring sys
tem/ sensor interface) are automatically searched for at
the axis interface, the information received are read.
The factual configuration found is compared to the set
point configuration. Deviations lead to errors, a controller
is not activated. This error can only be acknowledged
after a parametrisation 1).
The CMAX ascertains all the parameter values stored in the
drive, sensor (measuring system) and valve automatically.
The FCT PlugIn can read these values from the controller,
they must not be entered in the FCT project. The ascertained
data cannot be overwritten.
1)
A−4
Parametrisation executed": Each parameter from the
area of axis data/mechanical system (also homing with
DNCI) receives appropriate data.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Data reset
An axis data reset (see section A.3.4) resets the axis data of
the CMAX to the delivery status. In this status the CMAX con
tains no setpoint configuration. Parametrisation is required to
activate the controller.
The CMAX can be configured with or without connected com
ponents (in the office"). If the valve and the sensor interface
have been connected, the CMAX will perform automatic hard
ware recognition after switching it on. The data found in the
course of this are adopted by the FCT.
If commissioning is performed without components, all the
data needs to be entered.
In order to indicate the status of parametrisation, the display
reads status C00 ... C03 (can also be queried by reading
PNU 1102:02) These statuses mark the respective action re
quired next.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−5
A. Notes on commissioning and service
Power on
Search for axis at
axis interface
PNU 1192:02 = 0
Valve and measuring
system OK
Valve and measuring
system missing
Axis found
Setpoint
configuration
available
Axis not found
Controller
ready
1
Setpoint
configuration
available
Setpoint configuration
not yet available
PNU 1192:02 = 4
Waiting for
system of
measurement
units 3
Fault
PNU 1192:02 = 0
2
PNU 1192:02 = 4
Waiting for
cylinder type
PNU 1192:02 = 1
Waiting for
axis data
PNU 1192:02 = 2
Movement
test
PNU 1192:02 = 3
Controller
ready
1
1 Initial start−up executed, CMAX ready
for operation
2 Faults see chapter 4
PNU 1192:02 = 4
3 Status when switching on for the first
time (in delivery status or after data
reset) Waiting for initial start−up
Fig.A/1: Switch−on behaviour
A−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Description of the statuses
Searching for valve and measuring system.
This process takes max. 3 seconds.
PNU 1192:02 = 0
The CMAX has found no setpoint configuration. The system
of measurement units has not yet been defined.
PNU 1192:02 = 0
The user must first define the system of measurement units.
As long as no system of measurement units has been confi
gured, access to the axis parameters is restricted since the
CMAX does not know in what way the parameters need to be
scaled. You only have access to diagnostic data and to data
required by the FCT to define the system of measurement
units (measuring system type etc.).
The system of measurement units is defined with
PNU 1192:05.
The following data can be accessed in this status:
PNU:IND
Access
Description
1xx
2xx
Read/write
Device data: define device names,
version numbers
Diagnostic data: read current
fault
1190:01
1190:05
1190:11
Read
From hardware recognition:
cylinder type, sensor type, valve
type
1192:03
Read/write
carry out data reset
1192:05
1192:06
Read/write
Read
System of measurement units
System of measurement units
table
Tab.A/1: Access to parameters in status C00
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−7
A. Notes on commissioning and service
The system of measurement units has been configured. The
CMAX waits for the cylinder type to be defined.
PNU 1192:02 = 1
It has now been defined whether the metric or the imperial
system of units is used. However, the parameters can still not
be scaled, because a distinction between translatory (linear
drive) and rotatory (semi−rotary drive) needs to be made. For
this, the cylinder type (PNU 1100) must be written. The cylin
der type defines the system of measurement units actually
used (see PNU 1192:06).
It is possible to trigger another data reset in case the system
of measurement units was incorrectly defined.
The system of measurement units and the cylinder type have
been successfully parametrised. The CMAX waits for the axis
parameter to be written.
PNU 1192:02 = 2
The recognized hardware has been scaled. Appropriate de
fault data has been created in the user’s system of measure
ment units. There is access to all the parameters, so now the
recognized cylinder length, sensor length etc. can be read.
Now the axis data needs to be transmitted (download). Each
parameter from the area of axis data/mechanical system,
with DNCI also the homing parameters, must be written at
least once irrespectively of the value.
In order to start commissioning again, you can trigger data
reset (e.g. in the event of an incorrect system of measure
ment units).
Basic parametrising has been completed. The axis can now
be used.
PNU 1192:02 = 3
A−8
A movement text can be performed. In the course of this,
the drive is checked for correct tubing connection.
The movement test can be skipped by writing PNU 1192:02
= 2 (not recommended).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Commissioning errors
Fig.A/1 only shows the most impor tant paths, to explain the
principle.
If only one component is found, for example (sensor or valve),
error E60 or E80 is generated, since it can be assumed that
this point to a defect. Apart from that, there are also other
possible errors prior to or during commissioning, e.g.
insufficient operating voltage E52,
memory error E7x,
controller enable before reaching status C03
(causes E05).
More information on the status display can be found in the
CMAX system description (Chapter 5).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−9
A. Notes on commissioning and service
A.2
A.2.1
Commissioning via the CPX node (fieldbus)
C00: Basic parametrising
This section contains step−by−step instructions for basic
parametrisation. Fig.A/2 shows an o verview of the pro
cedure. The description of the statuses C00 to C03 is required
to understand the diagram (see section A.1.2, Fig.A/1).
CMAX in delivery status 1)
Activate commissioning mode
Set system of measurement units:
PNU 1192:05 = 1 ... 2
1 = metric
2 = imperial
Define drive type:
PNU 1100:00 = 1 ... 5
Block download ON
PNU 1192:01 = 1
Load axis data
All PNUs
Block download OFF
PNU 1192:01 = 0
CMAX waiting for movement test
1)
A data reset resets the axis data to the delivery status, the device
and diagnostic data are retained.
Fig.A/2: Basic parametrising
A−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Commissioning operations (PNU 1192)
The Commissioning operations" parameter controls
important operations of commissioning. Writing the para
meter triggers complex actions in the controller which are
essential for commissioning.
See section 5.4.16.
The function data reset" (PNU 1192:03) offers the possibility
to reset the controller to delivery status at any point in time.
Resetting deletes the axis data and the identification data. So
you will always need to repeat commissioning and identifica
tion after a reset.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−11
A. Notes on commissioning and service
A.2.2
Step−for−step instructions for basic parametrising
Step 1:
1. Check status (read PNU 1192:02 −> setpoint = 0).
Switch on con
troller. Status C00
is now active.
2. Recommendation: Write device names (PNU 121).
Basically the default value CMAX1" can be used, but an
individual name is recommendable in case you also in
tend to access the controller with FCT.
3. Check version number of the firmware (read PNU 101).
Prior to parametrising you should ensure that the CMAX
is really compatible with the following project data.
Step 2:
4. Activate Commissioning" mode in the CCON, wait for
acknowledgement in the SCON.
STOP and ENABLE must not be set.
Select commis
sioning mode
B7
B6
B5
CCON
OPM2
OPM1
LOCK
Set
point
1
0
x
SCON
OPM2
OPM1
Set
point
1
0
B4
B3
B2
B1
B0
RESET
BRAKE
STOP
ENABLE
x
x
0
0
FCT_MMI 24VL
FAULT
WARN
OPEN
ENABLED
x
0
0
0
0
0
x
If the parameters are to transmitted via the cyclical I/O data
of the PLC, Parametrising" mode must be selected.
A−12
OPM2
OPM1
Operating
mode
Transmit parameters via
1
0
Commissioning CI/DIAG or module para
meters, e.g. DPV1
1
1
Parametrisa
tion
Usage of cyclical I/O data
bytes 2..8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Step 3:
Define system of
measurement
units
5. Define a system of measurement units (PNU 1192:05).
1192:05 = 1 −>
1192:05 = 2 −>
Metric / SI system
(metre, kilogramme, Newton, ...)
Imperial system
(inch, pound, pound−force, ...)
Writing the parameter sets the commissioning status
C01. This can be checked by reading the PNU 1192:02.
Step 4:
Write cylinder
type
6. Write cylinder type into the setpoint configuration
(PNU 1100:01). The cylinder type must correspond with
the value from the automatic hardware recognition. The
recognized value can be read from the actual configur
ation (PNU1190:01).
The cylinder type defines the system of measurement
units used. The CMAX now scales the length data from
the actual configuration into the user’s system of measu
rement units and copies them to the setpoint configura
tion. Now all the parameters can be accessed.
Writing the parameter sets the commissioning status
C02. This can be checked by reading the PNU 1192:02.
Step 5:
Switch on block
download
7. Switch on block download (write PNU 1192:01 = 1)
During block download the controller is not recalculated.
The parameters are only checked for limit values during
writing. Dependencies between parameters are not chek
ked. This function permits loading parameters in any
order.
Example of dependent parameters: the software end
positions depend on the cylinder length.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−13
A. Notes on commissioning and service
Step 5:
Load axis data
8. Load axis data:
Each parameter from the drive configuration group
(also homing with the DNCI) must be appropriately
initialised. All written parameters must correspond
with the recognized parameters.
The following mechanics data must be written:
Setpoint con
figuration
Actual configur
ation
Parameter
PNU 1100
PNU 1190:01
cylinder type
PNU 1101
PNU 1190:02
Cylinder diameter
PNU 1102
PNU 1190:03
Cylinder length
PNU 1103
PNU 1190:04
Piston rod diameter
PNU 1110
PNU 1190:05
Measuring system type
PNU 1111
PNU 1190:06
Measuring system length
PNU 1120
PNU 1190:11
Valve type
With the DNCI / DDPC the following data must also be
written:
Axis data
Parameters
PNU 1130
Offset axis zero point
PNU 1131
Homing velocity
PNU 1132
Homing method
The following parameter should be written:
Application
data
Default
(SI)
Parameters
PNU 1140
0°
Mounting position
PNU 1141
6 bar
Supply pressure
PNU 1142
5 kg
Moving mass without workpiece (basic
load)
All the other parameters contain appropriate default
values. This data can, but does not need to be over−
written. The record list is not initialised.
A−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Step 5:
9. Switch off block download (write PNU 1192:01 = 0)
Switch off block
download
When switching off block download, the controller is
parametrised for the first time. If all the required parame
ters were written during axis data writing, status C02 is
quit. From this point in time the actual position can be
read or any other function of the CMAX can be executed
for the first time.
The CMAX now waits for the movement test to be
executed.
A.2.3
Parametrising without hardware
Properties
Cylinder length
The CMAX can be fully parametrised without hardware.
Connecting an axis is not required for this purpose.
If no axis is connected, the controller indicates an error
after parametrising. The CMAX is still fully diagnostics−
capable and parametrisable.
Without hardware all parametrised data can be read.
Connecting an axis is not required.
The actual effective length is stored in the DGCI. It is read
when the hardware is connected and also copied to the set
point data. When commissioning without hardware, the
nominal length must be parametrised since the effective
length is no known. The CMAX accepts both effective and
nominal lengths for nominal/actual comparison.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−15
A. Notes on commissioning and service
Example:
With a DBCI−25−500 the effective length of 501.63 mm is
read when commissioning with hardware and copied
to the setpoint configuration. Without hardware a value
of 500.00 mm must be programmed.
When ultimately connecting the hardware, the user can
adopt the effective length. This does not occur automati
cally. If the projected nominal and effective length is not
adjusted, the CMAX accepts a variation of 5.00 mm between
the projected length and the nominal length stored in the
drive without issuing an error or warning.
Serial numbers and
sampling time
A−16
The serial numbers of the sensor and valve and the
sampling time of the sensor (measuring system) are also
not known when commissioning offline. This data is auto
matically adopted after connecting the hardware, if the
remaining data complies with the connected components.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.2.4
C03: Movement test
After parametrising, a movement test should be executed to
check the drive’s control direction. During this, the system
checks that the tubes are correctly connected. After parame
trising, the CMAX expects the movement test to be executed
and indicates this by issuing C03 on the display.
The movement test must either be executed or skipped (not
recommended).
Information on executing the movement test can be found in
section 3.2.1.
A.2.5
Homing and identification
After the successful movement test, the following functions
need to be executed:
Homing, see section 3.2.2
(only with measuring type "encoder").
Identification, see section 3.2.5
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−17
A. Notes on commissioning and service
A.3
A.3.1
Operation and service
Nominal/actual comparison
When switching on, the CMAX compares the setpoint and
actual configuration. How complex this comparison is de
pends on whether the serial numbers of the components
were adopted.
Serial numbers have not
been transferred yet.
The actual configuration only needs to be compatible with
the setpoint configuration. Deviations lead to error E01.
The actual configuration is compatible if it corresponds with
the hardware configuration within a certain tolerance range.
In this no serial numbers are compared, only the size, supply
pressure and mounting position.
Serial numbers have been The actual configuration must be compatible with the set
transferred.
point configuration. The components valve and measuring
system have clearly been assigned to the project. Deviations
lead to fault E01.
The serial numbers of the measuring system/sensor inter
face and valve must correspond with the projected serial
numbers. A deviation leads to warning W08, deviations from
both to fault E01.
The reason for this is the data that depends on the individual
valve and drive which is ascertained during identification and
adaptation.
The serial numbers are transferred when a movement test,
start, or homing is performed for the first time.
The serial numbers and corresponding configuration data are
transferred each time the user performs the identification.
A−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Parameters
Permissible deviations for nominal/actual comparison
Prior to transfer of SN 1) After transfer of SN 2)
After identification
Type
no deviation
no deviation
no deviation
Nominal/effective
length 3)
5 mm
5 mm
5 mm
Diameter
no deviation
no deviation
no deviation
PR diameter 4)
no deviation
no deviation
no deviation
Type
no deviation
no deviation
no deviation
Nominal length
5 mm
5 mm
5 mm
any changes
any changes 5)
any changes 5)
Type
no deviation
no deviation
no deviation
Serial number
any changes
no deviation
no deviation
Cylinder
Measuring system
Serial number
Valve
1)
2)
3)
4)
5)
Prior to transfer of the serial numbers any changes to the setpoint configuration are permissible if
there is no actual configuration. A complete actual configuration is currently only available when
using the DGCI.
After transfer of the SN or the identification, these tolerances not only apply to variations between
the setpoint values and actual values, but also between old and new setpoint values.
Only a cylinder length to which both actual values are compared is projected.
Piston rod diameter
No deviation permissible with the DGCI.
Tab.A/2: Permissible deviations for nominal/actual comparison
Optimize parameters
Various parameters can still be modified after commissioning
in order to optimize the project. The cylinder length can, for
example, be modified by up to 5.00 mm in order to be able to
move right up to cylinder end position with force control.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−19
A. Notes on commissioning and service
Modifications outside of the specified tolerances are not per
missible. To prevent an excessive extent of modifications
through repeat downloads, a copy of the data is created at
the time of serial number transfer and this is used as a basis
for comparison (PNU 1195).
After identification, modification of other parameters is re
stricted.
Parameters
Permissible deviations for nominal/actual comparison
Prior to transfer of SN
After transfer of SN
After identification
Supply pressure
any changes
any changes
1 bar
Mounting position
any changes
any changes
3°
WP mass at power−on 1) any changes
any changes
any changes
Dual axis
any changes
any changes
no deviation
Clamping unit
any changes
any changes
any changes
Through piston rod
any changes
any changes
no deviation
Application data
Settings
1)
Workpiece mass(mass moment of inertia when switching on
Tab.A/3: Permissible deviations for nominal/actual comparison
A−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.3.2
Exchanging components
Nominal/actual comparison of the hardware configuration
With each new calculation of the controller, a nominal/actual
comparison between the current hardware configuration
(actual configuration) and the setpoint configuration is per
formed.
Setpoint configuration
The setpoint configuration consists of the values for the
drive configuration parametrised by the user.
Actual configuration
The actual configuration consists of values for the hardware
components ascertained during the automatic hardware
recognition.
Exchange of a component
The CMAX identifies an exchange as specified in Tab.A/4.
Component
Cylinder/drive
Valve
Component exchanged for component ...
of the same type and size
of another type or size
DGCI: Recognition based on serial
number of the measuring system
DGCI: Recognition based on length and
diameter information in the measuring
system
Other drives: recognition not possible
Other drives: recognition not possible
Recognition based on serial number
Recognition based on type information
Measuring system DGCI: Recognition based on serial
number
Sensor interface
DGCI: Recognition based on length and
diameter information
Other measuring systems: recognition
not possible
Other measuring systems: recognition
of the design based on sensor inter
face, no length information.
Recognition based on serial number
Recognition based on type information
Tab.A/4: Exchange of a component − recognition by the CMAX
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−21
A. Notes on commissioning and service
Response of the CMAX to exchanging for the same type
The identification data is not discarded.
Operation is permissible without new parametrisation/
identification.
A warning is generated. It remains active as long as no
formal parametrisation/identification is performed.
Response of the CMAX to exchanging for another type or
size
Cylinder length
The identification data is not discarded.
Operation is not permissible without new parametrisation,
the controller cannot be activated.
An error is generated.
The cylinder length and the sensor length may be modified
by up to 5.00 mm without requiring a new identification.
When modifying by < 5.00 mm, the CMAX assumes that it is
expected to optimize the effective length of the cylinder.
When commissioning the CMAX offline, the nominal length of
the cylinder must be specified. It is accepted even if it devi
ates by more than 5.00 mm from the effective length.
If the cylinder was exchanged, it must in any case be re−
identified, even if the CMAX does not report an error!
Adjust setpoint parameters
The parameters of the mechanical system can only be modi
fied once the identification data have been deleted.
A−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Defined error codes
Message
E01
More than one component (cylinder and
valve) were replaced for another.
Cylinder (type, length, diameter) does not
correspond to the setpoint configuration.
Effect
Identification must be reset and executed
anew once the setpoint configuration has
been adjusted.
adjusted
Or reset to previous status, as required.
Measuring system (type, length) does not
correspond to the setpoint configuration.
Valve (type) does not correspond to the set
point configuration.
W08
A component (cylinder, sensor or valve) was
replaced for another.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Identification should be repeated, but oper
ation is still possible.
A−23
A. Notes on commissioning and service
A.3.3
Reconfigure axis
If a CMAX was connected to a certain axis via the serial
number (see section A.3.1), the hardware configuration data
can only be modified in a certain range. If the CMAX is oper
ated at a different axis, this connection must be deactivated
first.
It is possible for the user to exchange an axis in the plant for
an axis of a different size, e.g. to achieve greater force with a
larger piston surface. In this case you do not need to delete
the entire controller. Only the data that is essential should be
deleted.
There are two ways of deleting data:
Delete all the data of an axis.
Only delete the identification data and the adaptation
data.
With the second variant, the record list, default values, con
troller amplifications etc. are retained. This can make sense
when position values were taught, for example.
The CMAX reports the necessity of deleting data during data
transmission with the FPC error code 107:
There are identification and adaptation data in the CMAX
that prevent modifying the current configuration. This data
must be reset first."
As the user, you can then decide whether to delete all the
data or only the identification data.
A−24
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.3.4
Data reset
There are three ways of resetting data in the CMAX, see
Tab.A/5.
Reset
Description
Identification
data reset
This function can be performed with the FCT and by the PLC.
Only the identification data and the adaptation data are reset. All the other
data is retained.
The data reset is triggered by writing on the commissioning parameter data
reset" PNU 1192:03 = 2.
Axis data reset
This function can be performed with the FCT and by the PLC.
All user parameters of an axis are reset to the delivery status.
The identification data, the adaptation data and the maintenance data of an
axis are reset.
The diagnostic memory is retained and it contains the entry data reset".
Device data such as device name, operating time are retained.
A password is not deleted.
The data reset is triggered by writing on the commissioning parameter data
reset" PNU 1192:3 = 3.
Device data reset
This function is only available by CI at the diagnostic interface and can only be
triggered by the FCT. A PLC cannot trigger a device data reset via fieldbus.
With this reset the entire CMAX is reset to delivery status. The identification
data, adaptation data and maintenance data of both (level 2) axes and the
shared device data such as device name, operating time etc. are deleted.
The diagnostic memory of the axes is deleted.
A password specified in the device is deleted.
This is the only way to continue using a device if a set password has been lost.
After the reset it is no longer possible to communicate with the CMAX. The dis
play shows 3 flashing dashes −−−". The CPX terminal must be switched off and
then back on again.
Tab.A/5: Types of data reset
When speaking about a data reset in general, this refers to an
axis data reset.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−25
A. Notes on commissioning and service
A.3.5
Firmware update
Updating the CMAX firmware can be done with the FCT PlugIn
CMAX via the diagnostic interface of the CPX node.
If no valid firmware is loaded on the module at the time of
switching on, the error E74 no firmware" is indicated.
The bootloader is not overwritten in the event of a firmware
update, switching off during download does therefore not
cause the CMAX be become inoperative. The download can
be started again. The firmware files contain compatibility
information to ensure that the bootloader and the firmware
harmonize.
A−26
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.3.6
Switch−on behaviour and power−down
After switching on, not only initialisation is checked but also
whether the data backup of the FMAM was performed without
errors last time the system was switched off.
In the event of an error, E76 (power−down error) is issued.
If the operating voltage drops below 17.9 V, all retentive data
(device and axis parameters, identification and adaptation
data) are saved retentively.
If the supply voltage returns to the valid range within
10 ms, this mains drop has no external effect.
If the voltage drops lasts longer than 10 ms (do not switch
off), fault E52 is issued.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−27
A. Notes on commissioning and service
A.4
Programming flow charts
The following section provides flow charts for CMAX control
via I/O for typical applications.
A.4.1
Create ready status
Requirements
Valve operating voltage and load voltage OFF.
Fieldbus master is ready for communication, so communi
cation is established as soon as the CPX terminal is
switched on. If this is not the case, additional time must
be allowed for change of the byte order after establish
ment of communication.
Notes
A−28
All enabling bits (enable, stop, brake) can be set right
from the beginning and simultaneously. Correspondingly,
feedback can be evaluated simultaneously.
When exchanging components, the movement test is
reset automatically, if applicable. The movement test
status should therefore be checked before switching on
and the test be re−run automatically or user−guided, if
required.
Setting the operating mode should be done in a separate
module of the control at a central position. See also sec
tion A.4.4.
If the CMAX reports a faults, depending on this fault, not
all of the expected status signals can be indicated. Evalu
ation of SCON.ENABLED or SCON.OPEN, for example,
should then be aborted.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
Operating voltage = 0 V
Load voltage (valve) = 0 V
CMAX is OFF
[m] This action is mandatory.
[o] This action is a recommendation. It
does not have to be carried out
The output data should in any case be specified
Reset PLC output
at the beginning to prevent control signals from
data
[m]
the last operating phase from affecting the
CMAX.
The CMAX initialises the axis string and the
Switching on the
operating voltage [m] controller and queries the setting for the file
format in the CPX node.
Start timer:
3 seconds
Monitoring to detect a faulty module. Time may
[o] vary, depending on the CPXC node.
Timerexpired
[o]
Error:
CMAX not reporting back
Timer still running
SCON.FAULT = 1
[m]
Cancel
Error handling
SCON.FAULT = 0
SCON.MC = 0
[m]
SCON.MC = 1
Check commissioning
status
[o]
Set operating mode
[m]
Switch on valve load
voltage (= 24 V) [m]
The supply pressure should be fully built up at the valve within 50 msec.
Switch on pressure
Otherwise allow for additional time after this step, or parametrise E50 as
[m] a warning.
[m]
SCON.FAULT = 1
Cancel
Error handling
SCON.FAULT = 0
SCON.24VL = 0
[m]
SCON.24VL = 1
Page
2
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−29
A. Notes on commissioning and service
Page
1
CCON.ENABLE = 1
[m]
[m]
SCON.FAULT = 1
Cancel
Error handling
SCON.FAULT = 0
SCON.ENABLED = 0
[m]
SCON.ENABLED = 1
CCON.BRAKE = 1
[m]
Release clamping unit,
if present
CCON.STOP = 1
[m]
[m]
SCON.FAULT = 1
Cancel
Error handling
SCON.FAULT = 0
SCON.OPEN = 0
[m]
SCON.OPEN = 1
Ready
A−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.4.2
Start record
Operation enabled
SCON.ENABLED = 1
SCON.OPEN = 1
[m] This action is mandatory.
[o] This action is a recommendation. It
does not have to be carried out
Output data byte 3
= Target record number
[m]
Delay time
1 bus cycle
[o]
CPOS.START = 0
For all fieldbuses that do not support consistent data transmission, it is necessary to wait one bus cycle
after entering the record number during which the record number on the fieldbus is transmitted to the
CMAX.
Recommendation: with most control systems the PLC cycle is longer than the bus cycle −> delay time = 1
PLC cycle
Preparing the starting edge
[m]
SCON.ACK = 1
[m]
SCON.ACK = 0
CPOS.START = 1
[m]
SCON.ACK = 0
Starting edge
[m]
SCON.ACK = 1
CPOS.START = 0
SCON.ACK = 1
Reset start in order to reduce the delay time next time.
[m]
[m]
SCON.ACK = 0
SCON.MC = 0
[o]
It is only required to wait for MC if reaching the target position is
necessary for the further process.
SCON.MC = 1
Record carried out
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−31
A. Notes on commissioning and service
A.4.3
Reset fault
[m] This action is mandatory.
Fault active
[o] This action is a recommendation.
It does not have to be carried out
Wait until the fault response has ended.
(Attention: not in parametrising mode)
A reset was previously ignored.
SPOS.MC = 0
[m]
SPOS.MC = 1
Use reset counter (Integer type) in order to limit the maximum number of resets.
The CMAX always tries to reset all active fault messages. Acknowledging several times is not necessary.
Reset counter = 1
may, however, be subsequent errors after acknowledging. Cancel acknowledgement after more than
[m] There
3 trials and perform extended diagnostics, e.g. with the FCT.
Rising edge means that CCON.RESET is pending for at least as long as is required for the CMAX to clearly
Rising edge on
recognise it. This period depends on the CPX node used and the bus cycle time. Recommendation:
CCON.RESET [m] Time > 10 msec
Start timer:
3 seconds
[m]
[m]
Use timer in order to limit the maximum response time of the CMAX. Depending on the fault number, various
responses are triggered in the CMAX after reset. New initialisation of the axis string takes the longest (max.
3 seconds).
SCON.FAULT = 0
CCON.RESET = 0
[o]
Reset successful
SCON.FAULT = 1
Timer
running
[m]
Timer
expired
[m]
Reset counter = 3
Reset not possible
Extended diagnostics required, e.g. with FCT.
Reset counter < 3
Increase reset
counter by 1 [m]
A−32
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A. Notes on commissioning and service
A.4.4 Switch over operating mode
Old operating mode
active
[m] This action is mandatory.
Assumed:
CCNON. ENABLE = 1
and CCON.STOP = 1
This action is a recommendation.
[o] It does not have to be carried out
CCON.STOP = 0
[m]
SCON.OPEN = 1
When switching between record select operating mode and direct operating mode, disable
operation" is not necessary. This can be used to optimize the control function.
[m]
SCON.OPEN = 0
All bytes depending on the operating mode are set to zero. This prevents old target data from
Output data
affecting the CMAX even if these have a completely different meaning in the new operating
Byte 2 ... 8 = 0 [m] mode.
Set new
operating mode [m]
CCON.OPM1 <> SCON.OPM1
OR
CCON.OPM2 <> SCON.OPM2
CCON
Bit B6 = CCON.OPM1
Bit B7 = CCON.OPM2
[m]
CCON.OPM1 = SCON.OPM1
AND
CCON.OPM2 = SCON.OPM2
CCON.STOP = 1
SCON
Bit B6 = SCON.OPM1
Bit B7 = SCON.OPM2
B7
0
0
1
1
B6
0
1
0
1
Operating mode
Record select
Directoperating
Commissioning
Parametrisation
Wait for feedback from the switch−over. During switch−over the status bytes
2 ... 8 cannot be evaluated, because they cannot be clearly assigned to an
operatingmode.
If necessary: Reenable operation
[o]
SCON.OPEN = 0
[o]
SCON.OPEN = 1
New operating mode
active
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A−33
A. Notes on commissioning and service
A−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Basic controlling principles
Appendix B
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−1
B. Basic controlling principles
Contents
B.1
B.2
B.3
B.4
B.5
B.6
B.7
B.8
B.9
B−2
CMAX system of measurement units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimension reference system for pneumatic drives . . . . . . . . . . . . . . . . . . . .
B.2.1
Dimension reference system with absolute measuring system . . .
B.2.2
Dimension reference system with incremental measuring system
B.2.3
Calculating specifications for the measuring reference system . . .
B.2.4
Software end positions / Hardware end positions . . . . . . . . . . . . .
Drives and measuring systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Taking into account the load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basic information on position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optimisation of the mechanical structure and the pneumatic
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6.1
Proceed as follows if the compressed air supply is unstable: . . . .
Optimisation of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.1
Description of the controller factors for position control . . . . . . . .
B.7.2
Optimize positioning behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.3
Description of the controller factors for force control . . . . . . . . . . .
Basic principles of force control/standstill control . . . . . . . . . . . . . . . . . . . .
B.8.1
Influence of the mass on force control . . . . . . . . . . . . . . . . . . . . . . .
B.8.2
Influence of the mass on standstill control . . . . . . . . . . . . . . . . . . .
B.8.3
Behaviour of the force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.4
Behaviour of standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.5
Individual value mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.6
Position control during a force task . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.7
Force ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.8
Controller amplifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.9
Influence of the static identification on force control . . . . . . . . . . .
B.8.10 Monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on application, special operating statuses . . . . . . . . . . . . . . . . . . . . .
B.9.1
Changing an external force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B−3
B−9
B−9
B−11
B−12
B−13
B−16
B−18
B−19
B−23
B−24
B−25
B−25
B−27
B−32
B−34
B−36
B−38
B−39
B−43
B−44
B−47
B−48
B−49
B−50
B−51
B−54
B−54
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.1
CMAX system of measurement units
The CMAX can either be operated in the metric (SI) or in the
imperial system of measurement units.
The system of measurement units needs to be defined in
delivery status (after switching on for the first time or after
data reset, status C00). The configuration of the drive type
(in status C01) determines whether a translatory or a rotatory
system of units will be used (refer to Appendix A.1.2,
Fig.A/1).
After the system of measurement units has been configured,
the parameters are set accordingly, e.g. the actual configur ation is scaled in user units and default values are defined.
Only then can the parameters be accessed.
The units thus defined are used for all numerical values, also
for the primary setpoints and actual values in the I/E data.
Once the system of measurement units has been defined, it
cannot be changed. The CMAX does convert values from one
system of units to the other. To change the system of
measurement units, the axis data must be reset and commis
sioning must be restarted in status C00.
The CMAX uses 12 physical variables. For each variable, the
physical unit and the scaling is predefined.
For each possible physical unit a type is defined that stands
for the unit. Position values (index 1) can, for example, be
given in millimetres (type 10), in inches (type 11), or in de
grees (type 15), see Tab.B/1.
The scaling describes the number of decimal places, and
consequently the precision of the respective integer value.
Here the exponent of 10 is given. A specification of −3 for scal
ing results in a factor of 1/1000 (=10−3).
Hence for each physical variable, a table with 12 entries for
the unit and the scaling can be given.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−3
B. Basic controlling principles
Unit (PNU 1193)
Index
Physical
variable
Drive1) Type Unit
Character Conversion
1
Position
(
(angle)
l )
L
10
Millimetre
mm
= 0.03937 in
L
11
Inch
in
= 25.4 mm
D
15
Degree
°
A
Foot
2)
ft
= 304.8 mm
3)
mm
= 0.03937 in
°
N
= 0.22481 lbf
kN
= 1000 N
2
3
4
L
10
Millimetre
D
15
Degree
Force
(
(torque)
)
L
20
Newton
L
21
Kilonewton
L
22
Pound−force
lbf
= 4.44822 N
D
25
Newtonmetre
Nm
= 0.73756 lbf ft
D
26
Pound−force foot
lbf−ft
= 1.35582 Nm
A
30
Bar
bar
= 100,000 Pa
A
31
Millibar
2)
mbar
= 100 Pa
A
32
Pascal
2)
Pa
= 1E−5 bar
Pressure
5
6
1)
2)
3)
Length
(swivel
angle)
2)
A
33
Pound per square inch
psi
= 0.06895 bar
Mass
L
(
(mass
mo
L
ments of in
D
ertia)
40
Kilogramme
kg
= 2.20462 lb
41
Pound
lb
= 0.45359 kg
45
Kilogramme square
centimetre
kg cm2
= 23,73036 * 10−4 lb−ft2
D
46
10−2 pound square foot
10−2 lb−ft2 = 0.04214 10 2 kg m2
D
47
Pound square inch
lb in2
= 2.9264 kg m2
L
50
Metre per second
m/s
= 3.28084 ft/s
L
51
Feet per second
ft/s (fps)
= 0.3048 m/s
D
55
Degree per second
°/s
D
56
1,000 degree per second 1000 °/s
Velocityy
(
(angular
l
speed)
Drive type: A=All, L=Linear, D=Rotary/Semi−rotary drive
Cannot be configured (internally used definition or only for information)
In FCT: Display/Entry in mm and additionally display in inches in parentheses
B−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Unit (PNU 1193)
Index
Physical
variable
Drive1) Type Unit
Character Conversion
7
Acce−
leration
(
(Angular
l
acceler
ation)
L
60
Metre per second
squared
m/s2
L
61
Feet per second squared ft/s2
D
65
Degree per second
squared
°/s2
D
66
1,000 degrees per sec
ond squared
1000 °/s2
L
70
Newton per second
N/s
= 0.22481 lbf / s
L
71
Kilo−Newton per second
kN/s
= 1,000 N/s
L
72
Pound−force per second
lbf/s
= 4,44822 N/s
D
75
Torque per second
Nm/s
= 0.73756 lbf ft / s
D
76
Pound−force−foot per
second
lbf ft/s
= 1.35582 Nm/s
A
80
Millisecond
ms
A
81
Second
s
mm
= 0.03937 in
°
8
Force ramp
p
(
(torque
ramp)
9
Time
10
Gain
A
100
(without)
11
Diameter
A
10
Millimetre
12
Mounting
angle
A
15
Degree
1)
2)
3)
3)
= 3.28084 ft / s2
= 0.3048 m / s2
Drive type: A=All, L=Linear, D=Rotary/Semi−rotary drive
Cannot be configured (internally used definition or only for information)
In FCT: Display/Entry in mm and additionally display in inches in parentheses
Tab.B/1: Units and their conversion
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−5
B. Basic controlling principles
The 2 systems of units and the 2 movement types result in
four tables with units and resolution for the 12 variables.
Table no.
System of
measurement units
Movement (drive)
1 è Tab.B/3
International / SI
Translatory
2 è Tab.B/4
Imperial
Translatory
3 è Tab.B/5
International / SI
Rotatory
4 è Tab.B/6
Imperial
Rotatory
Tab.B/2: Possible system of units tables
The table used in the CMAX is stored in PNU 1192:06. The
tables each contain an index for the unit and the scaling:
PNU 1193: Table of units
PNU 1194: Table of resolution
The index within the PNU corresponds to the index of the
physical variable
Example of acceleration
PNU 1193:07 contains the value 60, i.e. metre per second
squared". PNU 1194:07 contains the value −3, so the resol
ution is 0.001 (=10−3)
} So a value of 2,550 corresponds to 2.550 m/s2.
B−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Resolution
Unit (PNU 1193)
Index
Physical variable
Value
Unit
Character (PNU 1194)
1
Position
10
Millimetre
mm
−2
2
Length
10
Millimetre
mm
−2
3
Force
20
Newton
N
0
4
Pressure
30
Bar
bar
−1
5
Mass
40
Kilogramme
kg
−1
6
Velocity
50
Metre per second
m/s
−3
−3
7
Acceleration
60
Metre per second squared
m/s2
8
Force ramp
70
Newton per second
N/s
0
9
Time
80
Millisecond
ms
0
10
Gain
100
(without)
−2
11
Diameter
10
Millimetre
mm
−2
12
Mounting angle
15
Degree
°
−1
Tab.B/3: Linear drive metric/SI (PNU 1192:05 = 1)
Resolution
Unit (PNU 1193)
Index
Physical variable
Value
Unit
1
Position
11
Inch
Character (PNU 1194)
1)
in
−3
2
Length
10
Millimetre
mm
−2
3
Force
22
Pound−force
lbf
0
4
Pressure
33
Psi
psi
0
5
Mass
41
Pound
lb
0
6
Speed
51
Feet per second
ft/s
−2
−2
7
Acceleration
61
Feet per second squared
ft/s2
8
Force ramp
72
Pound−force per second
lbf/s
0
9
Time
80
Milliseconds
ms
0
10
Gain
100
(without)
−2
11
Diameter
10
Millimetre
mm
−2
12
Mounting angle
11
Degrees
°
−1
1)
1)
In the FCT additional display in inches
Tab.B/4: Linear drive imperial (PNU 1192:05 = 2)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−7
B. Basic controlling principles
Resolution
Unit (PNU 1193)
Index
Physical variable
Value
Unit
Character (PNU 1194)
1
Angle
15
Degree
°
−1
2
Swivel angle
15
Degree
°
−1
3
Torque
25
Newtonmetre
Nm
0
4
Pressure
30
Bar
bar
−1
5
Mass moment of inertia 45
Kilogramme square centimetre
kg cm2
0
6
Angular speed
Degree per second
°/s
0
0
56
7
Angular acceleration
66
Degree per second squared
°/s2
8
Torque ramp
75
Newton−metre per second
Nm/s
0
9
Time
80
Millisecond
ms
0
10
Gain
100
(without)
−2
11
Diameter
10
Millimetre
mm
−2
12
Mounting angle
15
Degree
°
−1
Tab.B/5: Semi−rotary drive metric/SI (PNU 1192:05 = 3)
Resolution
Unit (PNU 1193)
Index
Physical variable
Value
Unit
Character (PNU 1194)
1
Angle
15
Degrees
°
−1
2
Swivel angle
15
Degrees
°
−1
3
Torque
26
Pound−force foot
lbf−ft
0
4
Pressure
33
Pound per square inch
psi
0
5
Moment of inertia
47
Pound−force square inch
lb in2
−1
6
Angular speed
56
Degrees per second
°/s
0
0
7
Angular acceleration
66
Degrees per second squared
°/s2
8
Torque ramp
76
Pound−force−foot per second
lbf ft/s
0
9
Time
80
Milliseconds
ms
0
10
Gain
100
(without)
−2
11
Diameter
10
Millimetre
mm
−2
12
Mounting angle
15
Degrees
°
−1
1)
1)
In the FCT additional display in inches
Tab.B/6: Semi−rotary drive imperial (PNU 1192:05 = 4)
B−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.2
Dimension reference system for pneumatic drives
B.2.1 Dimension reference system with absolute measuring system
System of units for linear drives with absolute measuring system
2
1
e
d
a’
SZ
b
CZ/AZ
LSE
c
PZ
TP/AP
USE
Positions increasing in size, positive" travel, right−hand" travel
a’
Offset axis zero point
(distance AZ − SZ
SZ, so far
mounting offset")
Axis zero point
b
Offset project zero point
PZ
Project zero point
c
Offset target/actual position
LSE
Lower software end position
d, e
Offset software end posi
tions:
USE
Upper software end position
1
Effective stroke
TP, AP
Target/actual position
2
Cylinder/axis length
SZ
Sensor/measuring system zero point (sensor zero point)
CZ
Cylinder zero point, stop
AZ
Tab.B/7: Dimension reference system for pneumatic drives with absolute measuring system
The vectors a’ to e are user specifications provided these
cannot be recognised (e.g. cylinder and measuring system
length with the DGCI).
The axis zero point always has to be on the cylinder zero
point! This is necessary because the controller requires the
absolute piston position within the cylinder.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−9
B. Basic controlling principles
System of units for swivel modules
3
2
e
1
c
TP/AP
LSE
PZ
b
USE
d
a’
Positions increasing in size,
positive" travel,
right−hand" travel
SR
CZ/AZ
SR
SZ
a’
Offset axis zero point
(distance AZ − SZ, mount
ing offset")
Axis zero point
b
Offset project zero point
PZ
Project zero point
c
Offset target/actual posi
tion
LSE
Lower software end position
d, e
Offset software end posi
tions:
USE
Upper software end position
1
Effective stroke
TP, AP
Target/actual position
2
Working stroke
SR
Stroke reserve, 5° with the DSMI
3
Nominal stroke
SZ
Sensor / measuring system zero point (sensor zero
point)
CZ
Cylinder zero point, stop
AZ
Tab.B/8: Dimension reference system for swivel modules
B−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.2.2 Dimension reference system with incremental measuring system
System of units with incremental measuring system
2
1
e
d
b
Positions increasing in size, positive"
travel, right−hand" travel
c
a
REF
CZ/AZ
PZ
LSE
TP/AP
USE
a
Offset axis zero point
offset (increm.
(increm sensor:
to the reference point)
Axis zero point
b
Offset project zero point
PZ
Project zero point
c
Offset target/actual posi
tion
LSE
Lower software end position
d, e
Offset software end posi
tions:
USE
Upper software end position
1
Effective stroke
TP, AP
Target/actual position
2
Cylinder/axis length
CZ
Cylinder zero point
REF
Reference point, stop
AZ
Tab.B/9: Dimension reference system for pneumatic drives with incremental measuring
system (example of homing negative stop)
The axis zero point always has to be on the cylinder zero
point! This is necessary because the controller requires the
absolute piston position within the cylinder.
This means that the vector a must always be specified.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−11
B. Basic controlling principles
B.2.3 Calculating specifications for the measuring reference system
Point of reference
Calculation rule
Axis zero point
AZ
= SZ + a’
Project zero point
PZ
= AZ + b
= SZ + a’ + b
Lower software end position
LSE
= AZ + d
= SZ + a’ + d
Upper software end position
USE
= AZ + e
= SZ + a’ + e
Target/actual position
TP, AP
= PZ + c
= AZ + b + c
= SZ + a’ + b + c
Tab.B/10: Calculating rules for the dimension reference system with absolute measuring
systems
Note on absolute measuring systems
When calculating for drives with absolute encoding sensor
(only pneumatic), the axis zero point refers to the sensor zero
point (mounting offset a’ instead of a) All other derived vari
ables are identical.
Reference point
Calculation rule
Axis zero point
AZ
= REF + a
Project zero point
PZ
= AZ + b
= REF + a + b
Lower software end position
LSE
= AZ + d
= REF + a + d
Upper software end position
USE
= AZ + e
= REF + a + e
Target/actual position
TP, AP
= PZ + c
= AZ + b + c
= REF + a + b + c
Tab.B/11: Calculation rules for the measuring reference system with incremental measur
ing systems
Note on incremental measuring systems
The "offset axis zero point" must always be specified as a
negative due to the definition of the axis zero point = cylinder
zero point.
B−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.2.4 Software end positions / Hardware end positions
The software end positions may only be set within certain
limits depending on the projected hardware. The parameters
as shown in Fig.B/3 will be taken into account.
1
3
2
SZ
CZ/AZ
LSE
USE
4
5
6
7
1 Measuring system length:
PNU 1111
2 Cylinder length: PNU 1101
8
5 Lower hardware end position
= minimum permissible lower software end
position
6 Lower software end position: PNU 501:01
7 Upper software end position: PNU 501:02
PNU 1130
4 Measuring system zero point 8 Upper hardware end position
3 Offset to the axis zero point:
= maximum permissible upper software end
position
Fig.B/3: Parameters for software end positions
These limits result from the length of the measuring system
and the cylinder as well as the mounting offset between the
two. The mounting offset is given based on the offset of the
measuring system zero point to the axis zero point.
The two limit values are referred to as hardware end posi
tions". If the user sets both software end positions to 0, in
order to deactivate them, all setpoint specifications are li
mited to the hardware end positions.
If position control is active, the set tolerance is taken into
account, so that minor overswings when starting up the soft
ware end positions do not lead to an error.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−13
B. Basic controlling principles
Case distinction for external measuring systems
Description
Layout
PNU 1130
PNU 1101
Cylinder
Measuring system
PNU 1111
PNU 1130
PNU 1101
Cylinder
Measuring system
PNU 1111
PNU 1101
Cylinder
Measuring system
PNU 1130
PNU 1111
PNU 1101
Cylinder
Measuring system
PNU 1130
PNU 1111
The sensor projects above the cylinder on both sides
Offset to the axis zero point: PNU 1130 >= 0
PNU 1130 + PNU 1101 <= PNU 1111
} Min. permissible lower software end position = 0
Max. permissible upper software end position =
PNU 1101
The cylinder projects above the sensor at the end
Offset to the axis zero point: PNU 1130 >= 0
PNU 1130 + PNU 1101 > PNU 1111
} Min. permissible lower software end position = 0
Max. permissible upper software end position =
PNU 1111 − PNU1130
The cylinder projects above the sensor at the beginning
Offset to the axis zero point: PNU 1130 < 0
| PNU 1130 | + PNU 1111 >= PNU 1101
} Min. permissible lower software end position =
| PNU 1130 |
Max. permissible upper software end position =
PNU1101
The cylinder projects above the sensor on both sides
Offset to the axis zero point: PNU 1130 < 0
| PNU 1130 | + PNU 1111 < PNU 1101
} Min. permissible lower software end position =
| PNU 1130 |
Max. permissible upper software end position =
| PNU 1130 | + PNU 1111
Integrated measuring systems
Description
Layout
PNU 1101
Cylinder
Measuring system
PNU 1111
B−14
Cylinder and sensor fully cover each other
DGCI: Offset to the axis zero point: PNU 1130 = 0
DNCI: Offset to the axis zero point: PNU 1130 <= 0
PNU 1111 = PNU 1101
} Min. permissible lower software end position = 0
Max. permissible upper software end position =
PNU 1101
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Configuration using FCT
As a specification, the software end positions in FCT are
deactivated.
The specification of PNU 501:01 = PNU 501:02 = 0 will
deactivate the software end positions. However, the CMAX
limits setpoint specifications to the maximum or minimum
permissible end positions.
With the DGCI, the axis zero point cannot be edited.
Numerical example
Layout
PNU
Description
Value
PNU 1101
1130
Offset axis zero point
25.5 mm
Cylinder
1111
Length of the measuring 280 mm
system
1101
Length of drive
Measuring system
PNU 1130
30
350 mm
PNU 1111
The CMAX calculates the following limit values for the two
end positions:
PNU
Description
Minimum
Maximum
501:01
Lower hardware end position,
minimum lower software end
position
25.5 mm
< upper software end posi
tion
501:02
Upper hardware end position,
maximum upper software end
position
> lower software end posi 280 − 25.5 = 254.5 mm
tion
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−15
B. Basic controlling principles
B.3
Drives and measuring systems
The CMAX supports the following combinations of drive and
measuring system types.
Selecting a different combination is not possible in the FCT
and will lead to an error in the CMAX.
DGCI linear drive
Parameter
Value
Measuring system type
Prescribed: = Digital position measuring system
Cylinder length
Nominal length/effective length
Measuring system length
Prescribed = cylinder length
Offset axis zero point
Prescribed = 0
Cylinder diameter
Selection: 18, 25, 32, 40, 50, 63, 80, 100, 125 1)
Piston rod diameter
0
1)
In the CMAX drives with smaller or larger diameters will lead to errors here. A DGCI with a diameter
of e.g. 57 mm would be permissible, however.
Standard cylinders DNCI
Parameter
Value
Measuring system type
Prescribed: = encoder
Cylinder length
50 mm ... 10,000 N
Measuring system length
Prescribed: = cylinder length
Offset axis zero point
Selectable within the cylinder length
Cylinder diameter
Selection: 32, 40, 50, 63, 80, 100, 125 1)
Piston rod diameter
Smaller than cylinder diameter
1)
In the CMAX cylinders with smaller or larger diameters will lead to errors here. A DNCI with a
diameter of e.g. 57 mm would be permissible, however.
B−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Swivel module DSMI
Parameter
Value
Measuring system type
Prescribed: = Potentiometer
Cylinder length
= 270° ... 275°
Measuring system length
Prescribed: = 290°
Offset axis zero point
Selectable within 5° ... 15°
Cylinder diameter
Selection: 25, 40 1)
Piston rod diameter
0
1)
In the CMAX drives with other diameters will lead to errors here.
Rodless linear drive / Piston rod drive
Parameter
Value
Measuring system type
Selectable: 1. Potentiometer
2. Digital position measuring system
Cylinder length
50 mm ... 10,000 mm
Measuring system length
50 mm ... 10.000 mm
Offset axis zero point
within the max. positioning range 1)
Cylinder diameter
12 mm ... 200 mm
Piston rod diameter
Rodless linear drive: 0
Piston rod drive: smaller than cylinder diameter
1)
max. positioning range: stroke between the hardware end positions. The hardware end positions
describe the range where cylinder and sensor overlap, i.e. where the piston can actually move.
However, the max. positioning range must always be larger than 5 mm.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−17
B. Basic controlling principles
B.4
Taking into account the load
The controller of the CMAX needs the specifications concern
ing the moving masses to be as precise as possible. This
must be taken into account by means of special parameters,
see Tab.B/12.
Parametrising the masses
2
1
1
Moving mass without workpiece (PNU 1142)
This is the mass of the loading device fixed to the slide. This
mass must always be moved by the drive (minimal mass to be
moved).
2
Workpiece mass (PNU 605)
If the drive also has to move workpieces of different weights,
this variable share must be defined as workpiece mass. The
CMAX calculates the sum of both mass data for every posi
tioning process. Parameter 605 is also the default value for
the record list.
Status when switching on (PNU 1143:01)
If a controller is enabled, the last valid workpiece mass is al
ways used. After the first enable after switching on, usually no
workpiece is loaded, so CMAX only takes into account the
basic mass without a workpiece (PNU 1142). This parameter
defines whether the workpiece should also be taken into ac
count when switching on.
0 = Workpiece not loaded when switching on.
The workpiece is only loaded during operation.
1 = When switching on, the workpiece is already in the load
ing device.
Tab.B/12: Parameter concerning the load
Example: Only workpieces of the same mass are transported.
The workpieces are pushed from pos 1 to pos 2, the drive
returns empty. For the return stroke, the workpiece mass is
specified as = 0 in the record list.
B−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.5
Basic information on position control
The basis for control of the pneumatic axes is a model control
path stored in the CMAX. This model assumes a pneumatic
axis which is built up in accordance with specifications, e.g.
with regard to:
the compressed air provided
the valve−cylinder combination used
the permitted mass load
tube sizes and lengths, etc.
The basic parameters of this control path are:
the axis and application data,
internal data ascertained by the identification and by
adaptation.
Identification
During commissioning, variables such as the maximum
achievable speed, acceleration ability, static friction and
valve characteristics are ascertained based on a dynamic
and static identification travel.
Adaptation
With adaptation, the positioning behaviour is continuously
monitored during operation. Internal controller data is
adapted here to the actual state of the axis, e.g. in order to
compensate for system wear etc. during the service period.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−19
B. Basic controlling principles
Auto−profile
With auto−profile positioning, setpoint value curves for path,
speed and acceleration are generated by the CMAX. These
should enable reproducible, fast and overswing−free move
ment towards the setpoint position.
Unassigned profile
When positioning with unassigned profile, the setpoint value
curves are calculated on the basis of the setpoint values pro
grammed by the user for position, speed and acceleration.
The setpoint positioning time is the sum of the individual
times of the following phases (see Fig.B/1):
Acceleration phase
Braking phase
Phase of consistent movement
Note that the programmed speed and acceleration values are
automatically limited to implementable values depending on
the positioning stroke. The implementable maximum values
are ascertained by the CMAX individually for each axis during
the identification travel.
B−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
3
4
2
1
5
6
7
1 Programmed speed
8
5 Setpoint value curve with unassigned
2 Identified maximum speed
3 Acceleration ramp
profile
6 Acceleration phase (t1)
7 Consistent movement (t3)
4 Deceleration ramp
8 Braking phase (t2)
Fig.B/1: Speed setpoint value curve, unassigned profile
With dynamic identification, the maximum speed and the
maximum acceleration values of the positioning system con
cerned are ascertained. These cannot be exceeded when
using the free profile either.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−21
B. Basic controlling principles
Phases of a posi
tioning process
Acceleration phase
Calculation
formulae
t 1 + av
1
s1 +
Braking phase
a1 2
@ t1
2
t 2 + av
2
a
s2 + 2 @ t 22
2
Consistent movement
s3 + sges−(s1 ) s2)
Description
v
a1
a2
t1
t2
t3
s1
s2
s3
sges
= programmed speed
= acceleration for acceleration ramp
= acceleration for braking ramp
= approach time
= braking time
= time with constant speed
= approach path
= braking path
=p
path with constant speed
p
= complete
l
path
h
s
t 3 + v3
B−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.6
Optimisation of the mechanical structure and the pneumatic
installation
Check the system structure:
Check whether using a greater basic load (mass without
workpiece) improves the behaviour.
Check whether the mechanical connections:
Drive moving mass,
Drive measuring system,
Drive machine frame
are backlash−free.
Check whether the pneumatic installation fulfils the de
mands listed in the CMAX system description. Make sure
especially that the supply pressure is stable, that the tub
ing is of the correct length and diameter and that the cor
rect screw connectors are used.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−23
B. Basic controlling principles
B.6.1 Proceed as follows if the compressed air supply is unstable:
If your compressed air supply does not reliably fulfil the re
quirements (tolerance of +/− 1 bar in operation), although a
compressed air reservoir has been installed (see CMAX sys
tem description), the maximum values for acceleration and
deceleration ascertained during identification may, under
circumstances, not be reached.
This may result e.g. in overswing, if the supply pressure re
quired for deceleration is not available.
In order to avoid such overstressing, you can reduce the dy
namics of the system. In order to do this proceed as follows:
1. Ascertain the lowest static supply pressure available for
positioning in your compressed air network.
2. Lower the supply pressure statically to this level.
3. Now carry out the dynamic identification travel again.
4. When system identification is concluded, increase the
supply pressure again to the value set in the application
data.
B−24
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.7
Optimisation of the controller
From the basic parameters the CMAX ascertains various con
troller parameters. These determine the dynamics (speed) as
well as transition behaviour (cushioning) of the controller. The
aim is to guarantee fast, overswing−free positioning with little
contouring error (dynamic deviation).
The controller factors are standardised to 1.0 by the CMAX.
If the factors are increased (>1), the parameters will be in
creased accordingly; if the factors are reduced (<1), the para
meters will be reduced accordingly.
The controller data ascertained by the CMAX are usually the
optimum values. The (real) pneumatic axes used, however,
do not always correspond to the axes used as a basis for the
control process (ideal axes). In order that possible deviations
can be taken into consideration, you can influence the control
parameters by entering factors.
B.7.1 Description of the controller factors for position control
Further instructions on optimising the positioning behaviour
can be found in section B.7.2.
Amplification gain
With the amplification gain you can influence the sensitivity
with which the positioning control circuit reacts to modifica
tions of the variables" (position, speed, acceleration).
Behaviour of the axis
Factor
The drive tends towards instability (tendency to vi
brate during positioning, up to continuous vibration
around the setpoint position).
Reduce
Bad positioning accuracy or high contouring error as
well as long positioning time.
Increase
The positioning process is carried out quickly and
accurately.
Optimal
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−25
B. Basic controlling principles
Cushioning factor
Cushioning is a measure for the transition behaviour of the
system from the actual to the setpoint status, especially
when there are fast modifications to the setpoint value. As a
rule the system should guarantee low−vibration behaviour
with setpoint specifications and movement into the target
position without overswing.
By modifying the factor for cushioning, you can influence the
transition behaviour of the system.
Signal filter factor
Behaviour of the axis
Factor
Bad positioning quality, setpoint position is ap
proached only slowly (underswing).
Reduce
The drive tends towards instability (tendency to vi
brate during positioning, up to continuous vibration
around the setpoint position, heavy overswing).
Increase
The positioning process is carried out quickly and
accurately.
Optimal
Speed and acceleration are derived from the positioning
signal and filtered to improve the signal quality. If in practice
there is bad signal quality, e.g. due to electrical interference,
filtering of the signal can be influenced by the signal filter
factor.
If filtering is too strong it may destabilise control.
B−26
Behaviour of the axis
Factor
The drive tends towards instability (despite low gain
and good cushioning).
Reduce
Noise" or loud valve noises (observe gain; this may
be too high).
Increase
The positioning process is carried out quickly and
accurately, low valve noises.
Optimal
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.7.2 Optimize positioning behaviour
During identification the positioning behaviour is auto−opti
mised. If the quality of the positioning behaviour still does
not fulfil expectations, proceed as follows:
Check the parametrising (FCT).
Check the controller settings.
Note
Incorrect parameters may destroy the drive.
· Be very careful when setting the parameters.
If fluctuations in pressure of over 1 bar occur in front of the
proportional directional control valve, install a compressed
air reservoir (see CMAX system description). Please observe
the general installation instructions!
The following problems may typically occur during position
ing:
The axis stops prematurely on several occasions,
Swinging around the setpoint position,
Stability problem, higher−frequency swinging around the
setpoint position,
Overswing,
Underswing.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−27
B. Basic controlling principles
However, before you begin to optimize the positioning behav
iour of your axis, proceed at first as follows:
·
Make sure that the pneumatic axis is designed in accord
ance with the regulations (see CMAX system description).
·
Make sure that all axis and application data are set cor
rectly.
·
Always carry out the identification.
·
Then always have several positioning cycles carried out.
This is to guarantee that the adaptation is effective.
If problems still occur, proceed as follows:
1. Observe the positioning behaviour. Use the FCT plugIn in
this case. With the PlugIn you can record and graphically
display setpoint and actual values for path, speed and
acceleration, for example.
Detailed information on this can be found in the help for the
CMAX PlugIn.
2. Compare the positioning behaviour or the graph compiled
with PlugIn with the following examples.
3. In order to optimize the positioning behaviour, proceed as
described in the table of the corresponding example.
Check first from top to bottom the most probable causes
and their remedial measures.
B−28
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Effect
Cause
Remedy
Identification not carried out
Adaptation not yet com
pleted
Bad running behaviour of cyl
inder/guide (stick−slip)
Incorrect mass
· Carry out identification travel
· Carry out some positioning
Premature stop several times
1
2
cycles (adaptation)
· Carry out test or mainten
ance or replace components
· Correct mass
Swinging around the setpoint position with standstill times
1
2
Identification travel not car
ried out
Incorrect mass load confi
gured or programmed
High performance of cylinder
(friction has changed)
Amplification gain set too
low
· Carry out identification travel
· Correct configuration or pro
gram
· Carry out identification again
· Correct the parameter
1 Setpoint position
2 Actual position
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−29
B. Basic controlling principles
Effect
Cause
Remedy
Stability problem, higher−frequency swinging around the setpoint position
1
2
3
Incorrect mass load confi
gured or programmed
Amplification gain set too
high
Cushioning factor set too low
Signal filter factor set too
high (smooth acceleration/
speed signal but continuous
swinging)
or very noisy acceleration
signal with high amplitude
Minimum mass load not
reached
Too small tolerance
demanded
· Correct the configuration
· Correct the parameter
· Correct the parameter
· Reduce signal filter factor
· Increase signal filter factor
· Increase basic load
· Increase tolerance
1 Setpoint position
2 Actual position
3 Speed
B−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Effect
Cause
Remedy
Overswing (no or minimum standstill time before MC)
1
2
Reduction of the static sup
ply pressure in operation
below the permitted toler
ance limit
Mass load too high (or confi
gured mass load too low)
· Stabilize supply pressure or
Overstressing (setpoint
acceleration too high)
· Reduce setpoint values (es
Signal filter factor set too
high
Amplification gain set too
high
Cushioning factor set too low
carry out new identification
travel with low supply pres
sure (see section B.6.1)
· Correct mass load
pecially acceleration) or carry
out dynamic identification
travel (automatic limiting)
· Correct the parameter
· Correct the parameter
· Correct the parameter
Overswing (no or minimum standstill time before MC)
1 2
too high mass load entered
(in some cases causes over
dampened controller)
Overstressing (too high,
fast" setpoint values)
· Reduce mass load
· Adapt setpoint values or
carry out dynamic identifica
tion travel (automatic
limiting)
1 Setpoint position
2 Actual position
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−31
B. Basic controlling principles
B.7.3 Description of the controller factors for force control
Amplification gain
Dynamic amplification
B−32
The amplification gain is used to increase or reduce the con
trol amplification.
It makes the controller respond to deviations more slowly
or faster. The time up to reaching the static final value
can be optimised.
The amplification gain is used to influence path accuracy
over the entire force record.
If this factor is increased too much, the valve starts to
hum. This occurs especially with a static force setpoint
and with standstill control.
Behaviour of the axis
Factor
Force builds up too slowly, the static accuracy is
reached only hesitantly.
Increase
Overswing occurs during force build−up. The valve
tends to hum.
Reduce
The force value follows the setpoint value with few
deviations.
Optimal
Dynamic amplification is only effective in the area of the
force ramp, in other words when the force setpoint changes.
It can be used to influence the path accuracy during the
force ramp.
A modification does not affect the static accuracy.
Behaviour of the axis
Factor
During force build−up the actual value cannot follow
the setpoint value.
Increase
During force build−up the actual value runs ahead of
the setpoint value.
Reduce
The force build−up is performed fast and accurately.
Optimal
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Signal filter factor
Derived signals (e.g. force ramp from the pressure signal)
are filtered to improve the signal quality.
If filtering is too strong or too weak it may destabilise
control.
The signal filter factor can be used to influence the signal
noise that, originating from the pressure sensors, affects
the force value.
When increasing the factor, the filter becomes faster and
consequently the noise louder. At the same time the
phase shift decreases.
If a valve hums as a result of an increase in the amplifica
tion gain, it usually helps to reduce the signal filter factor.
Reduce the signal filter factor to suppress valve humming.
This may be necessary, for example, if the demanded control
precision can only be achieved by increasing the amplification
and if in that context the valve tends to hum.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−33
B. Basic controlling principles
B.8
Basic principles of force control/standstill control
Definition
3
8
4
1 2
60
50
7
40
30
20
6
10
0
5
α
Cylinder chamber 1:
5 Mounting position (α)
1 Chamber pressure p1
6 Position values become smaller,
2 Piston surface A1
Cylinder chamber 2:
3 Chamber pressure p2
4 Piston surface A2
Force values become smaller
(Prefix )
7 Position values become larger,
Force values become larger
(Prefix +)
8 Moving mass
Fig.B/2: Reference values for force control
B−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Force during force control
F + p 1 < A 1−p 2 < A 2−g < m < sin a
P1
Pressure in cylinder chamber 1: no piston rod, on measuring
system zero point (smaller position values, blue connection)
P2
Pressure in cylinder 3, poss. piston rod, on measuring sys
tem end (larger position values, black connection)
A1, A2
The two piston surfaces of the cylinder: they are calculated
by the CMAX based on the cylinder type and cylinder diam
eter. The controller knows the piston rod diameters of Festo
cylinders. If the cylinder type is not known, the diameter of
the piston rod can be entered with the help of the FCT. The
piston rod diameter is taken into account during force con
trol.
g
Acceleration due to gravity
m
is the mass to be moved (workpiece mass + tool mass). Like
with all other positioning tasks, the workpiece mass is either
taken directly from the record or from the settings for direct
operating (PNU 53x) or the project data (PNU 1142).
α
is the angle of the mounting position of the axis, it can be
taken from the project data.
Tab.B/13: Definition of the force for force control
The controlled force is the force at the piston minus the gra
vitational force of the moving mass. The force applied to the
slide or the piston rod deviates from this due to friction
forces.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−35
B. Basic controlling principles
B.8.1 Influence of the mass on force control
The moving mass consists of the workpiece mass and the tool
mass (or basic load). Often the exact basic load is not known.
m = mtotal = mcurrent tool mass + mcurrent workpiece mass
As with any other positioning process, the workpiece mass
needs to be specified for the identification, too.
mident. = mtool mass ident. + mworkpiece mass ident.
During static identification the controller identifies the force
at which the drive is safely held at a standstill. It also deter
mines the forces that are required to let the drive break away
in both directions of movement. The mean value of these
break−away forces is stored as the standstill force in the
identification data.
If you do not take into account the friction forces, the stand
still force F0 must only just compensate the force due to
weight of the moving mass:
F0 = p01 * A1 p02 * A2 = mident. * g * sin α
The total mass mident specified during identification is also
stored in the identification data.
During force control, the identified standstill force F0 serves
as basic value for the force to be controlled. It compensates
the gravitational force and other external axial forces. Due to
identification (i.e. measurement) of the standstill force F0 , an
error in the specification of mident. leads to no error in force
control.
If the user specifies different workpiece masses per record,
the difference mdelta to the identification mass is taken into
account and additionally compensated. The workpiece mass
in the records should therefore be specified precisely, so that
the standstill force can be tracked as best as possible.
B−36
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
mdelta = mcurrent tool mass + mcurrent workpiece mass
mident.
mdelta = mcurrent tool mass + mcurrent workpiece mass
(mworkpiece mass ident. + mworkpiece mass ident.)
Fpiston = Fsetpoint + F0 + mdelta * g * sin α
In the simplest case, the following applies:
mcurrent tool mass = mtool mass ident.
mworkpiece mass ident. = 0 kg
This simplifies calculation for:
mdelta = mcurrent workpiece mass
Fpiston = Fsetpoint + F0 + mcurrent workpiece mass * g * sin α
What does this mean in terms of force control?
It is not necessary for the mass mident specified during
identification to be exact, since the force F0 required for
compensation is identified.
If the drive is not mounted horizontally ( α š 0° ), it is im
portant to specify the mass changes precisely. Since the
controller calculates a compensation force based on the
specified mass, an error in the mass specification will lead
to a systematic deviation from the force setpoint value
Fsetpoint.
Fpiston = Fsetpoint + F0 + (mdelta + merror ) * g * sin α
Error F will then be:
F = merror * g * sin α
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−37
B. Basic controlling principles
B.8.2 Influence of the mass on standstill control
After completion of a positioning task, on−the−fly switch−over
from positioning control to force control occurs so as to en
sure safe standstill of the drive. The standstill force Fstill, to
which controlling is done, corresponds to the force on the
piston after the drive has reached its target position. It is
tapped by the cylinder 200 ms after MC, the following
applies:
Fstill = p1−200ms * A1 p2−200ms * A2
(p1 and p2 are the pressure values in the cylinder, 200 ms
after MC)
If towards the end of the positioning process the actual force
drifts so fast that it threatens to exceed friction hysteresis,
then the system switches directly to standstill control without
taking into account the delay time of 200 ms.
So in contrast to force control, standstill control is not based
on calculated values that are dependent on configured mass
values, but on force values measured at the end of the posi
tioning process. Mass changes that are not specified in the
positioning records, do therefore not affect the behaviour of
the drive in the standstill position.
Warning: When positioning, the drive comes to a standstill
within the static friction, so the standstill force can also vary
in the area of static friction. So the force the FCT displays dur
ing standstill varies from stroke to stroke.
B−38
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.8.3 Behaviour of the force control
A force task is treated like any positioning task.
As soon as the force task begins, the MC signal goes to
0 level, when the force setpoint value has been reached,
the MC signal =1. As long as there is no new positioning
task, the axis remains in force control.
With the force ramp, the user specifies the increase in
force per time unit. The unit is [N/s]. The permissible
value range is 10 N/s ... 10.000 N/s. The force ramp is
appropriately restricted by the FCT.
The force tolerance has the same function as the position
ing tolerance for positioning.
The sign of the force setpoint value determines the direc
tion of force control:
+ : means force build−up towards increasing position va
lues,
: means force build−up towards decreasing position
values (measuring system zero point).
The Stop signal (CCON.STOP = 0) ends a force task as
quickly as possible. The system immediately switches
back to position control, while in standstill position the
setpoint position is set as = actual position.
The FCT PlugIn supports the correct parametrisation of
force control. It calculates the theoretical maximum force
values, dependent on the cylinder (type and diameter).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−39
B. Basic controlling principles
The maximum force applied to the piston is referred to as
nominal force FN , and it is calculated as follows:
FN [N] = AN * poperation
The maximum forces applied to the drive for both direc
tions of movement are calculated as follows: With non−
horizontal mounting position ( α š 0 for linear drives, refer
to Fig.B/2) they are dependent on direction and mass:
Fmax+ [N] = + 0.9 * AN * poperation mcurrent * g * sin α
Fmax [N] = 0.9 * (AN AKS) * poperation mcurrent * g *
sin α
This contains the following user data:
poperation = supply pressure
AN
= nominal piston surface
(e.g. DNCI−25−...: AN = / 4 * 0.0252 )
= piston rod surface
AKS
mcurrent = mcurrent tool mass + mcurrent workpiece mass
α
= mounting position
The values for Fmax+ and Fmax are calculated in the con
troller. The controller limits the user data to these limit
values and reports a fault if necessary.
Parameter
Unit
FCT default
Minimum
Maximum
Force tolerance
N
10
1
1.000
Force ramp
N/s
1.000
10
Speed limit value
Stroke limit value
1)
mm/s
mm
200
50
10
1
10.000
1)
1)
500
10.000
The speed and stroke limit values can be deactivated for every force record, so entering 0 is not
permissible.
B−40
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
The controller contains appropriate default settings.
During parameter download, the CMAX only checks the
absolute limit values of the parameters. The parameters
maximum setpoint force and tolerance are not limited
dependent on other project data (cylinder diameter etc.).
In the CMAX the controller limits the setpoint values to
reachable maximum values. In this, the piston surface,
the moving mass and the mounting position are taken
into account. The limited values can be read from the con
troller and displayed in the same way as the limited accel
eration values for position control.
During force control, either the current position or the
current force value in the PLC input data is transmitted.
Switching over is done via PNU 523:08.
If you want Stop to be carried out (CCON.STOP = 0) while
the drive is pushing into a stop under force control, the
system switches from force control to position control and
adopts the current actual position as setpoint position.
Since the drive is at a standstill, the tolerance is reached
immediately, and transition to standstill control occurs.
The force to which the drive controls in this case is speci
fied by the actual force which can range between the last
setpoint force and 0 N. If the drive is to be positioned
force−neutrally after stop, a force record with 0 N should
be executed before setting CCON.STOP = 0.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−41
B. Basic controlling principles
B−42
A force task can always be started from a position−con
trolled or force−controlled status. Depending on the initial
status, different types of behaviour are possible:
The axis is positioned force−controlled or position−con
trolled (MC=1): A new force task is started immedi
ately.
The axis is carrying out a positioning task (MC=0):
On−the−fly change of controller": the current position
ing task is ended with the set stop ramp. As soon as
the speed = 0, the force task is started. MC always
remains = 0.
The axis is carrying out a force task (MC=0), the new
force task has the same direction of force:
On−the−fly sequencing": The new force task is started
immediately. MC always remains = 0.
The axis is carrying out a force task (MC=0), the new
force task has the opposite direction of force:
On−the−fly reversing": The current force task is ended
with a configured ramp, as soon as the force value
reaches 0" the new force task is started. MC always
remains = 0.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.8.4 Behaviour of standstill control
After completion of a positioning task, position control is
switched to force control to keep the drive at a standstill.
Reversing does not occur at the time of reaching the standstill
condition, but:
200 ms later or
when the change in the actual force after reaching the
standstill condition is more than 25% of the friction hys
teresis.
The standstill condition has been reached if
the tolerance has been reached once and
the position error is within 70% of the permissible toler
ance window and
the speed is less than 4 mm/s and
the chamber pressures are smaller than the supply pres
sure (especially in vertical operation with large masses,
chamber pressures that are larger than the supply pres
sure may briefly occur).
If the drive leaves its tolerance window for standstill position
during standstill control or if the speed exceeds 4 mm/s, then
the position controller is activated to move the drive back to
its target position. If the drive has reached the target position
and the standstill conditions, standstill control is re−activated,
provided one of the stated conditions for the delay time or
force control is fulfilled.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−43
B. Basic controlling principles
B.8.5 Individual value mode
The individual value mode can be used in record select oper
ating mode and in direct mode.
After the force command has started, the controller starts to
build up the force according to the specified target force and
force ramp.
If the drive is not faced with any counteracting force, the force
initiates a drive movement. This can be the case when the
workpiece is movable or yielding, or if there is no workpiece.
If the drive exceeds the setpoint speed in this case, the con
troller automatically switches to position control (see section
B.8.6). In this the hardware end position in the direction of
force effect is used as the setpoint position and the setpoint
speed of the record or the speed parameter in direct mode
(PNU 406 or 554) is used as the speed.
If you want to prevent reversing to position control, the set
point speed must be set to 0.000 m/s.
In order to prevent too much kinetic energy, the maximum
permissible valueforthespeedislimitedto0.500 m/s.
Reversing to position control permits a workpiece to start
moving. The typical process in an application is:
1. Record 1: Fast approach to a preliminary position near the
workpiece (e.g. −10 mm)
2. Record 2: Start force control. The CMAX automatically
switches to position control until the workpiece has been
reached. This prevents strong acceleration of the drive in
the event of no workpiece". The drive simply moves right
up to the software end position or to the configured
stroke limit and stops there.
With the help of record sequencing, it is possible to switch
between position control and force control anytime.
B−44
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
If the axis is in the process of performing positioning, it is
stopped first. Only then does force control begin.
1 Path
2 Force
Path/speed/force
Stroke monitoring
Slim
1
3 Velocity
4 Feed phase (Vvor)
5 Force ramp
6 MC
2
Target force
F
Velocity
monitoring
Vlim
Vvor
3
4
5
6
Time
Fig.B/3: Force control process
The following options are permitted:
Stroke and velocity monitoring can be activated or deacti
vated independently of each other for each record (de
fault: activated). However, the limit values are global,
i.e. apply to all records (changes possible in parametris
ing mode).
Vvor can be deactivated by setting to 0.000 m/s, i.e. the
axis moves force−controlled only. In extreme cases, the
axis may move into the end position unbraked. If revers
ing was deactivated, limit monitoring is still active, pro
vided it was not switched off as well.
The force setpoint value may have the value 0 N.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−45
B. Basic controlling principles
Notes:
Stroke monitoring and velocity monitoring are activated
each time a force task is started, provided they have not
been disabled by the user.
Stroke monitoring and speed monitoring is also active
after MC, i.e. delayed limit value violations are recog
nised.
Vlim must always be sufficiently larger than Vvor in order
to prevent velocity monitoring from being triggered dur
ing positioning.
Recommendation: Vlim = (2 ... 3) * Vvor
If limit monitoring responds, no matter whether stroke or
velocity, the controller always changes to position control.
If the axis reaches the target force once and when doing
so fulfils the MC conditions, MC is set.
MC then remains set until the next task is started, even if
the target force is no longer present.
The monitoring functions are explained in detail in section
B.8.10.
B−46
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.8.6 Position control during a force task
If during a force task the drive exceeds the setpoint speed
Vvor in the active direction of the force, e.g. because the drive
is still at a small distance to the workpiece and the drive
starts to move due to the missing counteracting force, then
the system switches to position control. This occurs indepen
dently of an MC being available or not. In this the hardware
end position in the direction of active force direction is used
as the setpoint position and the setpoint speed of the record
or the speed parameter in direct mode (PNU 406 or 554) is
used as the speed Vvor. The drive then moves at speed Vvor
until high braking acceleration occurs (drive stops at a work
piece), a standstill is recognised (speed in force direction is
smaller than 0.004 m/s for 20 ms) or the actual force reaches
the specified target force after a delay time of at least 10 ms
after reversing to position control. Then the force controller is
again activated, the force is (further) built up with the set
force ramp.
The monitoring functions configured for the force task
(stroke, speed, software end positions) are active also during
position control.
Position control is activated at the earliest 30 ms after the
force task starts (as a result of positive edge at CPOS.START
or start due to record sequencing). This time is required for
transient effects. Until then the force controller is always ac
tive.
Preventing position control
If the user wants to prevent reversing to position control, the
setpoint speed must be set to 0.000 m/s. This deactivates the
position control during a force task.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−47
B. Basic controlling principles
B.8.7 Force ramp
When a force task starts, calculation of a ramp−shaped signal
is started as the basis of the force control setpoint specifica
tion. This signal begins with the actual force at the start of the
force task and runs linearly to the pitch of the force ramp up
to the desired force setpoint value.
A constantly differentiable force setpoint value is an advan
tage for optimisation of the controller behaviour, which is why
the force ramp is replaced with a sin2 function which runs
through the same force stroke within the same time. Since
the sin2 function starts and ends its course with the pitch 0,
this results in a higher maximum pitch than with the force
ramp. The maximum pitch of the sin2 function is at the turn
ing point, and it is larger by Pi/2 there than at the force ramp.
When moving to a stop or a facility that generates the corre
sponding counteracting force, the setpoint force is possibly
reached immediately. In this case, force build−up with the
force ramp can therefore not occur.
1 Setpoint force final
Force [N]
1
value
2
2 Setpoint force ramp
3 Setpoint force,
smoothed with sin2
3
4 Actual force
4
5 Start value
5
Time [s]
Fig.B/4: Force ramp
B−48
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.8.8 Controller amplifications
The possible controller amplifications in the context of force
control depend on the design of the pneumatic system. An
unnecessarily long tubing connection has a negative effect,
the system may then tend to hum. Exchanging the valve may
also result in differences in the control behaviour.
The controller amplifications are calculated based on the
parameters that describe the pneumatic system. Due to toler
ances, the default controller amplifications do not produce
the same control quality with all systems. Three parameters
are available for optimisation:
Amplification gain
Dynamic amplification
Signal filter factor
The gain factor is used to increase the control amplification.
It makes the controller respond to deviations more strongly
and faster. If this factor is increased too much, the valve
starts to hum. This occurs especially with a static force set
point and with standstill control. This humming can be re
duced by varying the signal filter factor or reducing the ampli
fication.
Dynamic amplification is only effective in the area of the force
ramp, in other words as long as the force setpoint value is
changing. This parameter is suitable for improving the truth
to path in the area of the ramp, when amplification cannot be
further optimised.
The signal filter factor can be used to influence the noise of
the pressure signals. When increasing the factor, the filter
becomes faster and consequently the noise louder. At the
same time the phase shift decreases.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−49
B. Basic controlling principles
B.8.9 Influence of the static identification on force control
Key parameters for force control are determined during static
identification. These are:
Friction hysteresis
Standstill force F0
If no static identification is carried out, these parameters will
be assigned default values. The control quality is limited in
this case, and the following effect may occur:
B−50
The real standstill force deviates from the calculated de
fault value. This may lead to uncontrolled force control
behaviour.
With non−horizontal applications, the default value for the
standstill force can be influenced via the mass. The de
fault value is set correctly if, in a force record with 0 N and
speed and stroke monitoring switched off, the drive is at a
standstill and can be moved in both directions by man
ually applying approximately the same force.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
B.8.10 Monitoring function
With active force control, there are three permanent monitor
ing functions: Stroke monitoring, speed monitoring and moni
toring of the software end positions. In the event of an error,
the CMAX responds as follows:
the message is added to the diagnostic memory as a
fault,
position control is activated and the axis is stopped,
after the standstill, the CMAX changes to Fault" or
Ready" status,
depending on the fault, the bit SDIR.XLIM / SDIR.VLIM or
RSB.XLIM / RSB.VLIM is set. These bits are reset with the
reset command,
in the event of stop, disable and fault, all of the monitor
ing functions are deactivated.
Stroke monitoring
With the starting edge, the CMAX remembers the current
actual position as the starting position. With each controller
cycle, stroke monitoring checks the path (stroke) covered
since the last start.
Stroke = | actual position (current) − actual position (starting
edge) |
If the actual position changes by a larger value than the
parametrised stroke limit value (PNU 510) while a force com
mand is being executed, error E38 is indicated and the bit
SDIR.XLIM (direct mode) or RSB.XLIM (record select mode) is
set.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−51
B. Basic controlling principles
Notes:
The starting position is always the actual position on the
starting edge, so the stroke limit value also comprises the
stroke during the speed control of a force task.
If the task is started by record sequencing, the starting
position is the actual position at the time of reversing.
If the stroke limit value is outside of the software end
position, reaching the software end position has priority.
The stroke limit value does not deactivate the software
end position.
If CDIR.XLIM or RCB1.XLIM is set, stroke monitoring is
deactivated.
Speed monitoring
Velocity monitoring is activated each time a force task is
started, provided it has not been disabled by the user. It is
also active after MC, i.e. delayed limit value violations are
recognised.
The maximum permissible velocity Vlim (PNU 514) must
always be greater than the setpoint velocity Vvor
(PNU 406 or 554).v
If, during activated force control, the velocity limit Vlim is ex
ceeded, the axis is stopped and error message E39 is issued.
SDIR.VLIM or RSB1.VLIM is set.
Monitoring can be deactivated by setting CDIR.VLIM or
RCB1.VLIM.
B−52
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Monitoring of the software end positions
If a software end position is reached during force control, the
axis is stopped and a fault is reported. Setting both software
end positions = 0 deactivates this monitoring.
MC (Motion Complete)
In compliance with the MC conditions, Motion Complete re
ports that the setpoint force has been reached.
Under unfavourable conditions during force control, the
break−away force may result in the MC condition being ful
filled even at the beginning of the task. Here the criteria for
the MC condition can be influenced via the parameters moni
toring time, tolerance etc.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−53
B. Basic controlling principles
B.9
Notes on application, special operating statuses
B.9.1 Changing an external force
Changes in an external force may cause vibration or even
bouncing on a stop.
Example:
Cylinder1: DNCI−32−250 horizontal 16 kg
Cylinder2: for counteracting force from 160 mm of
approx. 350 N constant
Counteracting force
Fexternal = 350 N
Operating cylinder
Fdrive = 0 N
1
Fexternal = 350 N
Fdrive = 430 N
2
Fexternal = 350 N
Fdrive = 200 N
3
1 1st record: F = 430 N −−> Cylinder1 moves cylinder2 until cylinder1 is in the stop.
2 2nd record: F = 200 N −−> Cylinder2 moves cylinder1 out of the stop to position
160 mm.
3 −−> This causes bouncing with 2 to 3 impacts.
B−54
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B. Basic controlling principles
Explanation:
Cylinder1 has kinetic energy during transition from the fault
force. The setpoint force counteracts the direction of move
ment, the inert system needs to be braked and accelerated in
the opposite direction. Then the inert mass hits an elastic
stop.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B−55
B. Basic controlling principles
B−56
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Configuration with CPX node
Appendix C
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−1
C. Configuration with CPX node
Contents
C.1
C.2
C.3
C−2
CPX−FB13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.1
General configuration information . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2
Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.3
Start parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.4
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.5
Acyclical parametrisation with DPV1, parameter READ/WRITE . . .
CPX−FB11 (DeviceNet) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.1
Configuring DeviceNet station properties (EDS) . . . . . . . . . . . . . . .
C.2.2
Parametrisation (RSNetworx example) . . . . . . . . . . . . . . . . . . . . . .
C.2.3
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.4
Examples of error display with RSNetWorx . . . . . . . . . . . . . . . . . . .
CPX−FEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.2
CMAX parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.3
Save actual configuration as the nominal configuration . . . . . . . . .
C.3.4
Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3.5
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C−3
C−3
C−4
C−6
C−10
C−13
C−16
C−16
C−18
C−21
C−26
C−27
C−27
C−29
C−31
C−32
C−37
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
C.1
CPX−FB13
General information on the CPX−FB13 are found in the de
scription on the P.BE−CPX−FB13−...
C.1.1
General configuration information
Identifier
Module (order code)
CPX−CMAX−C1−1 (T21)
Module
identifiers
Occupied bytes
CMAX
8 bytes I, 8 bytes O
Identifier
Siemens / EN 50170
192 / C0h, 87h, 87h
Device master file (GSD file) and icon files
Sources of supply
Current GSD files and icon files can be found on the Festo
Internet pages at:
è www.festo.com è Downloads è Download Area: Soft
ware, drivers and firmware è Enter string: CMAX or GSD
GSD file
You will require one of the following GSD files for the CPX
terminal with the CMAX:
Cpx_059e.gsd (German version)
Cpx_059e.gse (English version)
Depending on the configuration program used, install the
GSD file and the icon files with the aid of the appropriate
menu command or copy the files manually into a particular
directory of your peripheral/PC.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−3
C. Configuration with CPX node
C.1.2 Configuration with STEP 7
This description refers to software version V 5.3.
An appropriate device master file (GSD file) must be installed
for configuration.
Proceed as follows for configuration (see Fig.C/1):
1. Add a DP master system 1 and the CPX terminal 2 to
the CPX−FB13, as per the description.
2. Fill the configuration table with the modules of your CPX
system.
Open the module Festo CPX terminal" (folder\PROFIBUS−
DP\Additional FIELD DEVICES\Valves\...) in the hardware
catalogue. 3 .
There are two entries for the CMAX:
Entry
Description
CPX−CMAX−C1−1 [8 Byte I/8 Byte O]
CMAX with 8 byte I / 8 byte O consistent,
without Failsafe parameters
(occupies 5 byte parametrising data) 1)
CPX−CMAX−C1−1 [8 byte I/8 byte A Failsafe]
CMAX with 8 byte I / 8 byte O consistent,
with Failsafe parameters
(occupies 15 byte parametrising data) 1)
1)
The maximum number of parametrisation data for the CPX terminal is limited to 234.
3. Assign each of the starting addresses in the Properties −
DPslave"window 4 .
This concludes the station selection and configuration.
C−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
1
2
3
4
Fig.C/1: Configuration with STEP7 Hardware catalogue
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−5
C. Configuration with CPX node
C.1.3
Start parametrisation
When setting the System start with default parametrisation
(factory settings) and current CPX structure" CPX system
parameter, the parameters stored at the master are trans
ferred to the CPX−FB13.
Observe the general instructions in section 1.3.
Start parametrisation
1 Master loads the
start parameter
set into the node
PLC/
IPC
1
PROFI−
BUS−DP
Master
2 The node
distributes
parameter set to
the modules
2
Fig.C/2: Sequence of start parametrisation
When the field bus system is switched on, the CPX terminal is
parametrised as Start parametrising" by parameter set 1
saved in the PROFIBUS master. The field bus node then dis
tributes the parameters module−orientated to the CPX mod
ules 2.
Note
The number of start parameters is limited, depending on
the software version of the CPX−FB13. Observe the notes in
the description for the CPX−FB13.
Note
After each interruption of the field bus system (e.g. after
interruption of the power supply to the field bus node),
the start parameter set will be sent again by the PROFIBUS
master to the fieldbus node.
C−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Note
CPX terminals with the CMAX always require new parame
trisation and commissioning after exchanging the CPX ter
minal or the CMAX, since the parameters and the data as
certained during commissioning are only stored in the
CMAX, see section 1.1.2.
The CMAX cannot be parametrised via the start−up parame
trisation. This must always be done via the FCT or via the
special parametrisation function.
Fig.C/3: No specific parameters
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−7
C. Configuration with CPX node
Data format
The CMAX evaluates the setting for the data format of ana
logue values (32 bit values) of the CMX−FB13, see section 1.2.
Please take this into account in your application programs.
Fail Safe parametrising
Check your application to see if Fail Safe parametrisation is
required.
In the example as per Tab.C/1, the drive should be stopped
and the brake activated (emergency stop).
The brake is high−active and the controller is enabled.
Example
Allocation CMAX inputs – Module output data
Bit
Value CCON
Value CPOS
Value Control bytes 2 ...
8
0
1
1
ENABLE = 1
1
HALT = 0
0
2
STOP = 0
0
START = 0
0
− (no function, all = 0
0)
0
2
4
BRAKE = 1
1
HOM = 0
0
0
3
8
RESET = 0
0
JOGP = 0
0
0
4
16
(reserved = 0)
0
JOGN = 0
0
0
5
32
LOCK = 0
0
TEACH = 0
0
0
6
64
OPM1 = 0
0
CLEAR = 0
0
0
7
128
OPM2 = 0
0
(reserved = 0)
0
0
Value for channel 0
5
Value for channel 1
0
Fault mode
mask
Value for channels
2 ... 8
Value
0
Tab.C/1: Fail Safe parametrising example
For the values to take effect, the Fail Safe" setting for the
affected channel must be set to Fault Mode". The byte va
lues as per Tab.C/1 must be entered into the F ault Mode
Mask" for the corresponding channel.
This results in a parametrisation as per Fig.C/4.
C−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Fig.C/4: Fail Safe parametrising
In order for the settings to take effect, the global system
parameter must be set to Output fault mode".
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−9
C. Configuration with CPX node
C.1.4
Addressing
8DI
3
4DO
4
A19.0...A19.7
2
A18.0...A18.7
E10.0...E17.7
A10.0...A17.7
1
E18.0...E21.7
A9.0...A9.3
Module no.: 0
E9.0...E9.7
I/O−Diag.Interf.
E7.0...E8.7
A7.0...A8.7
Example: Addresses used as from input/output word 7
5
6
8A
8A
2AI
MPA
Fig.C/5: CPX−FB13 address assignment example
No.
Module
DP identifier Addresses
Si
Siemens
Input ad
dress
Output ad
dress
0
CPX−FB13 (FB13: DPV1, I/O−Diag.Interface)
192
7 ... 8
7 ... 8
1
8−way digital input module (E: CPX−8DE)
8DE
9
2
4−way digital output module (A: CPX−4DA 2x)
8DA
9
3
Axis controller CMAX (CPX−CMAX−C1−1),
For assignments, see Tab.C/3
192
10 ... 17
10 ... 17
4
Analogue input module (A: CPX4AE−I)
2AE
18 ... 21
MPA pneumatic interface (passive module)
5
MPA1 pneumatic module
(VI VMPA1−FB−EMS−8)
(VI:
VMPA1 FB EMS 8)
8DA
18
8DA
19
6
Tab.C/2: Input and output addresses for the example, see Fig.C/5
C−10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Example of address assignment (record selection)
Module output data
AB
Contents
AB10
CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 0
7
OPM2 = 0
AB11
Module input data
Address
EB
Contents
Address
EB10
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
FCT_MMI
6
OPM1 = 0
7
OPM2 = 0
E10.0
E10.1
E10.2
E10.3
E10.4
E10.5
E10.6
E10.7
SPOS:
Bit Name
0
(reserved)
1
ACK
2
MC
3
TEACH
4
MOV
5
DEV
6
STILL
7
REF
E11.0
E11.1
E11.2
E11.3
E11.4
E11.5
E11.6
E11.7
A10.0
A10.1
A10.2
A10.3
A10.4
A10.5
A10.6
A10.7
CPOS:
Bit Name
0
(reserved)
1
START
2
HOME
3
JOGP
4
JOGN
5
TEACH
6
(reserved)
7
(reserved)
A11.0
A11.1
A11.2
A11.3
A11.4
A11.5
A11.6
A11.7
AB12
Record No.
A12.0 ... 7
EB12
Feedback record no.
E12.0 ... 7
AB13
Reserved
A13.0 ... 7
EB13
RSB:
Bit
0
1
2
3
4
5
6
7
E13.0
E13.1
E13.2
E13.3
E13.4
E13.5
E13.6
E13.7
AB14
AB15
AB16
AB17
Reserved
EB11
A14.0 ... 7
A15.0 ... 7
A16.0 ... 7
A17.0 ... 7
EB14
EB15
EB16
EB17
Name
RC1
RCC
COM1
RCE
VLIM
XLIM
(reserved)
(reserved)
Primary actual value
(int32)
E14.0 ... 7
E15.0 ... 7
E16.0 ... 7
E17.0 ... 7
Tab.C/3: Addresses of the CMAX control and status bytes in the example Fig.C/5
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−11
C. Configuration with CPX node
If the actual values are supposed to be treated as marker
double−words, the byte structure must be taken into account
according to the CPX parameter Data format for analogue
values...", see section 1.2.
C−12
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
C.1.5
Acyclical parametrisation with DPV1, parameter READ/WRITE
When using the FB13, there are two ways of accessing the
data.
A direct task for reading/writing the module parameters
is possible, but only for modules 0...9 (data record
number (FB52/53) = 5 + 72 + 15*module number)
Generally valid is an indirect task via the command box,
which has the additional advantage of being able to write
the data as of a certain offset. In this way the bytes 0...7
from the startup parametrisation do not have to be over
written (slot = 100 + module number; index = 21)
Further information on acyclical parametrisation can be found
in the P.BE.CPX−FB13−... description
General access via command box
Slot 3: Indexed addressing of the objects
Index
Name
Length
[byte]
Access
Record number (Siemens)
16
Command box
4
r/w
9
17
Read Box
64
r
10
18
Write Box
64
w
11
Command box: Access to CMAX module parameters
Byte
1
2
3
4
Contents
Slot no.
Index module data
Offset data
CMAX
100 + module number
21
8
0
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−13
C. Configuration with CPX node
Sequence:
1. Ensure that the command box is currently not being used.
In case several modules are parametrised via the com
mand box in a PLC program, you must apply an appropri
ate method to ensure that only one module is accessed at
a time. Since the command box is set permanently", a
PLC program should allocate data to the box, transfer the
data and then enable it again. A global flag may be suffi
cient for this purpose.
2. Allocate data to the command box. Mark the box as allo
cated within the PLC. Then transfer the slot number of the
module, the index of the module parameters and the
offset of the data to the command box.
3. Compile the task (byte 8 to 61) according to the function
number. Bytes that are not used must also be transferred,
they should be set to zero.
4. Write the task data into the Write Box. These are then
automatically transferred to the module.
5. Read the data from the Read Box. If the status byte PSB
does not equal 0, the task is performed. Check for poss
ible errors (PSB <0)!
6. If the PSB = 0, another status must be requested −> (5).
7. If another task is to be performed: −> 3.
8. If all the tasks have been performed, the command box
must now be enabled.
The data in the command box should be deleted, i.e. set
to 0. This is not mandatory, but prevents the possibility of
module data being overwritten due to a faulty access to
the Write Box.
C−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Note
There can be other CPX modules which other modules of
the PLC access. These could modify the command box.
There can be other PROFIBUS masters (class 2 masters)
that access the CPX data at the same time as the PLC,
modifying the command box without the PLC knowing of
this, for example.
The programmer(s) of the overall application must apply ap
propriate measures to ensure they always access the correct
data.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−15
C. Configuration with CPX node
C.2
CPX−FB11 (DeviceNet)
General information on the CPX−FB11 are found in the de
scription on the P.BE−CPX−FB11−...
C.2.1 Configuring DeviceNet station properties (EDS)
When starting up a new DeviceNet station for the first time,
you must inform your configuration program about certain
properties of the station.
The features of the various slaves are usually administered by
the configuration program in a list or library e.g. E DS library
(EDS for electronic data sheets).
The following possibilities can be used with the CMAX:
Install EDS files: modular EDS.
Parametrising of technology modules such as the CMAX is
only supported via modular EDS.
Manually enter the slave features (no parameter setting
possible).
Observe the notes in the manual for the CPX−FB11.
Source of supply for EDS files
Sources of supply
Current EDS files and picture files (icons) can be found in
the Internet under the following address:
è www.festo.com è Downloads è Download Area: Soft
ware, drivers and firmware è Enter string: Fieldbus GSD/
EDS or CMAX
C−16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Installing a modular EDS file
You will require the following files for the CPX terminal:
File type File name
Language
Description
EDS
cpx_chassis.eds
English
Base file for modular EDS.
EDS
cpx_fb11...eds
English
Provides the communication adapter in the con
figuration program.
EDS
cpx_...eds
English
There is an EDS file for every module type. It
contains the information needed for configur
ation and parametrisation.
ICO
cpx_...ico
Icon file for representing the CPX terminal or
mode in the configuration program.
Tab.C/4: Configuration files (modular EDS) for the CPX terminal for DeviceNet
Installing modular EDS
files
·
Install the files with your configuration program.
You must install at least the Chassis EDS and the EDS files of
the required modules.
Recommendation: Install all EDS files.
Icon files
Depending on the configuration program used, you can as
sign icon files (.ico format) to the CPX terminal or the CPX
modules. The CPX terminal or the modules will then be repre
sented accordingly in the configuration program.
Notes on installing the EDS files and the icon files can be
found in the documentation for your configuration program.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−17
C. Configuration with CPX node
C.2.2 Parametrisation (RSNetworx example)
When modular EDS is used, you can set the parameters by
module with RSNetWorx.
Note the general instructions on CPX parametrising in
section 1.3.
Make sure that parameters cannot be unintentionally over
written. If necessary, carry out an upload.
The following diagram shows the Module Configuration"
register of the CPX terminal. Double clicking on the module in
the configuration table brings you to the window for setting
the parameters.
1
2
3
1 Buttons for uploading and
downloading the parameters
2 System parameters and data
3 Module parameters
Fig.C/6: Parametrisation with modular EDS
C−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Module parameters
·
Double−click on the CPX modules in the configuration
table. Set the module parameters in the displayed
window in the Advanced Parameters" register. Confirm
twice with OK.
1
1 CMAX parameters
Fig.C/7: Example of parametrising the CMAX with
RSNetworx
The settings saved in the project are displayed in offline
mode.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−19
C. Configuration with CPX node
Fail Safe and Idle Mode parametrising
Check your application to see if Fail Safe or Idle Mode
parametrisation is required.
Example
In the example as per Tab.C/5, the drive should be stopped
and the brake activated (emergency stop).
The brake is high−active and the controller is enabled.
Allocation CMAX inputs Module output data
Bit
Value CCON
Value CPOS
Value Control
bytes 2 ... 8
0
1
ENABLE = 1
1
HALT = 0
0
1
2
STOP = 0
0
START = 0
0
2
4
BRAKE = 1
1
HOM = 0
0
0
3
8
RESET = 0
0
JOGP = 0
0
0
4
16
(reserved = 0)
0
JOGN = 0
0
0
5
32
LOCK = 0
0
TEACH = 0
0
0
6
64
OPM1 = 0
0
CLEAR = 0
0
0
7
128
OPM2 = 0
0
(reserved = 0)
0
0
Value byte 0
5
Value byte 1
0
Mask
− (no function,
all = 0)
Value byte 2 ... 8
Value
0
0
0
Tab.C/5: Fail Safe or Idle Mode parametrising example
This setting applies to both Fail Safe and Idle Mode.
The global system parameter of the CPX−FB11 must also be
set for the settings to take effect:
C−20
Fail Safe Options": Set Fail Safe State".
Idle Mode Options": Set Idle Mode State".
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
C.2.3 Addressing
Assign the I/O addresses of the slave
(RSNetworx example)
1. Double−click on the scanner in the network. A dialog box
will open.
2. With the registers Input" and Output", you assign the
I/O addresses of the CPX terminal to the PLC operands.
Fig.C/8: Input address assignment
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−21
C. Configuration with CPX node
Fig.C/9: Output address assignment
C−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Example: scanner 1747−SDN (SLC 500 series)
Addressing for example of terminal with:
1
2 input bytes for status bits (strobed data)
11 input bytes, input address from I:1.1.0
9 output bytes, output address from O:1.1.0
2
Module no.: 0
3
1
8DI
2
4DO
4
3
5
5
6
8A
8A
4
2A0
MPA
1 CPX−FB11 (with status bits)
4 Analogue I/O modules
2 Digital I/O modules
5 MPA pneumatics
3 Technology module CMAX
(2 pneumatic modules)
Fig.C/10: CPX example terminal 3 (address example for scanner 1747−SDN, see Tab.C/6)
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−23
C. Configuration with CPX node
Module
no.
Module
Addressing
Input address
Output address
0
Fieldbus node
CPX−FB11
I:1.1.0 ... I:1.1.15
(for status bits)
1
Digital 8−input module
CPX−8DE
I:1.8.0 ... I:1.8.7
2
Digital 4−output module
CPX−4DA
O:1.5.0 ... O:1.5.3
3
Axis controllers
CPX−CMAX−C1−1
I:1.4.0 ... I:1.4.15
I:1.5.0 ... I:1.5.15
I:1.6.0 ... I:1.6.15
I:1.7.0 ... I:1.7.15
O:1.1.0 ... O:1.1.15
O:1.2.0 ... O:1.2.15
O:1.3.0 ... O:1.3.15
O:1.4.0 ... O:1.4.15
4
Analogue 2−input module
CPX−2AE
O:1.2.0 ... O:1.2.15
O:1.3.0 ... O:1.3.15
5
MPA1 pneumatic module
O:1.5.8 ... O:1.5.15
6
MPA1 pneumatic module
O:1.6.0 ... O:1.6.7
Tab.C/6: Addressing example for scanner 1747−SDN
C−24
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Module output data
AB
Contents
OW:1.4 CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 0
7
OPM2 = 0
CPOS:
Bit Name
0
(reserved)
1
START
2
HOME
3
JOGP
4
JOGN
5
TEACH
6
(reserved)
7
(reserved)
OW:1.5 Record No.
Reserved
OW:1.6 Reserved
OW:1.7
Module input data
Address
EB
Contents
Address
IW:1.1
O:1.4.0
O:1.4.1
O:1.4.2
O:1.4.3
O:1.4.4
O:1.4.5
O:1.4.6
O:1.4.7
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
FCT_MMI
6
OPM1 = 0
7
OPM2 = 0
I:1.1.0
I:1.1.1
I:1.1.2
I:1.1.3
I:1.1.4
I:1.1.5
I:1.1.6
I:1.1.7
O:1.4.8
O:1.4.9
O:1.4.10
O:1.4.11
O:1.4.12
O:1.4.13
O:1.4.14
O:1.4.15
SPOS:
Bit Name
0
(reserved)
1
ACK
2
MC
3
TEACH
4
MOV
5
DEV
6
STILL
7
REF
I:1.1.8
I:1.1.9
I:1.1.10
I:1.1.11
I:1.1.12
I:1.1.13
I:1.1.14
I:1.1.15
Feedback record no.
I:1.2.0 ... 7
RSB:
Bit
0
1
2
3
4
5
6
7
I:1.2.8
I:1.2.9
I:1.2.10
I:1.2.11
I:1.2.12
I:1.2.13
I:1.2.14
I:1.2.15
O:1.4.0 ... 7
IW:1.2
O:1.5.8 ... 15
O:1.6.0 ... 15
O:1.7.0 ... 15
IW:1.3
IW:1.4
Name
RC1
RCC
COM1
RCE
VLIM
XLIM
(reserved)
(reserved)
Primary actual value
(int32)
I:1.3.0 ... 15
I:1.4.0 ... 15
Tab.C/7: Addresses of the CMAX control and status bytes in the example Fig.C/10
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−25
C. Configuration with CPX node
DeviceNet does not provide for consistent data transmission.
Therefore, always take into account the cycle time to ensure
consistent setpoint values.
C.2.4
Examples of error display with RSNetWorx
Fig.C/11: Error via strobe byte 104 − E43
Fig.C/12: Error via remote I/O operating mode (I/O diagnostics interface) 105 − E50
C−26
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
C.3
CPX−FEC
General information on the CPX−FEC can be found in the
description of the P.BE−CPX−FEC−....
Detailed information on operating the FST can be found in the
FST manual P.BE−FST...
C.3.1
Configuration
Use Festo Software Tools (FST 4.1 or higher) with the Hard
ware Configurator in order to configure your CPX terminal
with CPX−FEC.
To configure the CMAX, this must be in the catalogue of
the CPX configurator (CPX terminal / Technology modules /
CPX−CMAX...). You may require an FST software update for
this (CPX configuration update):
è www.festo.com è Downloads è Download Area: Soft
ware, drivers and firmware è Enter string: FST
Caution
If you have connected a CPX terminal to your PC for con
figuration: Test projects and programs at first without ac
tive actuators or without compressed air.
You will then avoid damage in the test phase.
I/O configuration / CPX configuration
You can create the configuration in the following ways:
Nominal/actual comparison in the editor mode
Change to the online mode
Manual configuration with the Hardware Configurator
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−27
C. Configuration with CPX node
The first two methods require the CPX terminal to be con
nected and ready for operation. The hardware configuration
with the CMAX is automatically recognised.
With manual configuration, the CMAX can initially be confi
gured without a connection to the CPX terminal.
2
1
1 Configuration with drag & drop
2 Configured modules in the
configuration table
Fig.C/13: Manual configuration of the CPX terminal in the Hardware Configurator
C−28
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Input word / Output word addresses
Set the start address of the input word and output word of
the CMAX.
Module
Module
identifiers
Allocated
address space
Remarks
CPX−CMAX
T21 CMAX−1
4 Input words
(8 bytes)
4 Output words
(8 bytes)
For assignment of the addresses
depending on the operating
mode, see section 2.2.
For an example, see section
C.3.4.
Tab.C/8: Technology module CMAX
C.3.2
CMAX parametrisation
The CMAX has no module parameters.
Fig.C/14: No module parameters
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−29
C. Configuration with CPX node
Note
CPX terminals with the CMAX always require new parame
trisation and commissioning after exchanging the CPX ter
minal or the CMAX, since the parameters and the data as
certained during commissioning are only stored in the
CMAX, see section 1.1.2.
Idle mode parametrisation
Check your application to see if parametrisation of the idle
mode is required.
Example
In the example as per Tab.C/9, the drive should be stopped
and the brake activated. The controller should remain active.
Allocation CMAX inputs Module output data
Bit
Value CCON
Value CPOS
Value Control bytes
2 ... 8
0
1
1
ENABLE = 1
1
HALT = 0
0
2
STOP = 0
0
START = 0
0
− (no function, all = 0
0)
0
2
4
BRAKE = 0
0
HOM = 0
0
0
3
8
RESET = 0
0
JOGP = 0
0
0
4
16
(reserved = 0)
0
JOGN = 0
0
0
5
32
LOCK = 0
0
TEACH = 0
0
0
6
64
OPM1 = 0
0
CLEAR = 0
0
0
7
128
OPM2 = 0
0
(reserved = 0)
0
0
Value for channel 0
1
Value for channel 1
0
Idle mode
Value for channels
2 ... 8
Value
0
Tab.C/9: Example of idle mode parametrisation
This results in a parametrisation as per Fig.C/15.
C−30
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Fig.C/15: Idle mode parametrisation for example Tab.C/9
In order for the settings to take effect, the global system
parameter must be set to Use idle mode".
C.3.3
Save actual configuration as the nominal configuration
In order to save the changes permanently, after the changes:
the actual configuration must be saved as the nominal
configuration,
or the project must be loaded into the CPX−FEC (a pro
gram must exist for this).
Note
Make sure that you have supplied taught parameters, or
parameters edited via the keyboard or the CPX−MMI, to the
CPX configurator.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−31
C. Configuration with CPX node
C.3.4
Address assignment
Address assignment example
1
2
8DI
3
4
4DO
5
2AI
MPA
8A
1 CPX−FEC
4 Analogue I/O modules
2 Digital I/O modules
5 MPA1 pneumatics
8A
(2 pneumatic modules)
3 Technology module CMAX
Fig.C/16: CPX−FEC address assignment example
Loca
tion
Module
Input
address
Output
address
Remarks
0
CPX−FEC
128
128
The outputs are not used.
1
8−way digital input module (8DI)
0
2
4−way digital output module (4DO)
0
3
Servo−pneumatic axis CMAX (T21)
129 ... 132
129 ... 132
For assignments, see
Tab.C/11
4
2−way analogue input module (2AI)
64, 65
MPA pneumatic interface
Passive module.
5
MPA pneumatic module
(CPX type32 1−8V)
(CPX−type32:
1 8V)
32
33
6
Tab.C/10: Configuration of address assignment for example Fig.C/16
C−32
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Example of I/O assignment record select mode
Module output data
AW
Contents
AW129
CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 0
7
OPM2 = 0
AW130
AW131
AW132
Module input data
EW
Contents
Address
EW129
A129.0
A129.1
A129.2
A129.3
A129.4
A129.5
A129.6
A129.7
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
LOCK
6
OPM1 = 0
7
OPM2 = 0
E129.0
E129.1
E129.2
E129.3
E129.4
E129.5
E129.6
E129.7
CPOS:
Bit Name
0
(reserved)
1
START
2
HOME
3
JOGP
4
JOGN
5
TEACH
6
(reserved)
7
(reserved)
A129.8
A129.9
A129.10
A129.11
A129.12
A129.13
A129.14
A129.15
SPOS:
Bit Name
0
(reserved)
1
ACK
2
MC
3
TEACH
4
MOV
5
DEV
6
STILL
7
REF
E129.8
E129.9
E129.10
E129.11
E129.12
E129.13
E129.14
E129.15
Record No.
A130.0...7
Feedback record no.
E130.0...7
reserved
A130.8...15
RSB:
Bit
0
1
2
3
4
5
6
7
E130.8
E130.9
E130.10
E130.11
E130.12
E130.13
E130.14
E130.15
reserved
Address
EW130
A131.0...15
EW131
A132.0...15
EW132
Name
RC1
RCC
COM1
RCE
VLIM
XLIM
(reserved)
(reserved)
Primary actual value
(4 bytes,
bytes int32)
E131.0...15
E132.0...15
Tab.C/11: Addresses of the control and status bytes in the example Fig.C/16, example of
record select mode
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−33
C. Configuration with CPX node
Example of I/O assignment direct mode
Module output data
AW
Contents
AW129
CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 1
7
OPM2 = 0
CPOS:
Bit Name
0
(reserved)
1
START
2
HOME
3
JOGP
4
JOGN
5
TEACH
6
(reserved)
7
(reserved)
AW130
AW131
AW132
Module input data
Address
EW
Contents
Address
EW129
A129.0
A129.1
A129.2
A129.3
A129.4
A129.5
A129.6
A129.7
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
LOCK
6
OPM1 = 1
7
OPM2 = 0
E129.0
E129.1
E129.2
E129.3
E129.4
E129.5
E129.6
E129.7
A129.8
A129.9
A129.10
A129.11
A129.12
A129.13
A129.14
A129.15
SPOS:
Bit Name
0
(reserved)
1
ACK
2
MC
3
TEACH
4
MOV
5
DEV
6
STILL
7
REF
E129.8
E129.9
E129.10
E129.11
E129.12
E129.13
E129.14
E129.15
SDIR:
Bit Name
0
ABS
1
COM1
2
COM2
3
CONT
4
VLIM
5
XLIM
6
FAST
7
(reserved)
E130.0
E130.1
E130.2
E130.3
E130.4
E130.5
E130.6
E130.7
EW130
CDIR:
Bit Name
0
ABS
1
COM1
2
COM2
3
CONT
4
VLIM
5
XLIM
6
FAST
7
(reserved)
A130.0
A130.1
A130.2
A130.3
A130.4
A130.5
A130.6
A130.7
Secondary setpoint
A130.8...15
Primary setpoint
(4 bytes,
bytes int32)
A131.0...15
EW131
A132.0...15
EW132
Secondary actual value
1
E130.8...15
Primary actual value
(4 bytes,
bytes int32)
E131.0...15
E132.0...15
Tab.C/12: Addresses of the control and status bytes in the example Fig.C/16, example of
direct mode
C−34
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Example of I/O assignment commissioning
Module output data
AW
Contents
AW129
CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 0
7
OPM2 = 1
AW130
AW131
AW132
Module input data
Address
EW
Contents
Address
EW129
A129.0
A129.1
A129.2
A129.3
A129.4
A129.5
A129.6
A129.7
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
LOCK
6
OPM1 = 0
7
OPM2 = 1
E129.0
E129.1
E129.2
E129.3
E129.4
E129.5
E129.6
E129.7
CPOS:
Bit Name
0
(reserved)
1
START
2
HOME
3
JOGP
4
JOGN
5
TEACH
6
(reserved)
7
(reserved)
A129.8
A129.9
A129.10
A129.11
A129.12
A129.13
A129.14
A129.15
SPOS:
Bit Name
0
(reserved)
1
ACK
2
MC
3
TEACH
4
MOV
5
DEV
6
STILL
7
REF
E129.8
E129.9
E129.10
E129.11
E129.12
E129.13
E129.14
E129.15
Function
A130.0...7
Function feedback
E130.0...7
Parameter 1
A130.8...15
Progress display
E130.8...15
Parameter 2
(4 bytes,
bytes int32)
A131.0...15
EW131
E131.0...15
A132.0...15
EW132
Actual position
(4 bytes,
bytes int32)
EW130
E132.0...15
Tab.C/13: Addresses of the control and status bytes commissioning in the example
Fig.C/16
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−35
C. Configuration with CPX node
Example of I/O assignment parametrisation
Module output data
AW
Contents
AW129
CCON:
Bit Name
0
ENABLE
1
STOP
2
BRAKE
3
RESET
4
(reserved)
5
LOCK
6
OPM1 = 1
7
OPM2 = 1
Module input data
EW
Contents
Address
EW129
A129.0
A129.1
A129.2
A129.3
A129.4
A129.5
A129.6
A129.7
SCON:
Bit Name
0
ENABLED
1
OPEN
2
WARN
3
FAULT
4
24VL
5
LOCK
6
OPM1 = 1
7
OPM2 = 1
E129.0
E129.1
E129.2
E129.3
E129.4
E129.5
E129.6
E129.7
Subindex
A129.8...15
Subindex
E129.8...15
AW130
Task identifier +
Parameter number
A130.0...15
EW130
Reply identifier +
Parameter number
E130.0...15
AW131
Parameter value
(4 bytes,
bytes int32)
A131.0...15
EW131
E131.0...15
A132.0...15
EW132
Parameter value
(4 bytes,
bytes int32)
AW132
Address
E132.0...15
Tab.C/14: Addresses of the control and status bytes parametrisation in the example
Fig.C/16
C−36
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
C.3.5
Diagnostics
Diagnostics with the Hardware Configurator
With the Hardware Configurator you can carry out complete
diagnostics of the CPX terminal. For this the CPX terminal
must be connected online to your PC: Diagnostic messages
of the modules are displayed directly in the Hardware
Configurator with an icon on the appropriate module:
2
1
1
1 View current diagnostic message
(Properties or module entry)
2 View diagnostic memory
(context menu)
Fig.C/17: Warning icon as diagnostic message in the Hardware Configurator
View current diagnostic message
·
Diagnostic message in the Hardware Configurator.
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−37
C. Configuration with CPX node
·
Display the Diagnostic" tab of the Module..." dialog, by
double−clicking or via the [Properties] context menu.
Fig.C/18: Diagnostic message in the properties dialog
C−38
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C. Configuration with CPX node
Diagnostic memory
·
Display the Diagnostic memory" dialog via the [Diagnos
tic memory] context menu of the Hardware Configurator.
Fig.C/19: Diagnostic memory
Diagnostics with the online control panel
·
Select [Online] [Control panel].
Coded diagnostic information is displayed under Error":
Error type, CPX error number, module number
Fig.C/20: FST online control panel
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
C−39
C. Configuration with CPX node
Diagnostics in the user program
You can read out diagnostic information in your user program
via function modules (CFM).
Modules
Description
C_STATUS
Query diagnostic status
C_TR_rd
Read entries in diagnostic memory
C_MD_rd
Read module diagnostic data
Tab.C/15: CFM for diagnosing the CPX terminal
Error program
If a fault occurs during running time, an error number will be
entered in the error word (FW). Depending on whether an
error program has been configured, the following applies:
Error program = 0 (no error program defined): Programs
will be stopped
Error program > 0: Programs will be stopped and the error
program with the entered number will be started
The following example shows a program for error handling.
Enter it as Error program" in the PLC settings" of the Run
time behaviour" tab .
STEP
1
“Wait for error acknowledgement
IF
THEN
RESET
LOAD
TO
RESET
SET
I0.7
F
V0
FW
P63
P0
’Reset FEC Error
’Error
’Fault word
’Error acknowledgement
’General - organisation
Fig.C/21: Sample extract from an error program
C−40
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Index
Appendix D
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D−1
D. Index
D−2
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D. Index
A
Abbreviations, product−specific . . . . . . . . . . . . . . . . . . . XVI
Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
Absolute (position measuring system) . . . . . . . . . . . . . . . XVI
Acceleration, maximum, ascertain (identification) . . . . . B−19
Adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
Adaptation (explanation) . . . . . . . . . . . . . . . . . . . . . . . . . B−19
Amplification gain
Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−25 , B−32
Examples . . . . . . . . . . . . . . . . . . . . . . . . . B−29 , B−30 , B−31
Axis string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
C
CCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−8
CDIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−20
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Compressed air supply, unstable . . . . . . . . . . . . . . . . . . B−24
Control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
Controller factors
Force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−32
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−25
CPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−14 , 2−19 , 2−25
CPX modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
CPX node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
Cushioning factor
Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−26
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−30 , B−31
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D−3
D. Index
D
Data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−8
Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . 4−48 , C−39
Diagnostics
In the user program . . . . . . . . . . . . . . . . . . . . . . . . . . . C−40
With the Hardware Configurator . . . . . . . . . . . . . . . . . C−37
Diagnostics options, overview . . . . . . . . . . . . . . . . . . . . . 4−3
Dimension reference system . . . . . . . . . . . . . . . . . . . . . . . B−9
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
Dynamic amplification, Definition . . . . . . . . . . . . . . . . . . B−32
E
Errors, Error numbers . . . . . . . . . . . . . . . . . . . . . . . . 4−6 , 4−9
F
Fail Safe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−8 , C−20
Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . XVI
Festo Handling and Positioning Profile . . . . . . . . . . . . . . . XVI
Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . XVII , 6−3
FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
FHPP standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7
Force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
G
GSD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−3
D−4
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D. Index
H
Handheld, Diagnostic memory . . . . . . . . . . . . . . . . . . . . 4−48
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
I
I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7
I/O diagnostic interface, Diagnostic memory . . . . . . . . . 4−48
Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII , B−19
Idle Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−20 , C−30
Incremental (position measuring system) . . . . . . . . . . . XVII
IPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
J
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
L
Logic 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Logic 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
M
Modular EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−17
Module diagnostic data
Module error number . . . . . . . . . . . . . . . . . . . . . . . . . . 4−50
Number of the first faulty channel . . . . . . . . . . . . . . . . 4−50
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D−5
D. Index
O
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Operating mode
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2−11
2−11
2−11
2−11
Optimising the positioning behaviour . . . . . . . . . . . . . . B−27
P
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
PNU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Position measuring system
Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI
Incremental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Pressure control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII
Project zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
R
Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
Record select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11
Relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
RSB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−16
D−6
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D. Index
S
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
SCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−8
SDIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
Signal filter factor
Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−26 , B−33
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−30 , B−31
Software end position . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
Negative (lower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
Positive (upper) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII
Software version . . . . . . . . . . . . . . . . . . . . . . . . . . CMAX, XIV
Speed, maximum, ascertain (identification) . . . . . . . . . . B−19
SPOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−15 , 2−21 , 2−26
Status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−47
Switch−on behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A−3
T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
Text designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
U
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
D−7
D. Index
V
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
W
Warnings, Warning numbers . . . . . . . . . . . . . . . . . . . . . . . 4−9
D−8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH