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Positioning Profile
Description
FHPP
Motor controller
Type
CMMP-AS
CMMS-ST
CMMS-AS
CMMD-AS
Festo handling and
positioning profile
Description
555 696
en 1011b
[757 714]
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de
Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 1011b
Designation . . . . . . . . . . . . . . . . . . P.BE-CMM-FHPP-SW-EN
Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 696
II
Contents
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information about the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VII
VIII
IX
IX
X
XII
XIII
1.
1-1
1.1
1.2
1-3
1-5
1-5
1-6
1-7
1-8
1-8
1-9
1-10
1-11
1-12
1-12
1-13
1-14
1-15
1-15
1-16
1-16
1-17
1-18
1-19
1-20
1.3
1.4
1.5
1.6
III
1.7
1-22
1-24
1-25
1-27
1-27
2.
Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1
2.1
2.2
2.3
2.8
2.9
2-3
2-5
2-5
2-7
2-8
2-13
2-15
2-17
2-18
2-22
2-23
2-27
2-29
2-30
2-32
2-34
2-36
3.
3-1
3.1
3-3
3-4
3-5
3-6
3-7
3-8
2.4
2.5
2.6
2.7
3.2
3.3
IV
3.4
3.5
4.
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1
4.1
4.2
4-3
4-4
4-4
4-5
4-12
4-12
4-13
4-15
4-16
4-19
4-23
4-28
4-29
4-41
4-42
4-43
4-44
4-45
4-46
4-47
4-49
4-52
4-55
4.3
4.4
4-57
4-60
4-61
4.4.22
4.4.23
4.4.24
5.
5-1
5.1
5-3
5-3
5-5
5-7
A.
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A.1
B.
B.1
B.2
C.
VI
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B-1
C-1
Intended use
This description includes the Festo Handling and Position
Profile (FHPP) for the CMMx product family corresponding to
Tab. 0/1 in the Version information section.
This provides you with supplementary information about controlling, diagnosing and parametrising the motor controllers
via the fieldbus.
The complete set of information can be found in the documentation for the motor controller in question:
Description P.BE-CMM...-HW-...:
Mechanical system - Electrical system - Overview of the
function range.
Note
Always follow the safety-related instructions listed in the
product manual for the motor controller in question.
Description P.BE-CMM...-CO-...:
Description of the implemented CANopen protocol as per
DSP 402.
Description P.BE-CMM...-PB-...:
Description of the implemented PROFIBUS-DP protocol.
Description P.BE-CMM...-DN-...:
Description of the implemented DeviceNet protocol.
Description P.BE-CMM...-EC-...:
Description of the implemented EtherCAT protocol.
VII
Safety instructions
When commissioning and programming positioning systems,
you must always observe the safety regulations in this
manual as well as those in 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. Collisions can lead to serious injuries and damage to components.
Make sure that nobody can reach into the sphere of influence 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 parametrisation can cause injuries and
damage to property.
Enable the controller only if the axis system has been
correctly installed and parametrised.
VIII
Target group
This manual 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 department or write
to the following e-mail address if you have any technical
problems:
service_international@festo.com
IX
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally-friendly use of Festo
products.
Text designations
XI
Controller
Firmware
Description
CMMP-AS-...
CMMS-ST-...
CMMS-AS-...
CMMD-AS-...
XII
Meaning
Axis
Mechanical component of a drive that transfers the drive force for the
motion. An axis enables the attachment and guiding of the work load
and the attachment of a reference switch.
Point of reference for the software end positions and the project zero
point PZ. The axis zero point AZ is defined by a preset distance (offset)
from the reference point REF.
Controller
Drive
Encoder
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.
FHPP standard
Defines the sequence control as per the Festo Handling and Positioning Profile (I/O messaging, 8-byte I/O)
HMI
Homing
Homing method
XIII
Term/abbreviation
Meaning
Homing mode
I
O
IO
Input.
Output.
Input and/or output.
Jog mode
The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and control logic of the controller.
Logic 0
Logic 1
Operating mode
PLC
Positioning record
XIV
Term/abbreviation
Meaning
Reference switch
External sensor used for ascertaining the reference position and connected directly to the controller.
Speed adjustment
(Profile Velocity mode)
Teach mode
XV
XVI
Chapter 1
1-1
Contents
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1-2
1-3
1-5
1-5
1-6
1-7
1-8
1-8
1-9
1-10
1-11
1-12
1-12
1-13
1-14
1-15
1-15
1-16
1-16
1-17
1-18
1-19
1-20
1-22
1-24
1-25
1-27
1-27
1.1
Parameter objects,
Sequence control.
...
Fieldbus communication
Record selection
1
>
2
3
Direct mode
Position
Velocity
Parametrisation
Torque
...
n
...
Fig. 1/1: The FHPP principle
1-3
1-4
1.2
Operating mode
Description
Record selection
A specific number of positioning records can be saved in the controller. A record contains all the parameters which are specified for a
positioning task. The record number is transmitted in the cyclic I/O
data as the setpoint or actual value.
Direct mode
1.2.1
1-5
1.2.2
Record selection
Each controller has a specific number of records, which contain all the information needed for one positioning task. The
maximum number of records is specified separately for each
controller.
The record number that the controller is to process at the
next start is transmitted in the PLCs output data. The input
data contains the record number that was processed last.
The positioning task itself does not need to be active.
The controller does not support any automatic mode, i.e. no
user program. Records cannot be processed automatically
with a programmable logic. The controller cannot accomplish
any useful tasks in a stand-alone state; close coupling to the
PLC is necessary.
However, depending on the controller, it is also possible to
concatenate various records and execute them one after the
other with the help of a start command. It is also possible
(again, dependent on the controller) to define record chaining
before the target position is reached.
It is only possible to set all of the parameters for the record
chaining (route program) (e.g. the following record) using
the FCT.
In this way, positioning profiles can be created without the
inactive times (which arise from the transfer in the fieldbus
and the PLCs cycle time) having an effect.
1-6
1.2.3
Direct mode
In the direct mode, positioning tasks are formulated directly
in the PLCs output data.
The typical application calculates dynamically the target setpoint values for each task or just for some tasks. This makes
it possible to adjust the system to different workpiece sizes,
for example, without having to re-parametrise the record list.
The positioning data is managed completely in the PLC and
sent directly to the controller.
1-7
1.3
1.3.1
If required, up to 24 (without FPC) or 16 (with FPC) additional bytes support I/O data for parameter transfer via
FHPP+, see Appendix B.1.
1.3.2
CANopen:
The two axes have a separate CAN address, each with 8
(without FPC) or 16 I/O bytes data (with FPC).
The address of axis 1 is set at the DIP switches. Axis 2 is
always assigned the subsequent address:
CAN address axis 2 = CAN address axis 1 + 1
Note:
With PROFIBUS and DeviceNet, the I/O data for axis 2 are
read by axis 1, passed on to axis 2 and evaluated there. The
answer is returned to axis 1 with the next internal communication task (every 1.6 ms) at the earliest. Only then can the
answer be returned via the fieldbus.
This means that the processing time of the fieldbus protocol
is twice as long as with CMMS-AS.
1-9
1.3.3
Record selection
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
CCON
CPOS
Record
no.
Reserved
Reserved
Input
data
SCON
SPOS
Record
no.
RSB
Actual position
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Output
data
CCON
CPOS
CDIR
Setpoint
value 1
Setpoint value 2
Input
data
SCON
SPOS
SDIR
Actual
value 1
Actual value 2
Byte 7
Byte 8
Byte 7
Byte 8
Direct mode
Byte 6
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
Input
data
1-10
Byte 7
Byte 8
Parameter value
1.4
B7
OPM2
B6
OPM1
B5
LOCK
B4
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Software
access
locked
Reset
fault
Open
brake
Stop
Drive
enable
B3
JOGP
B2
HOM
B1
START
B0
HALT
CPOS
B7
(Record
selection
and
Direct
mode)
B6
CLEAR
B5
TEACH
B4
JOGN
Clear remaining
position
Teach
actual
value
Start
homing
Start
positioning task
Halt
CDIR
(Direct
mode)
B7
FUNC
B6
FGRP2
B5
FGRP1
B4
FNUM2
B2
COM2
B1
COM1
B0
ABS
Execute
function
Function group
B3
FNUM1
Function number
Control mode
(position, torque,
velocity, ...)
Absolute/
Relative
B2
WARN
B1
OPEN
B0
ENABLED
B7
OPM2
B6
OPM1
B5
LOCK
B4
24VL
B3
FAULT
Warning
Operation Drive
enabled
enabled
SPOS
(Record
selection
and
Direct
mode)
B7
REF
B6
STILL
B5
DEV
B3
TEACH
B2
MC
B1
ACK
B0
HALT
Axis is
referenced
Standstill
control
Drag
Axis is
(deviation) moving
error
Acknowledge
teach/
sampling
Motion
complete
Acknowledge
start
Halt
SDIR
(Direct
mode)
B7
FUNC
B6
FGRP2
B5
FGRP1
B3
FNUM1
B2
COM2
B1
COM1
B0
ABS
Function
is executed
B4
MOV
B4
FNUM2
Function number
feedback
Absolute/
Relative
1-11
1.5
1.5.1
EN
Description
B0
ENABLE
Drive Enable
B1
STOP
Stop
= 1: Operation enabled.
Any error will be deleted.
= 0: STOP active (cancel emergency ramp + positioning task). The drive
stops with maximum braking ramp, the positioning task is reset.
B2
BRAKE
Open Brake
= 1: Release brake
= 0: Activate brake
Note: it is only possible to release the brake if the controller is disabled.
As soon as the controller is enabled, it has priority over the brakes control system.
B3
RESET
Reset Fault
With a rising edge a fault is acknowledged and the fault value is deleted.
B4
Reserved, must be at 0.
B5
LOCK
B6
OPM1
Bit 7
0
0
1
1
B7
OPM2
6
0
1
0
1
Operating mode
Record selection
Direct mode
Reserved
Reserved
1-12
1.5.2
EN
Description
B0
HALT
Halt
B1
START
With a rising edge the current setpoint values will be transferred and
positioning started (even if record 0 = homing, for example).
B2
HOM
Start Homing
B3
JOGP
Jog positive
The drive moves at the specified velocity or rotational speed in the direction of larger actual values, providing the bit is set. The movement begins with the rising edge and ends with the falling edge.
B4
JOGN
Jog negative
The drive moves at the specified velocity or rotational speed in the direction of smaller actual values, see B3.
B5
TEACH
Teach Actual
Value
At a falling edge the current actual value is imported into the setpoint
register of the currently addressed positioning record; see section 2.5.
The teach target is defined with PNU 520. The type is determined by the
record status byte (RSB).
See also section 2.5.
B6
CLEAR
In the Halt status a rising edge causes the positioning task to be deleted and transfer to the status Ready.
B7
Reserved, must be at 0.
1-13
1.5.3
EN
Description
B0
ABS
Absolute/
Relative
B1
COM1
Control Mode
Function
Number
Function
Group
Function
= 0: Normal task
= 1: Execute camming function (only permissible with CMMP,
Bit 3 ... 6 = function number and group)
B2
COM2
B3
FNUM1
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
1)
With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2
are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 determine the reference and the closed-loop control mode of the master.
1-14
1.5.4
EN
B0 ... B7
Velocity
Velocity ramp
Description
preselection depends on the closed-loop control mode (CDIR.B1/B2):
Profile Position mode: Velocity as percentage of
base value (PNU 540)
Profile Torque mode: No function, = 0!
Profile Velocity mode: Velocity ramp as percentage of
base value (PNU 560)
EN
Description
Position
Torque
B0...B31
Velocity
1.5.5
EN
Description
B0 ... B7
Record
number
EN
Description
B0 ... B7
Reserved (= 0)
1-15
1.6
1.6.1
EN
Description
B0
Drive Enabled
ENABLED
B1
OPEN
Operation Enabled
= 0: STOP active
= 1: Operation enabled, positioning possible
B2
WARN
Warning
B3
FAULT
Fault
= 0: No fault
= 1: There is a fault or fault reaction is active.
Fault code in the diagnostic memory.
B4
24VL
B5
LOCK
Drive Control
by Software
B6
OPM1
Bit 7
0
0
1
1
B7
OPM2
1-16
6
0
1
0
1
1.6.2
EN
Description
B0
HALT
Halt
= 0: HALT is active
= 1: HALT is not active, axis can be moved
B1
ACK
Acknowledge
Start
B2
MC
Motion Complete
B3
TEACH
Acknowledge
Teach /
Sampling
B4
MOV
Axis is moving
B5
DEV
B6
STILL
Standstill
control
B7
REF
Axis is referenced
1-17
1.6.3
EN
Description
B0
ABS
Absolute/
Relative
B1
COM1
Control Mode
feedback
Bit 2
0
0
1
1
Function
Number
feedback
Function
Group
feedback
Function
feedback
= 0: Normal task
= 1: Camming function is executed
(bits 3 ... 6 = function number and group)
B2
COM2
B3
FNUM1
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
1-18
1
0
1
0
1
1.6.4
EN
B0 ... B7
Velocity
Torque
Description
Feedback depends on the closed-loop control mode (CDIR.B1/B2):
Profile Position mode: Velocity as percentage of
base value (PNU 540)
Profile Torque mode: Torque as percentage of the rated
torque (PNU 1036)
Profile Velocity mode: no function, = 0
EN
B0 ... B31
Position
Torque
Velocity
Description
Feedback depends on closed-loop control mode (CDIR.B1/B2), in each
case a little-endian 32-bit number:
Profile Position mode: Position in positioning unit,
see appendix A.1
Profile Torque mode: Position in positioning unit,
see appendix A.1
Profile Velocity mode: Speed as an absolute value in unit of velocity
1-19
1.6.5
EN
Description
B0 ... B7
Record
number
EN
Description
B0
RC1
1st Record
Chaining Done
B1
RCC
B2
Reserved
B3
FNUM1
Function
Number
feedback
Function
Group
feedback
Function
feedback
= 0: Normal task
= 1: Camming function is executed
(bits 3 ... 6 = function number and group)
B4
FNUM2
B5
FGRP1
B6
FGRP2
B7
FUNC
1-20
EN
Description
B0...B31
Position, ...
1-21
1.7
Switched off
T7* always has the
highest priority.
T7*
S5
S1
Controller
switched on
Reaction to fault
T1
T8
S6
S2
Drive disabled
T5
T9
Fault
T2
T10
S3
Drive enabled
T6
T4
SA5
Jog positive
TA9
T3
SA1
TA10
SA4
Homing is being
carried out
TA7
Ready
SA6
Jog negative
T11
TA8
TA11
TA12
TA2
TA1
SA2
Positioning task
active
TA4
TA5
TA6
TA3
SA3
Intermediate stop
S4
Operation enabled
S1
S5
S5 Reaction to
fault
Controller
switched on
T1
S2 Drive disabled
T5
T8
T9
S6
T11
Fault
T2
T10
S3 Drive enabled
T6
T4
S4
T3
Operation
enabled
1-23
1.7.1
Internal conditions
T1
T2
Drive enable = 1
CCON = xxx0.xxx1
T3
Stop = 1
CCON = xxx0.xx11
T4
Stop = 0
CCON = xxx0.xx01
T5
Drive enable = 0
CCON = xxx0.xxx0
T6
Drive enable = 0
CCON = xxx0.xxx0
T7*
Fault detected.
T8
T9
Reset fault = 0 1
CCON = xxx0.Pxxx
T10
Reset fault = 0 1
CCON = xxx0.Pxx1
T11
Reset fault = 0 1
CCON = xxx0.Pxx1
1-24
1.7.2
Positioning
As a general rule:
Transitions T4, T6 and T7* always have priority.
TA
Internal conditions
TA1
TA2
Motion Complete = 1
The current record is completed. The next record
is not to be carried out automatically
TA3
Motion Complete = 0
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA4
TA5
Halt = 1
Start positioning task = 01
Clear remaining position = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
Record selection:
CCON = xxx0.xx11
A single record is finished.
CPOS = 0xxx.xxx1
The next record is to be carried out automatically.
Direct mode:
A new positioning task has arrived.
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6
TA7
Start homing = 01
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA8
1-25
TA
Internal conditions
TA9
Jog positive = 0 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.Pxx1
TA10
Either
Jog positive = 10
CCON = xxx0.xx11
CPOS = 0xxx.Nxx1
or
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA11
Jog negative = 0 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xxP.0xx1
TA12
Either
Jog negative = 1 0
CCON = xxx0.xx11
CPOS = 0xxN.xxx1
or
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
1-26
1.7.3
FHPP operating
mode
Record selection
No restrictions.
Direct mode
TA2: The condition that no new record may be processed no longer applies.
TA5: A new record can be started at any time.
1.7.4
1-27
Control bytes
Byte
0: logic 0;
1: logic 1;
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
OPM2 OPM1
CCON 0
Byte 2
CPOS
LOCK
RESET BRAKE
STOP
ENABL
HOM
START
HALT
JOGP
B7 B6 B5 B4 B3 B2 B1 B0
Byte 1
SCON 0
Byte 2
REF
SPOS 0
24VL
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
Tab. 1/4: Control and status bytes for Device control active
1-28
Control bytes
Byte
Byte 1
Byte 2
CPOS
CPOS
(Record selection)
0: logic 0;
1: logic 1;
0
0
OPM2 OPM1
Byte 1
CCON 0
CPOS
LOCK
OPM2 OPM1
Byte 2
LOCK
CCON x
Byte 2
OPM2 OPM1
CCON 0
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
x
LOCK
RESET BRAKE
STOP
ENABL
HOM
START
HALT
STOP
ENABL
JOGP
RESET BRAKE
JOGP
HOM
RESET BRAKE
x
START
x
STOP
x
HALT
x
ENABL
JOGP
HOM
START
HALT
Byte 1
B7 B6 B5 B4 B3 B2 B1 B0
OPM2 OPM1 LOCK
SCON 0
Byte 2
REF
SPOS 0
Byte 1
Byte 2
REF
SPOS x
Byte 1
Byte 2
STILL
DEV
MOV
TEACH
MC
ACK
HALT
REF
SPOS 0
24VL
STILL
DEV
MOV
SCON 0
SCON x
24VL
x
24VL
x
TEACH
MC
ACK
HALT
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
Tab. 1/5: Control and status bytes for Create readiness to operate Record selection
1.2
1.3
1-29
Control bytes
Byte
Byte 1
Byte 2
CPOS
CPOS
(Direct mode)
0: logic 0;
1: logic 1;
0
0
OPM2 OPM1
Byte 1
CCON 0
CPOS
LOCK
OPM2 OPM1
Byte 2
LOCK
CCON x
Byte 2
OPM2 OPM1
CCON 0
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
x
LOCK
RESET BRAKE
STOP
ENABL
HOM
START
HALT
STOP
ENABL
JOGP
RESET BRAKE
JOGP
HOM
RESET BRAKE
x
START
x
STOP
x
HALT
x
ENABL
JOGP
HOM
START
HALT
B7 B6 B5 B4 B3 B2 B1 B0
Byte 1
SCON 0
Byte 2
REF
SPOS 0
Byte 1
Byte 2
REF
SPOS x
Byte 1
Byte 2
STILL
DEV
MOV
TEACH
MC
ACK
HALT
REF
SPOS 0
24VL
STILL
DEV
MOV
SCON 0
SCON x
24VL
x
24VL
x
TEACH
MC
ACK
HALT
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
Tab. 1/6: Control and status bytes for Create readiness to operate Direct mode
2.2
2.3
1-30
3. Fault handling
Step/Description
Control bytes
Byte
Byte 1
3.1 Fault
OPM2 OPM1
CCON x
3.2 Warning
Byte 2
CPOS
Byte 1
CPOS
3.3 Reset fault
with CCON.B3
(RESET)
0: logic 0;
1: logic 1;
Byte 1
Byte 2
CPOS
x
LOCK
OPM2 OPM1
CCON 0
LOCK
OPM2 OPM1
CCON x
Byte 2
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
x
LOCK
RESET BRAKE
JOGP
HOM
RESET BRAKE
JOGP
HOM
RESET BRAKE
JOGP
HOM
STOP
x
START
x
STOP
x
START
x
STOP
x
START
ENABL
Byte 1
Byte 2
Byte 1
Byte 2
SPOS x
ENABL
Byte 1
Byte 2
REF
SPOS x
F: positive edge;
STILL
DEV
MOV
TEACH
MC
ACK
HALT
24VL
STILL
DEV
MOV
SCON 0
HALT
REF
24VL
SCON x
HALT
REF
SPOS x
ENABL
SCON x
HALT
B7 B6 B5 B4 B3 B2 B1 B0
x
24VL
x
TEACH
MC
ACK
HALT
STILL
DEV
MOV
TEACH
MC
ACK
HALT
N: negative edge
1-31
3.2
3.3
Faults and warnings can be also reset using DIN5 (closedloop controller enable), see manual for the controller used.
1-32
Control bytes
Byte
Byte 1
OPM2 OPM1
CCON 0
Byte 2
CPOS
Byte 1
CPOS
4.3 Homing finished
Byte 1
1: logic 1;
Byte 2
CPOS
LOCK
0
x
LOCK
OPM2 OPM1
CCON 0
0: logic 0;
OPM2 OPM1
CCON 0
Byte 2
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
LOCK
RESET BRAKE
JOGP
HOM
RESET BRAKE
JOGP
HOM
RESET BRAKE
STOP
ENABL
START
HALT
STOP
ENABL
START
HALT
STOP
ENABL
JOGP
HOM
START
HALT
Byte 1
B7 B6 B5 B4 B3 B2 B1 B0
OPM2 OPM1 LOCK
SCON 0
Byte 2
REF
SPOS 0
Byte 1
Byte 2
REF
SPOS 0
Byte 1
Byte 2
STILL
DEV
MOV
TEACH
MC
ACK
HALT
REF
SPOS 1
24VL
STILL
DEV
MOV
TEACH
MC
ACK
HALT
SCON 0
SCON 0
24VL
1
24VL
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
1-33
4.2
4.3
1-34
Control bytes
Byte
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
Byte 3
Record number
Byte 3
Record number
Record
No.
Record
No.
Byte 1
CCON
Byte 2
CPOS
5.3 Task running
Byte 1
CCON
Byte 2
CPOS
OPM2 OPM1
CLEAR TEACH
OPM2 OPM1
LOCK
0
LOCK
CLEAR TEACH
ENABL
Byte 1
24VL
SCON
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
STOP
ENABL
Byte 1
SCON
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
RESET BRAKE
JOGN
JOGP
HOM
START
HALT
SPOS
SPOS
24VL
Record number
Byte 3
Record number
Record
No.
Record
No.
Byte 1
CCON
Byte 2
CPOS
OPM2 OPM1
LOCK
CLEAR TEACH
RESET BRAKE
STOP
ENABL
Byte 1
SCON
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
JOGN
JOGP
Byte 5...8
1: logic 1;
STOP
JOGN
RESET BRAKE
Byte 3
0: logic 0;
B7 B6 B5 B4 B3 B2 B1 B0
Reserved
Reserved
x: not relevant (any);
SPOS
24VL
Byte 5...8
Act.
pos.
Position
Actual position
(positioning units)
F: positive edge
Tab. 1/9: Control and status bytes for Positioning with record selection
1-35
5.2
5.3
5.4
1-36
Control bytes
Byte
Byte 4
Velocity
Byte 4
Velocity
Velocity
Byte 5...8
Position
Byte 5...8
Position
Setpoint
pos.
Setpoint position
(positioning units)
Byte 1
OPM2 OPM1
CCON
Byte 2
LOCK
RESET BRAKE
FAST
XLIM
VLIM
CONT
LOCK
Byte 1
OPM2 OPM1
CCON
Byte 2
Byte 1
1
0
OPM2 OPM1
CCON
Byte 2
CPOS
LOCK
ENABL
Byte 1
SCON
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
SPOS
ABS
Byte 3
FUNC
FAST
XLIM
VLIM
ABS
SDIR
STOP
ENABL
Byte 1
SCON
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
SPOS
STOP
ENABL
Byte 1
JOGP
FUNC
Actual position
(positioning units)
Byte 3
Act.
pos.
STOP
CPOS
CPOS
6.4 Task finished
B7 B6 B5 B4 B3 B2 B1 B0
Velocity
CDIR
6.3. Task running
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Byte
COM2 COM1
RESET BRAKE
JOGP
HOM
RESET BRAKE
24VL
0
24VL
1
24VL
SCON
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
SPOS
Tab. 1/10: Control and status bytes for Positioning with direct mode
1-37
6.2
6.3
6.4
1-38
Drive functions
Chapter 2
Drive functions
2-1
2. Drive functions
Contents
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2-2
2-3
2-5
2-5
2-7
2-8
2-13
2-15
2-17
2-18
2-22
2-23
2-27
2-29
2-30
2-32
2-34
2-36
2. Drive functions
2.1
REF
LSE
AZ
PZ
TP/AP
USE
LES
HES
Positions increasing in size, positive travel
REF
AZ
PZ
Target/actual position
offset
LSE
d, e
USE
Effective stroke
LES
Nominal stroke
HES
TP, AP
Target/actual position
2-3
2. Drive functions
REF
AZ
PZ
REF
Reference point: point ascertained during homing: reference switch, limit switch or stop,
with index pulse where applicable.
AZ
Axis zero point: point of reference for the project zero point and the software end positions.
PZ
Project zero point: point of reference (= zero point) for actual position and absolute positions in the positioning record table.
Axis zero point offset: distance of axis zero point AZ from reference point REF
d, e
Software end position offsets: limit the permitted positioning range (usable stroke).
Optional: endless positioning possible
2-4
2. Drive functions
2.2
Reference point
Calculation rule
AZ
= REF + a
PZ
= AZ + b
= REF + a + b
LSE
= AZ + d
= REF + a + d
USE
= AZ + e
= REF + a + e
Target/actual position
TP, AP
= PZ + c
= AZ + b + c
= REF + a + b + c
Tab. 2/3: Calculation rules for the reference system with incremental measuring systems
2.3
Homing
In the case of drives with incremental measuring system,
homing must always be carried out when the device is
switched on.
This is defined drive-specifically with the parameter Homing
required (PNU 1014).
2-5
2. Drive functions
Homing mode
Controller
Hex
Dec
Description
CMMP-AS
CMMS-AS/ CMMS-ST
CMMD-AS
01h
x 1)
02h
x 1)
07h
0Bh
11
11h
17
12h
18
17h
23
1Bh
27
21h
33
x 1)
22h
34
x 1)
23h
35
Current position
FFh
-1
x 1)
FEh
-2
x 1)
EFh
-17
Negative stop
x 1)
EEh
-18
Positive stop
x 1)
E9h
-23
E5h
-27
1)
2-6
2. Drive functions
2.3.1
Description
PNU
1010
Homing method
1011
Homing speeds
1012
Homing accelerations
1013
Homing required
1014
1015
Start (FHPP)
Feedback (FHPP)
Requirement
2-7
2. Drive functions
2.3.2
Homing methods
The homing methods are oriented towards CANopen DS 402.
With some motors (those with absolute encoders, single/
multi-turn) the drive may be permanently referenced. In such
cases, methods involving homing to an index pulse (= zero
pulse) might not cause homing to be carried out; rather the
drive will move directly to the axis zero point (if it has been
entered in the parameters).
Homing methods
Hex
Dec
Description
01h
02h
1)
Index pulse
Negative limit switch
Index pulse
Positive limit switch
2-8
2. Drive functions
Homing methods
Hex
Dec
Description
07h
0B
11h
1)
11
17
Index pulse
Reference switch
Index pulse
Reference switch
2-9
2. Drive functions
Homing methods
Hex
Dec
Description
12h
18
17h
1Bh
1)
23
27
Reference switch
Reference switch
2-10
2. Drive functions
Homing methods
Hex
Dec
Description
21h
33
22h
34
23h
35
Current position
1. The current position is saved as the reference
point.
2. If this has been entered in the parameters: run
at travel speed to axis zero point.
Note: if the reference system is shifted, runs to a
limit switch or fixed stop are possible.
This is therefore generally used for axes of rotation.
FFh
-1
FEh
1)
2)
-2
Index pulse
Index pulse
Index pulse
Index pulse
2-11
2. Drive functions
Homing methods
Hex
Dec
Description
EFh
-17
Negative stop 1) 2) 3)
1. Run at search speed in negative direction to
stop. This position is saved as the reference
point.
2. If this has been entered in the parameters: run
at travel speed to axis zero point.
EEh
-18
Positive stop 1) 2) 3)
1. Run at search speed in positive direction to
stop. This position is saved as the reference
point.
2. If this has been entered in the parameters: run
at travel speed to axis zero point.
E9h
-23
E5h
1)
2)
3)
-27
Reference switch
Reference switch
2. Drive functions
2.4
Jog mode
In the Operation enabled state, the drive can be moved by
jogging in the positive/negative directions. This function is
usually used for:
Moving the drive out of the way (e.g. after a system fault)
Procedure
1. When one of the signals Jog positive / Jog negative is
set, the drive starts to move slowly. Due to the slow
speed, a position can be defined very accurately.
2. If the signal remains set for longer than the configured
phase 1 time, the speed is increased until the configured maximum velocity is reached. In this way large
strokes can be traversed quickly.
3. If the signal changes to 0, the drive is braked with the
pre-set maximum deceleration.
4. Only if the drive is referenced:
If the drive reaches a software end position, it will stop
automatically. The software end position is not exceeded,
the path for stopping depends on the ramp set. The jog
mode can be exited here with Jog = 0.
2-13
2. Drive functions
(slow travel)
Velocity v(t)
phase 2
3 Acceleration
t [s]
4 Deceleration
5 Phase 1 time
CPOS.B3 or
CPOS.B4 (Jog
positive/negative)
5
Fig. 2/1: Sequence chart for jog mode
Overview of parameters involved (see section 4.4.9)
Parameters involved
Description
PNU
530
531
532
533
534
Start (FHPP)
Feedback (FHPP)
Requirement
2-14
2. Drive functions
2.5
=2
=3
=4
=5
2-15
2. Drive functions
1 PLC:
Teach actual
value
CPOS.B5
Prepare teaching
2 Controller:
3 PLC:
Teach now
Acknowledgement
SPOS.B3
4 Controller:
Value transferred
Description
PNU
Teach target
520
Record number
400
500
501
1010
Start (FHPP)
Feedback (FHPP)
Requirement
2-16
2. Drive functions
2.6
Procedure
1. Set the required record number in the PLCs output data.
Until the start, the controller replies with the number of
the record last processed.
2. With a rising edge at CPOS.B1 (START) the controller
accepts the record number and starts the positioning
task.
3. The controller signals with the rising edge at Acknowledge
start that the PLC output data has been accepted and that
the positioning task is now active. The positioning command
continues to be executed, even if CPOS.B1 (START) is reset
to zero.
4. When the record is concluded, SPOS.B2 (MC) is set.
Causes of errors in application:
2-17
2. Drive functions
Description
PNU
Record number
400
All parameters of the record data, see sections 2.6.2, Tab. 2/11
401
...
421
Start (FHPP)
Feedback (FHPP)
Requirement
2.6.1
2-18
2. Drive functions
Start/stop record
Target record
number
Output data
Stop
CCON.B1 (STOP)
N-1
N+1
Start
CPOS.B1 (START)
3
0
Acknowledge start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
Axis is moving
SPOS.B4 (MOV)
Actual record
number
Input data
N-1
N+1
1 Prerequisite:
Acknowledge start = 0
2-19
2. Drive functions
Halt
CPOS.B0 (HALT)
N-1
N+1
Start
CPOS.B1 (START)
Confirm Halt
SPOS.B0 (HALT)
Acknowledge start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
Axis is moving
SPOS.B4 (MOV)
Actual record
number
Input data
N-1
Fig. 2/4: Sequence chart for Stop record with Halt and Continue
2-20
2. Drive functions
Halt
CPOS.B0 (HALT)
N-1
N+1
Start
CPOS.B1 (START)
Clear remaining
position
CPOS.B6 (CLEAR)
Confirm Halt
SPOS.B0 (HALT)
Acknowledge start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
Axis is moving
SPOS.B4 (MOV)
Actual record
number
Input data
N-1
N+1
1 Stop record
Fig. 2/5: Sequence chart for Stop record with Halt and Clear remaining position
Festo P.BE-CMM-FHPP-SW-EN en 1011b
2-21
2. Drive functions
2.6.2
Record structure
A positioning task in record selection mode is described by
a record made up of setpoint values. Every setpoint value is
addressed by its own PNU. A record consists of the setpoint
values with the same subindex.
PNU Name
Description
401
402
Record control:
Settings for conditional record chaining
404
Setpoint value
405
Preselection value
406
Velocity
407
Acceleration
408
Deceleration
413
414
Record profile
415
Reserved
416
418
Torque limitation
419
CMMP only: number of the cam disk to be executed with this record.
Requires configuration of PNU 401 (virtual master).
420
Remaining distance
message
421
2-22
2. Drive functions
2.6.3
Numerical value 0 to 128: step enabling condition as a list, see Tab. 2/13
Bit 7
2-23
2. Drive functions
Condition
Description
No automatic continuation
1 1)
MC
2 1)
Position
3 1)
Torque
1)
2-24
2. Drive functions
Condition
Description
Standstill
The chain continues to the next record once the drive comes to a standstill
and then the time T1 specified as the preselection value has expired. (Travel
to end point)
5 2)
Time
The preselection value is interpreted as time in milliseconds. The chain continues to the next record once this time has expired (after the start).
Input
Pos. edge
The chain continues to the next record if a rising edge is identified at the
local input. The preselection value includes the inputs bit address.
Preselection value = 1: NEXT1
Preselection value = 2: NEXT2
Input
Neg. edge
The chain continues to the next record if a falling edge is identified at the
local input. The preselection value includes the inputs bit address.
Preselection value = 1: NEXT1
Preselection value = 2: NEXT2
8 1)
Velocity profile
Input
Pos. edge
waiting
The chain continues to the next record after the current record ends if a
rising edge is identified at the local input. The preselection value includes
the inputs number:
Preselection value = 1: NEXT1
Preselection value = 2: NEXT2
10
Input
Neg. edge
waiting
The chain continues to the next record after the current record ends if a
falling edge is identified at the local input. The preselection value includes
the inputs number:
Preselection value = 1: NEXT1
Preselection value = 2: NEXT2
1)
2)
2-25
2. Drive functions
Condition
Description
11 2)
Position
(relative)
12
Internal MC
condition
2)
2-26
2. Drive functions
2.7
Direct mode
In the status Drive enabled (Direct mode) a task is formulated directly in the I/O data that is transmitted via the fieldbus. Some of the setpoint values for the position are reserved
in the PLC.
The function is used in the following situations:
2-27
2. Drive functions
Description
PNU
Position specifications
540
541
542
546
550
552
Damping time
553
Torque specifications
(for CMMP only) 2)
554
1)
560
561
562
563
564
565
Start (FHPP)
Feedback (FHPP)
Requirement
1)
The PLC transfers a percentage value in the control bytes, which is multiplied by the base value in
order to get the final setpoint value.
2) For supported functions, see 1.4
2-28
2. Drive functions
2.7.1
Setpoint position
Output data
N-1
N+1
N+2
Start
CPOS.B1
Acknowledge start
SPOS.B1
Motion Complete
SPOS.B2
2-29
2. Drive functions
2.7.2
2-30
2. Drive functions
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
CCON
CPOS
CDIR
Setpoint
Setpoint value 2
value 1
(torque)
(reserved)
Input
data
SCON
SPOS
SDIR
Actual
value 1
(actual
torque)
Byte 7
Byte 8
Actual value 2
(actual position)
Data
Meaning
Unit(s)
Setpoint value 1
Setpoint value 2
Setpoint torque
Actual value 1
Actual torque
Actual value 2
Actual position
2-31
2. Drive functions
2.7.3
Setpoint value
=0
2-32
2. Drive functions
Velocity (rpm)
Timer
Damping time
2-33
2. Drive functions
2.8
Standstill control
Standstill control makes it possible to detect the drive exiting
the target position window while at a standstill.
Standstill control is relevant solely for Profile Position mode
(position control).
When the target position has been reached and MC signalled
in the status word, the drive switches to the standstill state,
and bit SPOS.B6 (Standstill control) is reset. If, in this status,
the drive is removed from the standstill position window for a
defined time due to external forces or other influences, the bit
SPOS.B6 will be set.
As soon as the drive is in the standstill position window again
for the standstill timeout time, the bit SPOS.B6 will be reset.
1 Target position
2 Actual position
3 Standstill control
(SPOS.B6)
4 Motion Complete
2
8
(SPOS.B2)
5 Standstill position
window
3
0
6 Target position
window
7 Monitoring time
(position window
time)
4
0
8 Standstill timeout
Fig. 2/8: Standstill control
2-34
2. Drive functions
Description
PNU
1022
1023
Setpoint position
1040
Current position
1041
1042
Standstill timeout
1043
Start (FHPP)
Feedback (FHPP)
Requirement
2-35
2. Drive functions
2.9
PNU
350:01
350:02
2-36
Chapter 3
3-1
Contents
3.1
3.5
3-2
3.2
3.3
3.4
3.1
Warnings
Display
3-3
3.1.1
Warnings
A warning provides the user with information that does not
have any effect on the drives behaviour.
Behaviour in the event of warnings
CMMP only:
The warning numbers are logged in the warning register
(PNU 211).
Causes of warnings
3-4
3.1.2
Fault type 1
In the event of a fault, the service that was requested cannot
be provided. The drive switches from its current status to the
Fault status.
Behaviour in the event of type 1 faults
3-5
3.1.3
Fault type 2
In the event of a fault, the service that was requested cannot
be provided. The drive switches from its current status to the
Fault status.
Behaviour in the event of type 2 faults
Hardware fault:
3-6
Bus fault.
SD card fault.
3.2
201
Format
uint16
Meaning
Fault number
Subindex 1
Subindex 2
Subindex 3
Subindex 4
1)
200
201
202
Format
uint8
uint16
uint32
Meaning
Diagnostic event
Fault number
Time
Subindex 1
Subindex 2
...
2)
Subindex 32
1)
...
32nd saved fault
3-7
3.3
210
211
212
Format
uint8
uint16
uint32
Meaning
Warning event
Warning
number
Time
Subindex 1
Subindex 2
...
...
Subindex 16
1)
3-8
3.4
Fault numbers
The error messages of the controller are displayed and
recorded as fault numbers. Sections 3.4.1 and 3.4.2 contain
the error messages from the latest firmware versions at the
time of printing of this document.
For a complete, up-to-date list of error messages, see
the hardware description for the controller in question,
type P.BE-CMM...-HW-...
Subindex
Message
Causes
Measures
Invalid error
Error cleared
3-9
Subindex
Message
Causes
Measures
Stack overflow
Incorrect firmware?
Sporadic high processor load
due to cycle time being too
short and specific processorintensive processes (save parameter set etc.).
3-10
Analogue motor
overtemperature
If there is overloading:
Check parameters (current
regulator, current limits).
Check the parametrisation of
the sensor or the sensor
characteristics.
If the error remains even when
the sensor is jumpered out: device defective.
Subindex
Message
Causes
Measures
... 3
Analogue motor
overtemperature:
Broken wire
Analogue motor
overtemperature:
Short circuit
Failure of internal
voltage 1
Failure of internal
voltage 2
Failure of driver
supply
Undervoltage of
digital I/O
Overcurrent of
digital I/O
brake (connected
incorrectly?).
3-11
Subindex
Message
Causes
Measures
Short circuit of out- Faulty motor, e.g. interturn short Dependent on the state of the
circuit due to motor overheating system; cases a) to f):
put stage
or short to earth inside motor.
Short circuit in the cable or the a) Fault only with active brake
connecting plugs, i.e. short circhopper:
cuit between motor phases or to
Check external braking resisthe screen/earth.
tor for short circuit or insuffiOutput stage defective (short
cient resistance value. Check
circuit).
the circuitry of the brake
Incorrect parametrisation of the
chopper output on the motor
current regulator.
controller (jumpering etc.).
b) Error message as soon as the power supply is switched on: internal short circuit in the output stage (short circuit of a complete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly external)
fuses are tripped. Repair by the manufacturer is necessary.
c) Short circuit error message not until the output stage or closedloop controller is enabled.
d) Disconnection of motor plug X6 directly on the motor controller.
If the error still occurs, there is a fault in the motor controller.
Repair by the manufacturer is necessary.
e) The error occurs only with motor cable connected: check the
motor and cable for short circuits, e.g. with a multimeter.
f) Check parametrisation of the current regulator. Oscillations in an
incorrectly parametrised current regulator can generate currents
up to the short circuit threshold, usually clearly audible as a
high-frequency whistling. Verify if necessary with the oscilloscope function (actual active current value).
3-12
Brake chopper
overcurrent
Subindex
Message
Causes
Measures
Step-by-step procedure
according to a) to c):
Sense of rotation
of the serial and incremental position
evaluation is not
identical
3-13
Subindex
Message
Causes
Measures
... 8
1)
Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited?
Check that installation complies with EMC recommendations (cable screening on both sides?).
Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect
unused lines in parallel) or use voltage feedback (SENSE+ and SENSE-).
2) If the error still occurs when the configuration is correct, test with a different (error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair
by the manufacturer is necessary.
3-14
Subindex
Message
Causes
Measures
... 8
Digital incremental
encoder track signals error (X2B)
Angle encoder
communication
fault
1)
Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited?
Check that installation complies with EMC recommendations (cable screening on both sides?).
With TTL single-ended signals (HALL signals are always TTL single-ended signals): check whether there
might be an excessive voltage drop on the GND line; in this case = circuit common.
Check whether there might be an excessive voltage drop on the GND line; in this case = circuit common.
Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect
unused lines in parallel) or use voltage feedback (SENSE+ and SENSE-).
2) If the error still occurs when the configuration is correct, test with a different (error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair
by the manufacturer is necessary.
3-15
Subindex
Message
Causes
Measures
... 8
Possible causes:
Encoder-specific or manufacturer-specific, e.g. diminishing
illumination intensity in optical
encoders or excessive rpm.
If the error is ongoing, test with
a different (error-free) encoder
(replace the connecting cable as
well). Encoder is probably permanently faulty.
Angle encoder at
X2B not supported
1)
3-16
Subindex
Message
Causes
Measures
Warning:
An encoder parameter record in
an old format was found in the
EEPROM of the connected encoder. This has been converted
and saved in the new format.
Angle encoder
Data in the EEPROM of the
parameter record
angle encoder could not be read
cannot be decoded completely, or access to it was
partly refused.
Defective data
structure in angle
encoder parameter
record
3-17
Subindex
Message
Causes
Measures
... 9
EEPROM data:
Faulty user-specific
configuration
Write-protected
angle encoder
EEPROM
Angle encoder
EEPROM too small
It is not possible to save all the Reduce the number of data redata in the EEPROM of the angle cords to be saved. Please read
encoder.
the documentation or contact
Technical Support.
10
3-18
Subindex
Message
Causes
Measures
11
Error when
homing is started
Error during
homing
switches.
If applicable, lock the stop
Homing: No valid
index pulse
Homing: Timeout
Homing: Incorrect/
invalid limit switch
3-19
Subindex
Message
Causes
Measures
... 11
Homing: I@t /
following error
Homing: End of
search path
Check wiring:
cable specifications adhered to;
broken cable; maximum cable
length exceeded; terminating resistors correct; cable screening
earthed; all signals connected?
It may be helpful to try replacing
the device as a test. If a
different device works without
errors with the same cabling,
send the device to the manufacturer for checking.
12
3-20
Subindex
Message
Causes
Measures
... 12
Check wiring:
cable specifications adhered to;
broken cable; maximum cable
length exceeded; terminating resistors correct; cable screening
earthed; all signals connected?
It may be helpful to try replacing
the device as a test. If a different
device works without errors with
the same cabling, send the device to the manufacturer for
checking.
Check the start sequence of the
application.
CAN: Node
Guarding
3-21
Subindex
Message
Causes
Measures
13
14
Insufficient power
supply for identification
Current controller
Too few or too many measureidentification:
ment cycles required for the
Measurement cycle connected motor.
insufficient
Automatic determination of
parameters has supplied a time
constant outside the parametrisable value range. The parameter
must be manually optimised.
Identification does
not support the
configured device
type
3-22
Subindex
Message
Causes
Measures
... 14
Identification not
possible
Invalid number of
pairs of poles
Division by 0
Range exceeded
Counter underrun
Error in program
execution
Illegal interrupt
Initialisation error
Unexpected state
15
16
3-23
Subindex
Message
17
Encoder difference
monitoring
18
Analogue motor
temperature
21
Error 1 current
measurement U
Error 1 current
measurement V
Error 2 current
measurement U
Error 2 current
measurement V
PROFIBUS: Faulty
initialisation
Faults in communication.
22
3-24
Causes
Measures
Subindex
Message
Causes
... 22
PROFIBUS: Invalid
slave address
PROFIBUS: Value
range error
During conversion with the factor group, the value range was
exceeded.
Mathematical error when converting physical units.
Hardware version
not supported
Check the firmware version; update the firmware to a more recent version if necessary.
Checksum error
25
26
Measures
3-25
Subindex
Message
Causes
Measures
... 26
Missing calibration
data
Missing user
position data sets
Following error
warning threshold
27
3-26
Subindex
Message
Causes
Measures
28
Missing operating
hour meter
Operating hour
meter: Write error
Operating hour
meter corrected
Operating hour
meter converted
Internal conversion
error
30
3-27
Subindex
Message
Causes
Measures
31
Motor I@t
Motor blocked?
Motor under-sized?
PFC I@t
Undervoltage for
active PFC
32
3-28
Subindex
Message
Causes
Measures
... 32
Brake chopper
overload. Intermediate circuit
could not be discharged.
No measures required
Power supply
missing for controller enable
Interruptions/failure in the
power supply while the controller enable was activated.
Phase failure
3-29
Subindex
Message
Causes
Measures
33
Encoder emulation
following error
34
No synchronisation When activating the interpolated Check the settings for the convia Fieldbus
position mode, the controller
troller cycle times.
could not be synchronised to the
fieldbus. The synchronisation
messages from master may
have failed. Or the IPO interval is
not correctly set to the synchronisation interval of the fieldbus.
3-30
Subindex
Message
Causes
Measures
35
The rotor position could not be Check the method for determinidentified clearly. The selected
ing the commutation position. 1)
method may be inappropriate.
The selected motor current for
the identification may not be set
appropriately.
1)
3-31
Subindex
Message
Causes
Measures
36
Parameter was
limited
SERCOS: Received
data disrupted
Check that all cables are connected and none are broken.
SERCOS: 2-fold
MST failure
SERCOS: Invalid
The master specifies an invalid
Check the program in the
phase specification phase shift (e.g. a phase is to be SERCOS master.
in MST info
skipped). The cause lies in the
master software.
37
3-32
Subindex
Message
Causes
Measures
... 37
SERCOS: 2-fold
MDT failure
SERCOS: Shift to
The master wants to go into an
unknown operating operating mode which is not
mode
supported by the drive.
SERCOS: T3 invalid
SERCOS: SERCON
status event
SERCOS prog.: error during inIf possible, replace the technolitialisation of the SERCON chip
ogy module and send it to the
on the SERCOS technology mod- manufacturer for checking.
ule.
When the Sercos bus was activated, no valid module was detected.
38
3-33
Subindex
Message
Causes
... 38
SERCOS: Defective
module
3-34
Measures
Subindex
Message
... 38
SERCOS: Invalid
IDN in S-0-0026 /
S-0-0027
SERCOS: SERCON
410b mode active
SERCOS: List
S-0-0370: MDT
data container configuration error
Reserved:
SERCOS: error in configuration
list S-0-0370 for MDT data container.
SERCOS: List
S-0-0371: AT data
container configuration error
Reserved:
SERCOS: error in configuration
list S-0-0371 for AT data container.
SERCOS: Error in
MDT cyclic channel
Reserved:
SERCOS: error in MDT cyclic
channel.
SERCOS: Error in
AT cyclic channel
Reserved:
SERCOS: error in AT cyclic
channel.
39
Causes
Measures
3-35
Subindex
Message
Causes
Measures
... 39
SERCOS: Error in
MDT cyclic data
container
Reserved:
SERCOS: error in MDT cyclic
data container.
SERCOS: Error in
AT cyclic data container
Reserved:
SERCOS: error in AT cyclic data
container.
Negative software
limit switch
reached
The position setpoint has reached or exceeded the respective software limit switch.
Positive software
limit switch
reached
Target position
behind the negative software limit
switch
Target position
behind the positive
software limit
switch
41
Record chaining:
Synchronisation
error
42
Positioning:
Missing subsequent positioning:
Stop
40
3-36
Subindex
Message
Causes
... 42
Start positioning
rejected: Wrong
mode of operation
Start positioning
rejected: Please
enforce homing
run!
Limit switch: Nega- Negative hardware limit switch Check parameters, wiring, and
limit switches.
tive setpoint locked reached.
43
Measures
3-37
Subindex
Message
Causes
Measures
44
45
47
3-38
Driver supply can- During activation of Safe standnot be switched off still the driver supply was not
switched off within an adequate
time.
Thread mode error: The speed required for setCheck the processing of the conTimeout expired
ting-up was not reduced enough trol-side requirements.
in the time allotted.
Subindex
Message
Causes
Measures
49
50
3-39
Subindex
Message
Causes
Measures
51
No/unknown FSM
module
Unequal module
type
Unequal module
version
60
Reserved.
61
Reserved.
3-40
Subindex
Message
Causes
Measures
62
EtherCAT: general
bus error
EtherCAT: Protocol
error
EtherCAT: Invalid
RPDO length
EtherCAT: Invalid
TPDO length
EtherCAT: Cyclic
data transmission
error
EtherCAT: Invalid
data
EtherCAT: TPDO
data not read
63
3-41
Subindex
Message
Causes
Measures
... 63
EtherCAT: No
distributed clocks
active
A SYNC message is
missing in the IPO
cycle
DeviceNet:
Duplicate MAC ID
The duplicate MAC ID check has Change the MAC ID of one of the
found two nodes with the same nodes to a value which is not alMAC ID.
ready used.
DeviceNet: Bus
voltage missing
DeviceNet: Send
buffer overflow
DeviceNet: IO
message not sent
DeviceNet: CAN
controller reports
overrun
64
3-42
Subindex
Message
Causes
65
The DeviceNet communication is Deactivate the DeviceNet comactivated in the parameter remunication or connect a module.
cord of the motor controller, but
no module is available.
FHPP:
Mathematical error
FHPP: Invalid oper- Changing from the current to the Check your application. It may
ating mode change desired operating mode is not
be that not every change is perpermitted.
mitted.
Overflow current
controller IRQ
Overflow speed
controller IRQ
Overflow position
controller IRQ
Overflow low-level
IRQ
70
71
80
81
Overrun/underrun or division by
zero during calculation of cyclic
data.
Measures
3-43
Subindex
Message
82
83
Invalid technology
module
Service module:
Write error
MC2000 Watchdog
Reserved.
... 83
3-44
Causes
Measures
Subindex
Message
Causes
Measures
85 ...
89
Reserved.
90
Missing hardware
External SRAM not detected /
component (SRAM) not sufficient.
Missing hardware
component
(FLASH)
Error at FPGA
boot-up
Error at SD-ADU
start
3-45
Subindex
Message
Causes
Measures
... 90
No CAN controller
present
Device parameters
checksum error
DEBUG firmware
loaded
91
3-46
Subindex
Fault
code
Meaning of error
message
Measures
01
6180
Stack overflow
Incorrect firmware?
Reload standard firmware if necessary.
Contact Technical Support.
02
3220
Undervoltage in
intermediate circuit
03
4310
03
4310
04
4210
Over-/under-temperature in power
electronics
05
5114
5V supply fault
5115
5116
12V electronics
supply fault
8000
Driver supply
fault
3-47
Subindex
Fault
code
Meaning of error
message
Measures
06
2320
Overcurrent of
the intermediate
circuit/power
stage
Motor defective?
Short circuit in the cable?
Output stage defective?
07
3210
08
7380
Encoder supply
fault
7386
CMMS-AS/
CMMD-AS only:
SINCOS-RS485
communication
error
7388
CMMS-AS/
CMMD-AS only:
Internal angle encoder error
11
8A81
12
8181
Common error:
1. Error when sending a message (e.g. no bus connected)
2. Timeout when receiving the SYNC messages in
interpolated position mode
14
6197
16
6187
Initialisation fault
16
6183
Unexpected
status/programming error
3-48
Subindex
Fault
code
Meaning of error
message
Measures
17
8611
Following error
limit exceeded
18
4380
4280
Output stage
temperature 5C
below maximum
19
2380
I@T at 80%
Common error:
80% of the maximum I@T utilisation has been reached by the closed-loop controller or by the motor.
21
5210
Fault in offset
current measurement
22
7500
PROFIBUS:
faulty initialisation
7500
Communication
fault PROFIBUS
25
6081
Hardware error
26
5581
Checksum error
29
7680
No SD
7681
SD initialisation
error
7682
SD parameter
record error
Checksum incorrect / file missing / incorrect file format / error when saving the parameter file to the SD
card
3-49
Subindex
Fault
code
Meaning of error
message
Measures
31
2312
2311
3280
CMMS-AS/
CMMD-AS only:
Intermediate circuit pre-charging
fault
3285
CMMS-AS/
CMMD-AS only:
Fault: controller
enable without
intermediate circuit
35
6199
40
8612
Fault: SW limit
switch reached
8612
Fault: SW limit
switch reached
8612
Fault: SW limit
switch reached
8612
Fault: SW limit
switch reached
6193
Fault: record
chaining, unknown command
6192
Route program
jump target error
32
41
3-50
Subindex
Fault
code
Meaning of error
message
Measures
42
8681
Positioning: Error
in pre-calculation
8488
Homing required
6191
Common error:
1. An attempt is being made to start an unknown or
deactivated position record.
2. The set acceleration is too small for the maximum
velocity permitted. (Risk of computational overrun in
trajectory calculation)
8612
Fault in limit
switch
8612
Fault in limit
switch
8612
Fault in limit
switch
8000
Driver supply
fault
8000
Driver supply
fault
8000
Driver supply
fault
8087
DIN4 plausibility
error
43
45
1) The internal logic might malfunction due to high-frequency switching operations at the input for
the safe halt -> Check activation.
If the error occurs again -> Check firmware (released version?).
If these possibilities have been excluded, the hardware of the motor controller is defective.
3-51
Subindex
Fault
code
Meaning of error
message
Measures
64
7584
DeviceNet
general error
7582
7582
7582
7582
Bus Off
7582
7584
DeviceNet
general error
Common error:
Communication has been activated even though
there is no piggy-back module plugged in.
The DeviceNet piggy-back is attempting to read an
unknown KO.
Unknown DeviceNet error.
7583
7582
IO connection timeout
6195
6380
Operating mode
error
65
70
3-52
Subindex
Fault
code
Meaning of error
message
Measures
76
8100
CMMD-AS only:
SSIO communication error (master
- slave)
Common error:
1. Checksum error during transmission of SSIO
protocol
2. Timeout during transmission
8100
CMMD-AS only:
SSIO communication error
(partner)
7510
79
3.5
3-53
3-54
Parameters
Chapter 4
Parameters
4-1
4. Parameters
Contents
4.1
4.2
4.3
4.4
4-2
4-4
4-5
4-5
4-6
4-13
4-13
4-14
4-16
4-17
4-20
4-24
4-29
4-30
4-42
4-43
4-44
4-45
4-46
4-47
4-48
4-50
4-53
4-56
4-58
4-61
4-62
4-63
4-63
4-64
4. Parameters
4.1
Group
Indices
Description
1 ... 99
Device data
Diagnostics
Process data
Record list
Project data
Function data
1000 ... 1099 All axis-specific parameters for electric drives: gear ratio,
feed constant, reference parameters, etc.
Function parameters
for digital I/Os
1200 ... 1239 Specific parameters for control and evaluation of the
digital I/Os.
4-3
4. Parameters
4.2
Access protection
4-4
4. Parameters
4.3
Name
Controller
FHPP
PNU
Subind.
Type
CMMP
40
1 ... 10
uint32
CMMP
41
1 ... 10
uint32
CMMP
42
uint32
CMMP
43
uint32
All
100
uint16
All
101
uint16
Version FHPP
All
102
uint16
Project Identifier
All
113
uint32
CMMP
114
uint32
1 ... 12
uint8
Device data
Device data Standard parameters (see section 4.4.3)
CMMS/CMMD 114
4-5
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
All
120
1 ... 30
uint8
All
121
1 ... 32
uint8
Drive Manufacturer
All
122
1 ... 30
uint8
All
123
1 ... 30
uint8
All
124
1 ... 30
uint8
Device Control
All
125
uint8
All
127
1 ... 6
uint8
Diagnostic Event
CMMP
200
1 ... 32
uint8
Fault Number
CMMP
201
1 ... 32
uint16
CMMS/CMMD 201
1 ... 4
uint16
CMMP
202
1 ... 32
uint32
CMMP
203
1 ... 32
unt32
CMMP
204
1, 2, 4
uint8
Fieldbus Diagnosis
CMMP
206
uint8
Device Warnings
CMMP
210
1 ... 16
uint8
Warning Number
CMMP
211
1 ... 16
uint16
CMMP
212
1 ... 16
uint32
CMMP
213
1 ... 16
unt32
CMMP
214
1, 2, 4
uint8
Position Values
All
300
1 ... 3
int32
Torque Values
All
301
1 ... 3
int32
All
303
1, 2, 4
uint8
All
304
1, 3
uint8
Maintenance Parameter
All
305
uint32
Velocity Values
All
310
1 ... 3
int32
All
311
1, 2
uint32
4-6
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
All
350
1, 2
int32
Record Status
All
400
1 ... 3
uint8
CMMP
401
1 ... 250
uint8
CMMS/CMMD 401
1 ... 63
uint8
CMMP
1 ... 250
uint8
CMMS/CMMD 402
1 ... 63
uint8
CMMP
1 ... 250
int32
CMMS/CMMD 404
1 ... 63
int32
CMMP
402
404
1 ... 250
int32
CMMS/CMMD 405
1 ... 63
int32
CMMP
1 ... 250
uint32
CMMS/CMMD 406
1 ... 63
uint32
CMMP
1 ... 250
uint32
CMMS/CMMD 407
1 ... 63
uint32
CMMP
1 ... 250
uint32
CMMS/CMMD 408
1 ... 63
uint32
CMMP
412
1 ... 250
uint32
CMMP
413
1 ... 250
uint32
CMMS/CMMD 413
1 ... 63
uint32
Record Profile
CMMS/CMMD 414
1 ... 63
uint8
CMMP
1 ... 250
uint8
CMMS/CMMD 416
1 ... 63
uint8
CMMP
418
1 ... 250
uint32
Record CAM ID
(cam disk number for record)
CMMP
419
1 ... 250
uint8
CMMP
420
1 ... 250
uint32
CMMP
421
1 ... 250
uint8
Record Velocity
Record Acceleration
Record Deceleration
405
406
407
408
416
4-7
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
Project data
Project data General project data (see section 4.4.9)
Project Zero Point
All
500
int32
All
501
1, 2
int32
Max. Speed
All
502
uint32
Max. Acceleration
All
503
uint32
All
505
uint32
All
520
uint8
All
530
int32
All
531
int32
All
532
uint32
All
533
uint32
All
534
uint32
Project data Direct mode, Profile Position mode (see section 4.4.12)
Direct Mode Position Base Velocity
All
540
int32
All
541
uint32
All
542
uint32
All
546
uint32
Project data Direct mode, Profile Torque mode (see section 4.4.13)
Direct Mode Torque Base Torque Ramp
CMMP
550
uint32
CMMP
552
uint16
CMMP
553
uint16
CMMP
554
uint32
4-8
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
Project data Direct mode, Profile Velocity mode (see section 4.4.14)
Direct Mode Velocity Base Velocity Ramp
All
560
uint32
CMMP
561
uint16
CMMP
562
uint16
CMMP
563
uint16
CMMP
564
uint16
CMMP
565
uint32
CAM ID
(cam disk number)
CMMP
700
uint8
CMMP
701
int32
CMMP
710
uint32
Gear Sync.
(synchronisation gear ratio)
CMMP
711
1, 2
uint32
CMMP
720
uint32
Function data
Function data Camming function (see section 4.4.15)
Function data Position triggers and rotor position triggers (see section 4.4.16)
Position Trigger Control
CMMP
730
uint32
CMMP
731
1 ... 4
int32
CMMP
732
1 ... 4
int32
CMMP
733
1 ... 4
int32
CMMP
734
1 ... 4
int32
4-9
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
All
1000
uint8
Encoder Resolution
All
1001
1, 2
uint32
Gear Ratio
All
1002
1, 2
uint32
Feed Constant
All
1003
1, 2
uint32
Position Factor
All
1004
1, 2
uint32
Axis Parameter
All
1005
2, 3
int32
Velocity Factor
All
1006
1, 2
uint32
Acceleration Factor
All
1007
1, 2
uint32
Polarity Slave
(reversal of direction for slave)
All
1008
uint8
Axis parameters for electric drives 1 Homing parameters (see section 4.4.18)
Offset Axis Zero Point
All
1010
int32
Homing Method
All
1011
int8
Homing Velocities
All
1012
1, 2
uint32
Homing Acceleration
All
1013
uint32
Homing Required
All
1014
uint8
CMMP
1015
uint8
Axis parameters for electric drives 1 Closed-loop controller parameters (see section 4.4.19)
Halt Option Code
All
1020
uint16
Position Window
All
1022
uint32
All
1023
uint16
All
1024
18 ... 22,
32
uint16
Motor Data
All
1025
1, 3
uint32/
uint16
Drive Data
CMMP
1026
1 ... 4, 7
uint32
CMMS/CMMD 1026
1, 3, 4, 7
uint32
4-10
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
Axis parameters for electric drives 1 Electronic rating plate (see section 4.4.20)
Max. Current
All
1034
uint16
All
1035
uint32
All
1036
uint32
Torque Constant
All
1037
uint32
Axis parameters for electric drives 1 Standstill control (see section 4.4.21)
Position Demand Value
(setpoint position)
All
1040
int32
All
1041
int32
All
1042
uint32
Standstill Timeout
All
1043
uint16
Axis parameters for electric drives 1 Drag error monitoring (see section 4.4.22)
Following Error Window
(drag error window)
CMMP
1044
int32
CMMP
1045
uint16
Axis parameters for electric drives 1 Other parameters (see section 4.4.23)
Torque Feed Forward Control
CMMP
1080
int32
Setup Velocity
CMMP
1081
uint8
Velocity Override
CMMP
1082
uint8
All 1)
1230
uint32
4-11
4. Parameters
4.4
Encoder Resolution
FHPP (all)
1001
Description
1 ... 2
uint32
rw
uint32
rw
uint32
rw
Fixed = 1
4-12
4. Parameters
40
Description
This array defines the contents of the received telegrams (the output data of
the higher-level control system) in the cyclic process data.
The array is configured using the FHPP+ editor provided by the FCT plug-in.
Gaps between 1-byte PNUs and following 16- or 32-byte PNUs are filled with
placeholder PNUs, as are unused subindices.
For the format, see Tab. 4/3.
1st PNU 40
1 ... 10
Array
uint32
ro
uint32
ro
uint32
ro
uint32
ro
uint32
ro
4 ... 10
...
41
Description
This array defines the contents of the response telegrams (the input data of the
higher-level control system) in the cyclic process data; see PNU 40.
For the format, see Tab. 4/3.
1st PNU 41
1 ... 10
Array
uint32
ro
uint32
ro
uint32
ro
uint32
ro
uint32
ro
4 ... 10
...
4-13
4. Parameters
Contents
Reserved (= 0)
Subindex
42
Description
Type of error in the telegram editor. Entry and the error location:
Bit
Meaning
Bits 0 ... 15 Error location, bit-serial, one bit per telegram entry.
Bits 16 ... 23 Reserved
Bits 24 ... 31 Error type:
Bit 24 = 1: invalid PNU (with error location in bits 0 - 15)
Bit 25 = 1: PNU cannot be written (with error location in bits 0 - 15)
Bit 26 = 1: maximum telegram length exceeded
Bit 27 = 1: PNU cannot be mapped in a telegram
Bit 28 = 1: entry cannot be modified in the current state
(e.g. during active cyclic communication)
Bit 29 = 1: 16/32-bit entry begins with an uneven address
Bits 30 ... 31 Reserved.
If the transmitted telegram is correct, all bits = 0.
Var
uint32
rw
43
Description
Type of error in the telegram editor. Entry and the error location:
Bit
Meaning
Bits 0 ... 15 Error location, bit-serial, one bit per telegram entry.
Bits 16 ... 23 Reserved
Bits 24 ... 31 Error type:
Bit 24 = 1: invalid PNU (with error location in bits 0 - 15)
Bit 25 = 1: PNU cannot be read (with error location in bits 0 - 15)
Bit 26 = 1: maximum telegram length exceeded
Bit 27 = 1: PNU cannot be mapped in a telegram
Bit 28 = 1: entry cannot be modified in the current state
(e.g. during active cyclic communication)
Bit 29 = 1: 16/32-bit entry begins with an uneven address
Bits 30 ... 31 Reserved.
If the transmitted telegram is correct, all bits = 0.
4-14
Var
uint32
rw
4. Parameters
100
uint16
Description
ro
101
Description
uint16
ro
102
uint16
Description
ro
Project Identifier
FHPP (all)
113
Description
32 bit value that can be used together with the FCT plug-in to identify the
project.
Value range: 0x00000001 ... 0xFFFFFFFF (1 ... 232-1)
uint32
rw
114
Description
uint32
ro
4-15
4. Parameters
120
1 ... 30
uint8
ro
Description
121
1 ... 32
uint8
rw
Description
Drive Manufacturer
FHPP (all)
122
Description
Name of the drives manufacturer (ASCII, 7-bit) Fixed: Festo AG & Co. KG
1 ... 30
uint8
ro
123
Description
1 ... 30
uint8
ro
124
Description
4-16
1 ... 30
uint8
ro
4. Parameters
Device Control
FHPP (all)
125
Description
Specifies which interface currently has control sovereignty over the drive, in
other words, which interface can be used to enable and start or stop (control)
the drive.
The following interfaces are taken into account:
Fieldbus: (CANopen, PROFIBUS, DeviceNet, ... )
DIN: digital I/O interface (e.g. multi-pin, I/O interface)
Parametrisation interface RS 232/RS 485 (FCT)
The last two interfaces are treated as equals.
For all controllers of the type CMM ... , the output stage enable (DIN4) and
closed-loop controller enable (DIN5) also have to be set in addition to the interface in question (logical AND operation).
Value
Meaning SCON.B5 (LOCK)
0x00 (0) Software has control sovereignty (+ DIN)
1
0x01 (1) Fieldbus has control sovereignty (+ DIN)
0
0x02 (2) Only DIN has control sovereignty
1
Default after power on: 0x01 (1) Fieldbus has control sovereignty (+ DIN)
uint8
rw
4-17
4. Parameters
127
Description
1 ... 6
1
uint8
uint8
wo
wo
Once the object has been written, and after switching power off/on, the data in
the EEPROM is reset to the factory settings.
Fixed 0x10 (16): delete data in EEPROM and restore factory settings.
Note:
All user-specific settings except for the bus cycle will be lost on deletion (factory settings). With CMMP this also includes the fieldbus address.
After deleting, always carry out the steps for commissioning the device.
Save Data 127
uint8
wo
By writing the object, the data in EEPROM will be overwritten with the current
user-specific settings.
Fixed 0x01 (1): save user-specific data in EEPROM
Reset Device 127
uint8
wo
By writing the object, the data is read from EEPROM and adopted as the current
settings (EEPROM is not deleted or cleared; it is in the same state as after
switching off and on).
Values: 0x10 (16): reset device
0x20 (32): auto reset upon incorrect bus cycle (deviating from
the configured bus cycle; with CMMP only)
Encoder Data 127
6
uint8
wo
Memory Control
Transfer of the encoder data between controller and encoder.
Values: 0x00 (0): No action (e.g. for test purposes)
0x01 (1): Loading of the parameters from the encoder
0x02 (2): Saving of the parameters in the encoder without zero offset
0x03 (3): Saving of the parameters in the encoder with zero offset
4-18
4. Parameters
4.4.5 Diagnostics
For a description of how the diagnostic memory functions,
see section 3.2.
Diagnostic Event
FHPP (CMMP)
200
Description
1 ... 32
uint8
uint8
ro
ro
uint8
ro
200
...
uint8
ro
1 ... 32
uint16
ro
1 ... 4
uint16
ro
...
Fault Number
FHPP (CMMP)
201
Fault number saved in the diagnostic memory; used for identifying the fault.
See section 3.4.
CMMP:
Error number, e.g. 402 for main index 40, subindex 2,
see section 3.4.1.
CMMS/CMMD:
Fault code, see section 3.4.2.
Event 1 201
uint16
ro
uint16
ro
uint16
ro
201
...
...
4-19
4. Parameters
202
Description
1 ... 32
uint32
uint32
ro
ro
uint32
ro
202
...
uint32
ro
...
203
Description
1 ... 32
1
uint32
ro
uint32
ro
uint32
ro
203
...
uint32
ro
...
204
Description
1, 2, 4
1
uint8
ro
uint8
ro
uint8
ro
uint8
ro
4-20
4. Parameters
Fieldbus Diagnosis
FHPP (CMMP)
206
Description
5
5
uint8
ro
uint8
ro
Device Warnings
FHPP (CMMP)
210
Description
Type of warning or diagnostic information saved in the warning memory. Indication of whether an incoming or outgoing warning was saved.
Value
Type of diagnostic event
0x00 (0) No warning (or warning message deleted)
0x01 (1) Incoming warning
0x02 (2) Reserved (outgoing warning)
0x03 (3) Power Down (with valid time stamp)
0x04 (4) Reserved (overrun time stamp)
Event 1 210
1 ... 16
uint8
ro
uint8
ro
uint8
ro
...
uint8
ro
1 ... 16
uint16
ro
210
...
Warning Number
FHPP (CMMP)
211
Description
Warning number saved in the warning memory (e.g. 190 for main index 19,
subindex 0; used to identify the warning, see sections 3.2 and 3.4.1).
Event 1 211
uint16
ro
uint16
ro
uint16
ro
211
...
...
4-21
4. Parameters
212
Description
1 ... 16
uint32
uint32
ro
ro
uint32
ro
212
...
uint32
ro
...
213
Description
1 ... 16
1
uint32
ro
uint32
ro
uint32
ro
213
...
uint32
ro
...
214
Description
1, 2, 4
1
uint8
rw/ro
uint8
ro
uint8
ro
uint8
ro
4-22
4. Parameters
300
Description
1 ... 3
int32
ro
int32
ro
ro
int32
ro
int32
ro
Current deviation.
Torque Values
FHPP (all)
301
Description
1 ... 3
1
int32
ro
ro
int32
ro
Current deviation.
4-23
4. Parameters
303
Description
1, 2, 4
uint8
ro
uint8
ro
uint8
ro
ro
Subindex 2
Subindex 4
4-24
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DIN 7:
righthand
limit
switch
DIN 6:
left-hand
limit
switch
DIN 5:
controller
enable
DIN 4:
output
stage
enable
DIN 3
DIN 2
DIN 1
DIN 0
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Reserved (= 0)
DIN A13
DIN A12
DIN 11
DIN 10
DIN 9
DIN 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DIN 7
DIN 6
DIN 5
DIN 4
DIN 3
DIN 2
DIN 1
DIN 0
4. Parameters
304
Description
1, 3
uint8
rw
uint8
rw
rw
Subindex 3
Bit 7
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Reserved (= 0)
Bit 6
DOUT:
READY
LED
DOUT:
CAN LED
DOUT 3
DOUT 2
DOUT 1
DOUT 0:
controller
ready for
operation
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DOUT 7
DOUT 6
DOUT 5
DOUT 4
DOUT 3
DOUT 2
DOUT 1
DOUT 0
4-25
4. Parameters
Maintenance Parameter
FHPP (all)
305
Description
3
3
uint32
ro
uint32
ro
int32
ro
int32
ro
Nominal 310
2
int32
Revolutions
(setpoint speed) Current setpoint value of the controller.
ro
ro
Hours-run meter in s.
Velocity Values
FHPP (all)
310
Description
1 ... 3
int32
Speed deviation.
4-26
4. Parameters
311
Description
1,2
1
Value
0x0000 0002
0x0000 0004
0x0000 0008
0x0000 0010
0x0000 0020
0x0000 0040
0x0000 0080
0x0000 0100
0x0000 0200
0x0000 0400
0x0000 0800
0x0000 1000
0x0000 2000
0x0000 4000
0x0000 8000
0x0001 0000
Bit
Value
0
0x0000 0001
1
0x0000 0002
2
0x0000 0004
3
0x0000 0008
4 ... 7
8
0x0000 0100
9
0x0000 0200
10
0x0000 0400
11
0x0000 0800
12 ... 15
16
0x0001 0000
17
0x0002 0000
18
0x0004 0000
19
0x0008 0000
20 ... 23
24
0x0100 0000
25
0x0200 0000
26
0x0400 0000
27
0x0800 0000
28 ... 31
uint32
uint32
ro
ro
Meaning
Reserved (0)
It monitoring of motor is active
Comparison speed reached
Position Xsetpoint = Xtarget
Position Xactual = Xtarget
Remaining positioning distance
Homing is active
Reference position is valid
Undervoltage in intermediate circuit
Drag error
Output stage is active
Locking brake bled
Linear motor identified
Negative setpoint lock is active
Positive setpoint lock is active
Alternative target reached
Velocity 0
Reserved (0)
uint32
ro
Meaning
Cam controller 1
Cam controller 2
Cam controller 3
Cam controller 4
Reserved for cam controller 5 ... 8
Position trigger 1
Position trigger 2
Position trigger 3
Position trigger 4
Reserved for position triggers 5 ... 8
Rotor position trigger 1
Rotor position trigger 2
Rotor position trigger 3
Rotor position trigger 4
Reserved for rotor position triggers 5 ... 8
General action bits 1
General action bits 2
General action bits 3
General action bits 4
Reserved for general action bits 5 ... 8
4-27
4. Parameters
350
Description
Sampled positions.
1, 2
int32
ro
4-28
4. Parameters
408
412
413
...
uint8
int32
int32
uint32
uint32
uint32
uint32
int32
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
1)
1)
Setpoint
value
...
uint8
Preselection
value
uint8
Record
status
(record no. )
Jerk-free
filter time
407
Velocity limit
406
Deceleration
405
Acceleration
404
Velocity
402
RCB2
401
RCB1
PNU
400
404
405
406
407
408
412
413
414
416
CMMP-AS
CMMS-AS/
CMMD-AS
CMMS-ST
4-29
4. Parameters
With the CMMS/CMMD controllers, the dynamic parameters of a record are defined as a group via the record profile (PNU 414).
When these parameters (PNU 405, 406, 407, 408, 413) are
written in a record, the profile parameters assigned to the
record are overwritten. This causes the modified parameters
to become effective for all records assigned to that profile;
see Fig. 4/2.
Jerk limit
Deceler.
Acceler.
Velocity
Presel. val.
Profile No.
Record profiles
Profile No.
Jerk limit
Deceler.
Acceler.
Velocity
Presel. val.
Setpoint
RCB2
RCB1
Record
status
Record No.
4-30
4. Parameters
Record Status
FHPP (all)
400
Description
Record status.
1 ... 3
uint8
rw/ro
uint8
ro
uint8
ro
The record status byte (RSB) contains a feedback code that is transmitted
in the input data. When a positioning task starts, the RSB is reset.
See Tab. 4/6 for the allocation of the record control byte.
Note: this byte is not the same as SDIR, there is only a feedback signal for
dynamic states and not absolute/relative, for example. This makes it possible
to provide feedback about record chaining, for example.
RSB allocation
Bit
Meaning
Bit 0
RC1
Bit 1
Bits 2 ... 7
Reserved.
4-31
4. Parameters
401
1 ... 250
uint8
rw
1 ... 63
uint8
rw
The record control byte 1 (RCB1) controls the most important settings for the
positioning task in Record selection mode.
The record control byte is bit-orientated. For allocation, see Tab. 4/7
Record 1 401
uint8
rw
uint8
rw
401
...
uint8
rw
Bit
Description
B0
ABS
Absolute/Relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
FHPP does not provide access to other modes, e.g. relative to actual value, analogue
input, etc.
B1, B2
COM1/2
B3, B4
FNUM1/2
B5, B6
FGRP1/2
B7
FUNC
= 0: Normal task
= 1: Execute camming function, as per bits 3 ... 6 (only with CMMP)
4. Parameters
402
1 ... 250
uint8
rw
1 ... 63
uint8
rw
Record 1 402
uint8
rw
uint8
rw
402
...
uint8
rw
404
1 ... 250
int32
rw
1 ... 63
int32
rw
Record 1 404
int32
rw
int32
rw
404
...
int32
rw
Step size
Default
Minimum
Maximum
Position 1)
1/100 mm
1/1000 inch
1/100
0 (= 0.0 mm)
0 (= 0.0 inch)
0 (= 0.0 )
-1,000,000 (= -10.0 m)
-400,000 (= -400 inch)
-36,000
(= -360.0 )
1,000,000 (= 10.0 m)
400,000 (= 400 inch)
36,000
(= 360.0 )
1)
4-33
4. Parameters
405
Description
Record 1 405
1 ... 250
1
int32
rw
int32
rw
int32
rw
int32
rw
int32
rw
405
...
1 ... 63
Preselection value for conditional record chaining of the record profile in ms,
as per step enabling condition from PNU 402 (RCB2); see section 2.6.3
Tab. 2/13. Value range: 0 ms ... 100,000 ms = 100 s
When written, the value becomes effective for the record profile; see Fig. 4/2.
Record 1 405
int32
rw
int32
rw
int32
rw
uint32
rw
405
...
Record Velocity
FHPP (CMMP)
406
Description
Record 1 406
1 ... 250
1
uint32
rw
uint32
rw
406
...
uint32
rw
4-34
4. Parameters
Record Velocity
FHPP (CMMS/CMMD) 406
Description
1 ... 63
uint32
rw
Velocity setpoint value of the record profile as per PNU 414, stated in the unit
of velocity (see PNU 1006).
When written, the value becomes effective for the record profile; see Fig. 4/2.
Record 1 406
uint32
rw
uint32
rw
406
...
uint32
rw
Record Acceleration
FHPP (CMMP)
407
Description
Record 1 407
1 ... 250
uint32
uint32
rw
rw
uint32
rw
407
...
uint32
rw
Record Acceleration
FHPP (CMMS/CMMD) 407
Description
1 ... 63
uint32
rw
Acceleration setpoint value for the record profile as per PNU 414 for start-up,
stated in the unit of acceleration (see PNU 1007).
When written, the value becomes effective for the record profile; see Fig. 4/2.
Record 1 407
uint32
rw
uint32
rw
407
...
uint32
rw
4-35
4. Parameters
Record Deceleration
FHPP (CMMP)
408
Description
Record 1 408
1 ... 250
uint32
uint32
rw
rw
uint32
rw
408
...
uint32
rw
Record Deceleration
FHPP (CMMS/CMMD) 408
Description
1 ... 63
uint32
rw
Deceleration setpoint value for the record profile as per PNU 414 for braking,
stated in the unit of acceleration (see PNU 1007).
When written, the value becomes effective for the record profile; see Fig. 4/2.
Record 1 408
uint32
rw
uint32
rw
408
...
uint32
rw
412
Description
Velocity limit for Profile Torque mode, stated in the unit of velocity (see
PNU 1006).
Record 1 412
1 ... 250
uint32
rw
uint32
rw
uint32
rw
uint32
rw
412
...
4-36
4. Parameters
413
Description
Record 1 413
1 ... 250
uint32
uint32
rw
rw
uint32
rw
413
...
uint32
rw
1 ... 63
uint32
rw
Jerk-free filter time of the record profile as per PNU 414, stated in ms.
Specifies the filter time constant for the output filter that is used to smooth
the linear movement profiles. Completely jerk-free movement is achieved if the
filter time is the same as the acceleration time.
When written, the value becomes effective for the record profile; see Fig. 4/2.
Record 1 413
uint32
rw
uint32
rw
413
...
uint32
rw
4-37
4. Parameters
Record Profile
FHPP (CMMS/CMMD) 414
Description
1 ... 63
uint8
rw
Record 1 414
uint8
rw
uint8
rw
uint8
rw
1 ... 250
uint8
rw
1 ... 63
uint8
rw
414
...
416
Record number to which record chaining jumps when the step enabling condition is met.
Value range: 0x01 ... 0x7F (1 ... 250)
Record 1 416
uint32
rw
uint32
rw
416
...
uint32
rw
4-38
4. Parameters
418
Description
Record 1 418
1 ... 250
1
uint32
uint32
rw
rw
uint32
rw
418
...
uint32
rw
419
Description
This parameter is used to select the cam disk for the relevant record.
Value range: 0 ... 16
(with value 0 the cam disk from PNU 700 is used)
Record 1 419
1 ... 250
uint8
uint8
rw
rw
uint8
rw
419
...
uint8
rw
420
Description
Message reporting the remaining positioning distance in the record list, stated
in positioning units (see PNU 1004).
Record 1 420
1 ... 250
int32
int32
rw
rw
int32
rw
420
...
int32
rw
4-39
4. Parameters
421
Description
Record control byte 3 (RCB3) controls the specific behaviour of the record when
particular events occur.
The record control byte is bit-orientated. For allocation, see Tab. 4/9
Record 1 421
1 ... 250
uint8
uint8
rw
rw
uint8
rw
421
...
uint8
rw
Bit
Description
B0, B1
B2 ... B9
Reserved (= 0 !)
4-40
4. Parameters
500
int32
Description
Offset from axis zero point to project zero point in positioning unit.
(see PNU 1004).
Point of reference for position values in the application (see PNU 404).
rw
501
Description
1, 2
int32
rw
int32
rw
int32
rw
uint32
rw
Max. Speed
FHPP (all)
502
Description
Max. Acceleration
FHPP (all)
503
uint32
Description
rw
505
Description
uint32
rw
4-41
4. Parameters
520
Description
The parameter defined is the one written with the actual position by the next
Teach command (see section 2.5).
Values:
0x01 (1): Setpoint position in positioning record (default)
With Record selection: positioning record as per FHPP
control bytes
With Direct mode: positioning record as per PNU 400/1
0x02 (2): axis zero point (PNU 1010)
0x03 (3): project zero point (PNU 500)
0x04 (4): lower software end position (PNU 501/01)
0x05 (5): upper software end position (PNU 501/02)
4-42
uint8
rw
4. Parameters
530
int32
Description
rw
531
int32
Description
rw
532
Description
uint32
rw
533
Description
uint32
rw
534
Description
uint32
rw
4-43
4. Parameters
540
int32
rw
Description
541
Description
uint32
rw
542
uint32
Description
rw
546
Description
4-44
uint32
rw
4. Parameters
550
uint32
Description
Base value for torque ramp in direct Profile Torque mode in mNm/s.
rw
552
uint16
rw
Description
Torque in mNm, being the amount by which the actual torque is permitted to
differ from the setpoint torque in order to be interpreted as still being in the
target window. The width of the window is twice the value transmitted, with
the target torque in the centre of the window.
553
Description
Damping time for the torque target window during direct Profile Torque mode in
ms.
uint16
rw
554
Description
When Profile Torque mode is active, the velocity is limited to this value, stated
in unit of velocity (PNU 1007).
Note: PNU 514 allows an absolute speed limit to be specified, which triggers a
fault if it is reached. If both functions (limitation and monitoring) are to be active at the same time, PNU 554 must be significantly less than PNU 514.
uint32
rw
4-45
4. Parameters
560
uint32
rw
Description
Base acceleration value (velocity ramp) during direct Profile Velocity mode in
unit of acceleration (see PNU 1007).
561
Description
Velocity target window during direct Profile Velocity mode in unit of velocity
(see PNU 1006).
uint16
rw
Direct Mode Velocity Window Time (damping time for velocity target window in direct
mode)
FHPP (CMMP)
562
uint16
rw
Description
Damping time for velocity target window during direct Profile Velocity mode
in ms.
563
Description
Standstill target window during direct Profile Velocity mode in unit of velocity
(see PNU 1006).
uint16
rw
Direct Mode Velocity Threshold Time (damping time for standstill in direct mode)
FHPP (CMMP)
564
uint16
rw
Description
Damping time for standstill target window during direct Profile Velocity mode in
ms.
565
Description
Torque limitation during direct Profile Velocity mode in unit of torque (mNm).
4-46
uint32
rw
4. Parameters
700
Description
This parameter is used to select the number of the cam disk in Direct mode.
Value range 1 ... 16
uint8
rw
Master Start Position Direct Mode (master start position in direct mode)
FHPP
701
Description
Defines the start position of the master for the camming function.
int32
rw
710
Description
Reserved = 0
2
Switch off A/B track
Bit 2 = 1: without A/B track
Bit 2 = 0: with A/B track
3 ... 31 ...
Reserved = 0
uint32
rw
4-47
4. Parameters
711
Description
Gear ratio for synchronisation with an external input (physical master on X10,
slave operation).
1, 2
uint32
rw
uint32
rw
uint32
rw
720
Description
4-48
uint32
rw
4. Parameters
730
uint32
rw
Description
731
Description
Position values for the low position trigger, stated in the positioning unit (see
PNU 1004).
1 ... 4
int32
int32
rw
rw
int32
rw
int32
rw
int32
rw
4-49
4. Parameters
732
Description
Position values for the high position trigger, stated in the positioning unit (see
PNU 1004).
1 ... 4
int32
rw
int32
rw
int32
rw
int32
rw
int32
rw
733
Description
4-50
1 ... 4
int32
rw
rw
rw
rw
rw
4. Parameters
734
Description
1 ... 4
int32
rw
rw
rw
rw
rw
4-51
4. Parameters
1000
Description
uint8
rw
uint32
rw
Encoder Resolution
FHPP (all)
1001
Description
1, 2
uint32
rw
uint32
rw
uint32
rw
Gear Ratio
FHPP (all)
1002
Description
1, 2
uint32
rw
uint32
rw
4-52
4. Parameters
Feed Constant
FHPP (all)
1003
Description
The feed constant specifies the pitch of the drives shaft per revolution,
see appendix A.1.
Feed constant = feed / shaft revolution
Feed 1003
1, 2
uint32
uint32
rw
rw
uint32
rw
Position Factor
FHPP (all)
1004
Description
Conversion factor for all positioning units (for converting the user-defined units
into internal controller units). See appendix A.1 for the calculation.
1, 2
Position Factor
Numerator 1004
uint32
rw
uint32
rw
uint32
rw
int32
rw
int32
rw
1005
Description
2, 3
2
int32
rw
4-53
4. Parameters
Velocity Factor
FHPP (all)
1006
Description
Conversion factor for all units of velocity (for converting the user-defined units
into internal controller units). See appendix A.1 for the calculation.
Encoder Resolution * Time Factor_v
Velocity Factor =
Feed Constant
Numerator 1006
1, 2
uint32
rw
uint32
rw
uint32
rw
uint32
rw
Acceleration Factor
FHPP (all)
1007
Description
Conversion factor for all units of acceleration (for converting the user-defined
units into internal controller units). See appendix A.1 for the calculation.
Encoder Resolution * Time Factor_a
Acceleration Factor =
Feed Constant
Numerator 1007
1, 2
uint32
rw
uint32
rw
uint8
rw
1008
Description
This parameter can be used to reverse the position specification for signals on
X10 (slave operation)
This applies to the functions Synchronisation (including electronic gear
units), Flying saw, Cam disks.
Value Description
0x00 Position value vector normal (default)
0x80 Position value vector inverted
4-54
4. Parameters
1010
int32
rw
Description
Homing Method
FHPP (all)
1011
Description
Defines the method which the drive uses to carry out the homing.
(see section 2.3, Tab. 2/4).
int8
rw
Homing Velocities
FHPP (all)
1012
Description
1, 2
1
uint32
uint32
rw
rw
Speed when searching for the reference point REF or a stop or switch.
Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))
Running for Zero 1012
uint32
rw
Homing Acceleration
FHPP (all)
1013
Description
uint32
rw
4-55
4. Parameters
Homing Required
FHPP (all)
1014
Description
Defines whether or not homing must be carried out after switching on in order
to carry out positioning tasks.
Drives with the multi-turn absolute displacement encoder only need one homing run after being installed.
Values:
0x00 (0): Reserved
0x01 (1): Homing must be carried out
Fixed: 0x01 (1)
uint8
rw
1015
Description
4-56
uint8
rw
4. Parameters
1020
Description
uint16
rw
Position Window
FHPP (all)
1022
Description
uint32
rw
1023
Description
uint16
rw
4-57
4. Parameters
1024
Description
18 ... 22, 32
uint16
18
rw
uint16
rw
uint16
rw
rw
19
21
uint16
rw
uint16
rw
uint16
rw
32
Motor Data
FHPP (all)
1025
Description
Motor-specific data.
1, 3
1
uint32/uint16
ro/rw
uint32
ro
uint16
rw
4-58
4. Parameters
Drive Data
FHPP (CMMP)
1026
1 ... 4, 7
uint32
ro/rw
1, 3, 4, 7
uint32
ro/rw
Description
ro
ro
rw
rw
uint32
ro
4-59
4. Parameters
1034
Description
Servo motors may normally be overloaded for a certain time period. The
highest permissible motor current is set with PNU 1034 (identical to
PNU 1026). It refers to the motor rated current (PNU 1035) and is set in
thousandths.
The value range is limited upward by the maximum controller current (see technical data, depending on the controller cycle time and the final stage frequency).
PNU 1034 may only be written when PNU 1035 was previously validly written.
Note: please note that the current limitation also limits the maximum possible
velocity and that (higher) setpoint velocities may therefore not be achieved.
uint16
rw
1035
Description
uint32
rw
1036
Description
uint32
rw
uint32
rw
Torque Constant
FHPP (all)
1037
Description
4-60
4. Parameters
1040
int32
ro
Description
Setpoint target position of the last positioning task, stated in positioning unit
(see PNU 1004).
1041
Description
Current position of the drive, stated in the positioning unit (see PNU 1004).
int32
ro
1042
Description
uint32
rw
Standstill Timeout
FHPP (all)
1043
Description
uint16
rw
4-61
4. Parameters
1044
uint32
rw
Description
Define or read the permitted range for drag errors, stated in positioning units.
0xFFFFFFFF = drag error monitoring OFF
1045
Description
uint16
rw
1080
Description
Torque feed forward control in mNm (only effective for direct mode with
position control).
int32
rw
Setup Velocity
FHPP (CMMP)
1081
uint8
rw
Description
Velocity Override
FHPP (CMMP)
1082
Description
4-62
uint8
rw
4. Parameters
1230
Description
The remaining positioning distance is the trigger condition for the remaining
distance message, which can be issued on a digital output.
With CMMP-AS: effective in Direct mode only.
uint32
rw
4-63
4. Parameters
4-64
Chapter 5
5-1
Contents
5.1
5-2
5-3
5-3
5-5
5-7
5.1
5.1.1
Components
Description
Parameter identifier
(ParID)
Subindex (IND)
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Output data
IND
ParID
Value
Input data
IND
ParID
Value
IND
ParID
Value
Byte 8
5-3
15
14
13
Octet 1 (byte 3)
12
11
10
Task
ReqID
Response
ResID
ReqID
ResID
Value (PNU)
5-4
Description
Response identifier
Positive
Negative
No task
13
14
Description
No response
1)
5-5
Checking of
Error numbers
Description
PNU defined
0x00
0x03
Faulty subindex
ReqID permissible
101
0x65
0x01
102
0x66
17
0x11
If change: higher-order
11
0x0B
No higher-order
If change: password
12
0x0C
Incorrect password
0x02
5-6
Description
If the master transmits the identifier for No task, the controller responds with the
response identifier for No response.
The master must continue to send a task until it has received the appropriate response
from the controller.
The controller supplies the response until the master sends a new task.
a) A write task, even with cyclic repetition of the same task, will only be carried out once
by the controller.
b) Between two consecutive tasks with the same task identifier (ReqID), parameter
number (PNU) and subindex (IND), the task identifier 0 (no task) must be sent and
the response identifier 0 (no response) must be awaited. This ensures that an old
response is not interpreted as a new response.
5-7
Caution
In order to be sure that an old response cannot be interpreted as a new response, the task identifier 0 (no task)
must be sent and the response identifier 0 (no response)
must be awaited between two consecutive tasks with the
same task identifier (ReqID), parameter number (PNU) and
subindex (IND).
Evaluating errors
In the case of tasks which cannot be carried out, the slave
responds as follows:
5-8
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Input data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Step 2
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0xC1
0x91
Unused
Unused
Unused
0x00
Input data
0x00
0x02
0xC1
0x91
0x00
0x00
0x00
0x00
Step 3
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0x01
0x91
Unused
Unused
Unused
0x00
Input data
0x00
0x02
0x01
0x91
0x00
0x00
0x00
0x00
5-9
Step 4
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0x81
0x94
0x00
0x00
0x12
0x34
Input data
0x00
0x02
0x81
0x94
0x00
0x00
0x12
0x34
Step 5
After receiving the input data with ResID 0x8 send output data
with ReqID = 0x0 and wait for input data with ResID = 0x0:
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0x01
0x94
0x00
0x00
0x12
0x34
Input data
0x00
0x02
0x01
0x94
0x00
0x00
0x12
0x34
Step 6
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0x81
0x96
0x00
0x00
0x77
0x43
Input data
0x00
0x02
0x81
0x96
0x00
0x00
0x77
0x43
Step 7
After receiving the input data with ResID 0x8 send output data
with ReqID = 0x0 and wait for input data with ResID = 0x0:
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Parameter value
Output data
0x00
0x02
0x01
0x94
0x00
0x00
0x77
0x43
Input data
0x00
0x02
0x01
0x94
0x00
0x00
0x77
0x43
5-10
Technical appendix
Appendix A
Technical appendix
A-1
A. Technical appendix
Contents
A.1
A-2
A. Technical appendix
A.1
A.1.1 Overview
Motor controllers are used in a wide variety of applications: as
direct drives, with downstream gear units, for linear drives etc.
In order to enable simple parametrisation for all applications,
the motor controller can be parametrised with the parameters
in the factor group (PNU 1001 to 1007, see section 4.4.17)
in such a way that variables such as the rotational velocity
can be directly specified or read in the units of measurement
required.
The motor controller then uses the factor group to convert
the entries into its internal units of measurement. One conversion factor is available for each of the physical parameters:
position, velocity and acceleration. These conversion factors
adjust the users units of measurement to the application in
question.
Fig. A/1 clarifies the function of the factor group:
Factor group
User units
Position
1
Position Factor
Positioning units
Increments (inc)
1
position_polarity_flag
Velocity
1
Units of velocity
Velocity Factor
1
velocity_polarity_flag 1)
CMMS/
CMMD
CMMP
1 rev
1 rev
min.
4096 min
Acceleration
1 rpm
Units of acceleration
Acceleration Factor
256 sec
A-3
A. Technical appendix
Name
Unit
Explanation
Length
Positioning units
Increments
Velocity
Units of velocity
min-1
Acceleration
Units of acceleration
(min-1)/s
A-4
A. Technical appendix
PNU
Object
Type
Access
Polarity
(reversal of direction)
1000
Var
uint8
rw
Position Factor
1004
Array
uint32
rw
Velocity Factor
1006
Array
uint32
rw
Acceleration Factor
1007
Array
uint32
rw
PNU
Object
Type
Access
Encoder Resolution
1001
Array
uint32
rw
Gear Ratio
1002
Array
uint32
rw
Feed Constant
1003
Array
uint32
rw
Axis Parameter
1005
Array
uint32
rw
A-5
A. Technical appendix
Drive
x in positioning unit
(e. g. degrees)
revsOUT
revsIN
Motor
Gear unit
x in positioning unit
(e. g. mm)
Feed Constant
A-6
A. Technical appendix
Example
First, the desired unit (column 1) and the desired number of
decimal places (dp) have to be specified, along with the applications gear ratio and its feed constant (if applicable). The
feed constant is then displayed in the desired positioning
units (column 2).
In this way, all the values can be entered into the formula and
the fraction can be calculated:
Position factor calculation sequence
Positioning
units 1)
Feed
constant 2)
degrees,
1 dp
1 r OUT =
3600
10
1/10 degree
( /10 )
Gear
ratio 3)
1/1
Formula 4)
1r
Inc
* 65536 r
1r
3600
10
1r
Result
shortened
65536 Inc
3600
10
num : 4096
div : 225
A-7
A. Technical appendix
Feed
constant 2)
increments,
0 dp
1 r OUT =
65536 Inc
Gear
ratio 3)
Formula 4)
Result
shortened
1/1
1r
Inc
* 65536 r
1r
65536 Inc
1r
1 Inc
1 Inc
1/1
1r
Inc
* 65536 r
1r
3600
10
1r
65536 Inc
3600
num : 4096
div : 225
65536 Inc
r
100
num : 16384
div :
25
131072 Inc
r
300
num : 32768
div :
75
2621440 Inc
mm
31575
num: 524288
div:
6315
num : 1
div : 1
inc.
degrees,
1 dp
1 r OUT =
3600
10
1/10 degree
( /10 )
revs,
2 dp
1 r OUT =
100
U
100
1/1
1/100 revs
( revs/100 )
2/3
mm,
1 dp
1/10 mm
( mm/10 )
1 r OUT =
mm
631.5
10
4/5
1r
Inc
* 65536 r
1r
r
100
100
1r
2r
Inc
* 65536 r
3r
r
100
100
1r
4r
Inc
* 65536 r
5r
mm
631.5
10
1r
10
100
100
10
1)
2)
A-8
A. Technical appendix
Gear Ratio
Feed Constant
Velocity Factor
A-9
A. Technical appendix
Example
First, the desired unit (column 1) and the desired number of
decimal places (dp) have to be specified, along with the applications gear ratio and its feed constant (if applicable). The
feed constant is then displayed in the desired positioning
units (column 2).
Then, the desired unit of time is converted into the motor
controllers unit of time (column 3).
In this way, all the values can be entered into the formula and
the fraction can be calculated:
Velocity factor calculation sequence
Units of
velocity 1)
mm/s,
1 dp
mm
63.15 r
1 r OUT =
mm
631.5
10
1/10 mm/s
( mm/10 s )
1
1 s
60 1
min
60 * 4096
1
4096 min
4/5
4r
*
5r
Result
shortened
1
4096 min
r
1
1966080
1s
4096 min
=
mm
mm
631.5
6315
10s
10
1r
60 * 4096
num: 131072
div:
421
A-10
A. Technical appendix
rpm,
0 dp
1 r OUT =
65536 Inc
1/100
revs/
min
/s,
1 dp
1 r OUT =
3600
10
1/10 /s
( /10 s )
rpm,
2 dp
1 r OUT =
r
100
100
1/100
revs/min
( revs/100
min )
1
min
1 1
min
1
1 s
1/1
60 1
min
1
min
1
1
min
1/1
1/1
2/3
mm/s,
1 dp
1/10 mm/s
( mm/10 s )
mm
63.15 r
1 r OUT =
mm
631.5
10
1
1 s
60 1
min
1/1
4/5
1
1 r 1 r min
*
*
1r 1r 1
1 r
min
= min
1r
1 r
min
1r
1
60*
min
r
1
60
s
min
=
3600
3600
10 s
10
1r
Result
shortened
num:
div:
1
1
num:
div:
1
60
num:
div:
1
100
num:
div:
1
150
num:
div:
40
421
num:
div:
32
421
1r 1r
*
*
1r 1r
1
1 r 1 r min
*
*
1r 1r 1
1 r
min
min
=
r
r
100
100
100
100 min
1r
1
1 r 2 r min
*
*
1r 3r 1
2 r
min
min
=
r
r
300
100
100
100 min
1r
1
60*
min
r
1
120
s
min
=
mm
mm
631.5
1263
10 s
10
1r
1r 1r
*
*
1r 1r
1
60*
min
r
1
96
s
min
=
mm
mm
631.5
1263
10 s
10
1r
1r 4r
*
*
1r 5r
1)
2)
A-11
A. Technical appendix
rpm,
0 dp
1 r OUT =
1 r OUT
1
min
4096
( revs/min )
rpm,
2 dp
1 r OUT =
r
100
100
1
4096 min
1
min
1
4096
4096 min
1/1
2/3
1r
*
1r
2r
*
3r
1/100
revs/min
( revs/100
min )
/s,
1 dp
1 r OUT =
3600
10
1/10 /s
( /10 s )
mm/s,
1 dp
1/10 mm/s
( mm/10 s )
mm
63.15 r
1 r OUT =
mm
631.5
10
1
1 s
60 1
min
60 * 4096
1
4096 min
1
1 s
60 1
min
60 * 4096
1
4096 min
1/1
4/5
1r
*
1r
4r
*
5r
Result
shortened
1
4096 min
1
r
1
4096
min
4096 min
=
r
1r
1
min
1r
4096
1
4096 min
1
r
1
8192
min
4096 min
=
r
r
300
100
100
100 min
1r
num: 4096
div:
1
4096
1
4096 min
r
1
245760
1s
4096 min
=
3600
3600
10 s
10
1r
num: 2048
div:
75
60 * 4096
1
4096 min
r
1
1966080
1s
4096 min
=
mm
mm
631.5
6315
10 s
10
1r
num: 1024
div:
15
60 * 4096
num: 131072
div:
421
1)
2)
A-12
A. Technical appendix
Ratio between the internal unit of time squared and the userdefined unit of time squared
(e. g. 1 min2 = 1 min * 1 min = 60 s * 1 min = 60/256 min * s).
Gear Ratio
Feed Constant
Acceleration Factor
A-13
A. Technical appendix
Example
First, the desired unit (column 1) and the desired number of
decimal places (dp) have to be specified, along with the applications gear ratio and its feed constant (if applicable).
The feed constant is then displayed in the desired positioning
units (column 2).
Then, the desired unit of time2 is converted into the motor
controllers unit of time2 (column 3).
In this way, all the values can be entered into the formula and
the fraction can be calculated:
Examples of calculating the acceleration factor
Units of
acceler. 1)
mm/s2,
1 dp
mm
63.15 r
1 r AUS =
mm
631.5
10
1/10 mm/s2
( mm/10 s2 )
1
s2
60
1
min * s
60 * 256
4/5
=
1
min
256 * s
4r
*
5r
Result
shortened
1
256 min * s
r
1
min
1
122880
s2
256 s
=
mm
mm
631.5
6315
10
10s2
1r
60 * 256
num: 8192
div: 421
A-14
A. Technical appendix
rpm/s,
0 dp
1 r OUT =
1 r OUT
revs/
1 r OUT =
3600
10
1/10 /s2
( /10 s2 )
rpm2,
2 dp
1
min * s
256
min s
/s2,
1 dp
1
min
1
min * s
60 * 256
1 r OUT =
r
100
100
1/1
=
1
min2
2/3
1/100
256
60 256 * s
( mm/10 s2 )
1r
*
1r
2r
*
3r
1
min
mm
63.15 r
1 r OUT =
mm
631.5
10
1
s2
60
1
min * s
60 * 256
1
256 min s
r
1
1
256 min
min * s
256* s
=
r
1r
min
1r
1 s
256
1
256 min * s
r
1
min
1
15360
2
s
256 * s
=
3600
3600
10
10 s2
1r
4/5
=
1
min
256 * s
4r
*
5r
num: 256
div:
1
60 * 256
256 * s
2
revs/
min
( revs/100
2
min )
1/10 mm/s2
1r
*
1r
1
min
1 min
60 s
mm/s2,
1 dp
1/1
256 * s
1
s2
60
Result
shortened
1
256 min * s
r
1
min
60
512
min2
256 s
=
r
r
100
18000
100
100 min 2
1r
num: 64
div: 15
256
1
256 min * s
r
1
min
1
122880
s2
256 s
=
mm
mm
631.5
6315
10
10 s2
1r
num: 32
div: 1125
60 * 256
num: 8192
div: 421
1)
2)
A-15
A. Technical appendix
A-16
Appendix B
B-1
Contents
B.1
B.2
B-2
B.1
FHPP+ overview
FHPP+ is an expansion of the FHPP communication protocol.
To find out whether this function is supported by the controller you are using and its firmware version, see the help
for the associated FCT plug-in.
The FHPP+ expansion allows additional PNUs configured by
the user to be transmitted via the cyclic telegram, in addition
to the control and status bytes and the optional parameter
channel (FPC).
The minimum configuration for each telegram contains the
control and status bytes, meaning that 8 bytes are sent and
received. If the parameter channel is transmitted as well, it
directly follows the I/O channel.
FHPP+ can be used to attach additional setpoint values to the
received telegram which are not represented in the control
and status bytes or in the FPC. Additional actual values can
be forwarded in the response telegram, such as the intermediate circuit voltage or the temperature of the output
stage.
The additional data (FHPP+) must always be transmitted in
multiples of 8 bytes, up to a total length of 32 bytes.
The data transmitted via FHPP+ is configured using the
FHPP+ telegram editor in the controllers FCT plug-in.
Note
Not all PNUs can be configured for the FHPP+ telegram.
For example, the PNUs 40 to 43 cannot be transmitted at
all; PNUs without write access cannot be configured in the
output data; etc.
B-3
B-4
B.1.2 Examples
Example 1
With FPC, maximum 16 bytes for FHPP+
Output data, bytes 1 ... 31
1
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
FPC, PNU, SI
Control bytes
... ...
PNU...
PNU...
PNU...
PNU... PNU...
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
FPC, PNU, SI
Status bytes
PNU...
PNU...
PNU...
PNU...
Example 2
Without FPC, maximum 24 bytes for FHPP+
Output data, bytes 1 ... 31
1
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
PNU...
PNU...
Control bytes
PNU...
PNU...
PNU...
PNU...
PNU... PNU...
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
PNU...
Status bytes
PNU...
PNU...
PNU...
... ...
PNU...
PNU...
B-5
B-6
B.2
Record selection.
The cam disks are parametrised via the FCT plug-in. For
information about parametrisation, see the help for the
CMMP-AS plug-in.
For complete information on the camming function, see the
special cam disk manual.
B-7
B-8
FNUM = 0: reserved
FNUM = 1, FNUM = 2:
synchronisation operation
without/with cam disk
B-9
B-10
Switched off
T7* always has the
highest priority.
T7*
S5
S1
Controller
switched on
Reaction to fault
T1
T8
S2
Drive disabled
T5
T11
S6
T9
Fault
T2
T10
S3
Drive enabled
T6
T4
SA5
Jog positive
TA9
T3
SA1
TA7
TA10
SA6
Jog negative
TA8
Ready
TA11
TA13
TA12
TA19
TA6
SA7
Prepare cam disk
TA14
TA2
TA5
SA4
Homing is being
carried out
TA1
SA2
Positioning task
active
TA4
TA3
TA16
TA15
SA8
Cam disk active
and being run
TA18
TA17
SA9
SA3
Intermediate stop
Cam disk
intermediate stop
S4
Operation enabled
B-11
TA
TA13
TA14,
TA19
Description
De-activate cam
disk
Event with
Ancillary condition
Record selection
Direct mode
Rising edge
(change) of record
number.
FUNC = 1
Rising edge
(change) of record
number.
TA15
TA16
Rising edge
(change) of record
number and rising
edge at START.
TA17
Intermediate stop
HALT = 0
TA18
End intermediate
stop
HALT = 1
B-12
Index
Appendix C
Index
C-1
C. Index
C-2
C. Index
A
Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18, 4-32
Axis zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII, 4-55
C
Cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
D
Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Diagnostics, FHPP status bytes . . . . . . . . . . . . . . . . . . . . 3-53
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
E
Effective stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Electric axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Error numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
F
Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . XIII
Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . . XIII, 5-3
FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
FHPP operating mode
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Festo P.BE-CMM-FHPP-SW-EN en 1011b
C-3
C. Index
H
HMI (see device control) . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
XIV
XIII
XIV
XV
J
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
O
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
XIV
XIV
XIV
XIV
XV
XV
P
Parameter channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Parameter identifier (ParID) . . . . . . . . . . . . . . . . . . . . 5-3, 5-4
Parameter number (PNU) . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Parameter value (Value) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Positioning record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
C-4
C. Index
R
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18, 4-32
Response identifier (ResID) . . . . . . . . . . . . . . . . . . . . . 5-4, 5-5
S
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Software end position . . . . . . . . . . . . . . . . . . . . . . . . XV, 4-41
Negative (lower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Positive (upper) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Subindex (IND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
T
Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX
Task identifier (ReqID) . . . . . . . . . . . . . . . . . . . . . . . . . 5-4, 5-5
Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Text designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI
U
User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X
C-5
C. Index
V
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XII
W
Warning memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
C-6