Festo Cmms-As FHPP

Festo Handling and
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]
Contents and general safety instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de
Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 1011b
Designation . . . . . . . . . . . . . . . . . . P.BE-CMM-FHPP-SW-EN
Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 696
(Festo AG & Co. KG, D-73726 Esslingen, 2010)

Internet: http://www.festo.com
E-Mail: service_international@festo.com
The copying, distribution and utilization of this document as
well as the communication of its contents to others without
express authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights are reserved,
in particular the right to carry out patent, registered design
or ornamental design registration.
Festo P.BE-CMM-FHPP-SW-EN en 1011b
CANopen, DeviceNet, EtherCAT, and PROFIBUS are registered trademarks of the

respective trademark owners in certain countries.
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.
I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1.1
1.2
Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . .

Setpoint specification (FHPP operating modes) . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2
Assignment of the I/O data for CMMD . . . . . . . . . . . . . . . . . . . . . . .
1.3.3
I/O data in the various FHPP operating modes (control view) . . . .
Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . .
Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1
Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2
Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3
Control byte 3 (CDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . .
1.5.4
Bytes 4 and 5 ... 8 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.5
Bytes 3 and 4 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . . .
Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.1
Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.2
Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.3
Status byte 3 (SDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.4
1.6.5
Bytes 3, 4 and 5 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . .
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
FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1
Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.2
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.3
Special features dependent on FHPP operating mode . . . . . . . . . .
1.7.4
Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . .
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
Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1
Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2
Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1
Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.2
Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.3
Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . .
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.1
Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . .
2.7.2
Sequence for Profile Torque mode (torque and current control) . .
2.7.3
Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . .
Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
On-the-fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . .
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.
Fault reaction and diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3.1
Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2
Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3
Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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
Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.4.1
CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.4.2
CMMS/CMMD fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
4.
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1
4.1
4.2
FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1
Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . .
4.4.2
PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . .
4.4.3
Device data Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4
Device data Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.5
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.6
Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.7
On-the-fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.8
Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.9
Project data General project data . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.10 Project data Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.11 Project data Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.12 Project data Direct mode, Profile Position mode . . . . . . . . . . . . .
4.4.13 Project data Direct mode, Profile Torque mode . . . . . . . . . . . . . .
4.4.14 Project data Direct mode, Profile Velocity mode . . . . . . . . . . . . .
4.4.15 Function data Camming function . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.16 Function data Position triggers and rotor position triggers . . . . .
4.4.17 Axis parameters for electric drives 1 Mechanical parameters . . .
4.4.18 Axis parameters for electric drives 1 Homing parameters . . . . . .
4.4.19 Axis parameters for electric drives 1 Closed-loop controller
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.20 Axis parameters for electric drives 1
Electronic rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.21 Axis parameters for electric drives 1 Standstill control . . . . . . . .
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
Axis parameters for electric drives 1 Drag error monitoring . . . . 4-62

Axis parameters for electric drives 1 Other parameters . . . . . . . . 4-62
Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . 4-63
5.
Parametrisation with FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1
5.1
Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1
Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . .
5.1.2
Task identifiers, response identifiers and error numbers . . . . . . . .
5.1.3
Rules for task-response processing . . . . . . . . . . . . . . . . . . . . . . . . .
5-3
5-3
5-5
5-7
A.
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A.1
Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.1.2
Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.1.3
Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A.1.4
Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
A.1.5
Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A-13
B.
FHPP+ and cam disk expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1
FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

B.1.1
Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
B.1.2
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5
B.1.3
Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . B-6
B.1.4
Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
B.1.5
Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
CMMP-AS - operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
B.2.1
Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B-8
B.2.2
Camming function in Record selection mode . . . . . . . . . . . . . . . . . B-10
B.2.3
Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B-10
B.2.4
Extended finite state machine with camming function . . . . . . . . . . B-11
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.
Depending on which fieldbus is used, you can find further

information in the following manuals for the CMMx product
family:
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
Important user instructions

Danger categories
This description contains instructions on the possible dangers
which can arise if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a pictogram. A distinction is made between the following danger
warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or material damage.
Caution
in personal injury or material damage.
Note
in material damage.
Additionally, the following pictogram designates text

passages, which describe activities with electrostatically
sensitive devices:
Electrostatically sensitive devices: inappropriate handling
can result in damage to components.
Identification of special information

The following pictograms designate text passages that contain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or useful accessories for the Festo
product.
Environment:
Information on the environmentally-friendly use of Festo
products.
Text designations
Bullet points indicate activities that may be carried out in

any sequence.
1. Numerals indicate activities that must be carried out in

the sequence specified.
Arrowheads indicate general listings.
XI
Information about the version

This manual refers to versions set out in Tab. 0/1.
Controller
Firmware
Description
CMMP-AS-...
Version 3.5.1501.4.1 and higher
Premium motor controller for servo motors

Note: This description does not apply to the
variants CMMP-AS-...-M3. Use the special
FHPP description for these variants.
CMMS-ST-...
Standard motor controller for stepper motors.
CMMS-AS-...
Standard motor controller for servo motors.
CMMD-AS-...
Standard double motor controller for servo

motors.
Tab. 0/1: Controller and firmware versions

For older versions:
You may need to use the corresponding older version of this
document.
Note
With newer firmware versions, check whether there is a
newer version of this description available:
www.festo.com
XII
Terms and abbreviations

The following terms and abbreviations are used in this
manual:
Term/abbreviation
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.
Axis zero point (AZ)
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
Contains power electronics + closed-loop controllers + position

controller, evaluates sensor signals, calculates movements and forces
and provides the power supply for the motor via the power electronics.
Drive
Complete actuator, consisting of motor, encoder and axis, optionally

with a gearbox, if applicable with controller.
Encoder
Electrical pulse generator (generally a rotor position transducer).

The controller evaluates the electrical signals that are generated and
uses them to calculate the position and speed.
Festo Configuration Tool

(FCT)
Software with standardised project and data management for supported device types. The special requirements of a device type are
supported with the necessary descriptions and dialogues by means of
plug-ins.
Festo Handling and

Positioning Profile (FHPP)
Uniform fieldbus data profile for position controllers from Festo
Festo Parameter Channel

(FPC)
Parameter access as per the Festo Handling and Positioning Profile

(I/O messaging, optionally additional 8-byte I/O)
FHPP standard
Defines the sequence control as per the Festo Handling and Positioning Profile (I/O messaging, 8-byte I/O)
HMI
Human-Machine Interface, e.g. control panel with LCD screen and

operating buttons.
Homing
Positioning procedure in which the reference point and therefore the

origin of the measuring reference system of the axis are defined.
Homing method
Method for defining the reference position: against a fixed stop

(overload current evaluation/speed evaluation) or with reference
switch.
XIII
Term/abbreviation
Meaning
Homing mode
Defines the measuring reference system of the axis
I
O
IO
Input.
Output.
Input and/or output.
Jog mode
Manual positioning in positive or negative direction.

Function for setting positions by approaching the target position, e.g.
by teaching positioning records (Teach mode).
Load voltage, logic voltage
The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and control logic of the controller.
Logic 0
0 V present at input or output (positive logic, corresponds to LOW).
Logic 1
24 V present at input or output (positive logic, corresponds to HIGH).
Operating mode
Type of control, or internal operating mode of the controller.

Type of control: Record selection, Direct mode
Operating mode of the controller: Profile Position mode,
Profile Torque mode, Profile Velocity mode
Predefined sequences: Homing mode...
PLC
Programmable logic controller; control system for short (also IPC:

industrial PC).
Positioning record
Positioning command defined in the positioning record table,

consisting of target position, positioning mode, positioning speed
and accelerations.
Profile Position mode
Operating mode for executing a positioning record or a direct

positioning task with closed-loop position control.
Profile Torque mode
Operating mode for executing a direct positioning task with force

control (open-loop transmission control) by regulation of the motor
current.
Project zero point (PZ)
Point of reference for all positions in positioning tasks. The project

zero point PZ forms the basis for all absolute position specifications
(e.g. in the positioning record table or with direct control via a control
interface). The project zero point PZ is defined by a preset distance
(offset) from the axis zero point.
Reference point (REF)
Point of reference for the incremental measuring system. The

reference point defines a known orientation or position within the
positioning path of the drive.
XIV
Term/abbreviation
Meaning
Reference switch
External sensor used for ascertaining the reference position and connected directly to the controller.
Software end position
Programmable stroke limitation (point of reference = axis zero point)

Software end position, positive:
max. limit position of the stroke in positive direction; must not be
exceeded during positioning.
Software end position, negative:
min. limit position in negative direction; must not be fallen short of
during positioning.
Speed adjustment
(Profile Velocity mode)
Operating mode for executing a positioning record or a direct

positioning task with closed-loop control of the speed/velocity.
Teach mode
Operating mode for setting positions by moving to the target position,

e.g. when creating positioning records.
Tab. 0/2: Index of terms and abbreviations
XV
XVI
I/O data and sequence control
Chapter 1
I/O data and sequence control
1-1
1. I/O data and sequence control
Contents
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1-2
Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . .

Setpoint specification (FHPP operating modes) . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2
Assignment of the I/O data for CMMD . . . . . . . . . . . . . . . . . . . . . . .
1.3.3
I/O data in the various FHPP operating modes (control view) . . . .
Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . .
Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1
Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2
Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3
Control byte 3 (CDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . .
1.5.4
1.5.5
Bytes 3 and 4 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . . . .
Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.1
Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.2
Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.3
Status byte 3 (SDIR) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.4
1.6.5
Bytes 3, 4 and 5 ... 8 Record selection . . . . . . . . . . . . . . . . . . . . .
FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.1
Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.2
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.3
Special features dependent on FHPP operating mode . . . . . . . . . .
1.7.4
Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . .
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
Overview of Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especially
tailored to the target applications for handling and positioning
tasks, the Festo Handling and Positioning Profile (FHPP).
The FHPP enables uniform control and programming for the
various fieldbus systems and controllers from Festo.
In addition, it defines the following so that they are largely
uniform for the user:
The operating modes,
I/O data structure,
Parameter objects,
Sequence control.
...
Fieldbus communication
Record selection
1
>
2
3
Direct mode
Position
Velocity
Parametrisation
Torque
Free access to all

parameters
read and write
...
n
...
Fig. 1/1: The FHPP principle
1-3
Control and status data (FHPP Standard)

Communication over the fieldbus is effected by way of 8-byte
control and status data. Functions and status messages required in operation can be written and read directly.
Parametrisation (FPC)
The control system can access all parameter values of the controller via the fieldbus by means of the parameter channel.
A further 8 bytes of I/O data are used for this purpose.
Note on the controllers

Each controller has specific features and tasks. They therefore
each have their own finite state machine and a separate database.
The Festo Handling and Positioning Profile (FHPP) provides
users with information about a controllers individual characteristics. The profile is implemented as independently as possible
from each controller and fieldbus.
1-4
1.2
Setpoint specification (FHPP operating modes)

The FHPP operating modes differ in the content and meaning of
the cyclic I/O data and in the functions that can be accessed in
the controller.
Operating mode
Description
Record selection
A specific number of positioning records can be saved in the controller. A record contains all the parameters which are specified for a
positioning task. The record number is transmitted in the cyclic I/O
data as the setpoint or actual value.
Direct mode
The positioning task is transmitted directly in the I/O telegram. The

most important setpoint values (position, velocity, torque) are transmitted here. Supplementary parameters (e.g. acceleration) are defined by the parametrising.
Tab. 1/3: Overview of FHPP operating modes in CMM...
1.2.1
Switching FHPP operating modes

The FHPP operating mode is switched by the CCON control
byte (see below) and indicated in the SCON status word.
Switching between record selection and direct mode is only
permitted in the Ready state; see section 1.7, Fig. 1/2.
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
Configuration of the I/O data

Concept
The FHPP protocol stipulates 8 bytes of input data and
8 bytes of output data. Of these, the first byte is fixed (the
first two bytes in the FHPP operating modes Record selection
and Direct mode). It remains intact in each operating mode
and controls the enabling of the controller and the FHPP operating modes. The other bytes are dependent on the FHPP
operating mode that was selected. Additional control or
status bytes and setpoint and actual values can be transmitted here.
In the cyclic data, a further 8 bytes of input data and 8 bytes
of output data are permissible to transmit parameters according to the FPC protocol.
A PLC exchanges the following data with the FHPP:
8-byte control and status data:
Control and status bytes
Record number or setpoint position in the output data
Feedback of actual position and record number in the

input data
Additional mode-dependent setpoint and actual

values
If required, an additional 8 bytes of input and 8 bytes of

output data for FPC parametrisation, see section 5.1.
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.
If applicable, observe the specification in the bus master

for the representation of words and double words (Intel/
Motorola).
E.g. in the little endian representation when transmitted via
CAN (lowest-value byte first).
1-8
1.3.2
Assignment of the I/O data for CMMD

With CMMD, control via FHPP for axis 1 and axis 2 always
takes place over a shared fieldbus interface. If an interface is
activated, it is always valid for both axes.
Each axis then has its own I/O data corresponding to section
1.3.1 or 1.3.3.
Assignment of the I/O data over the fieldbus depends on the
control interface used:
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
PROFIBUS and DeviceNet:

The two axes have a shared bus address, which is set via
the DIP switches.
The I/O data for the two axes are transferred in a shared
telegram of double length.
Example (with FPC):
Byte 1 ... 8:
control/status bytes axis 1
Byte 9 ... 16:
FPC axis 1
Byte 17 ... 24:
control/status bytes axis 2
Byte 25 ... 32:
FPC axis 2
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
I/O data in the various FHPP operating modes (control view)
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
Further 8 bytes of I/O data for FPC parametrisation

(see section 5.1):
Festo FPC
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Output
data
Reserved Subindex Task identifier

Parameter value
(ReqID) + parameter
number (PNU)
Input
data
Reserved Subindex Response identifier

(ResID) + parameter
number (PNU)
1-10
Byte 7
Byte 8
Parameter value
1.4
Assignment of the control bytes and status bytes (overview)
Assignment of the control bytes (overview)

CCON
(all)
B7
OPM2
B6
OPM1
Select FHPP operating mode
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
Jog nega- Jog positive

tive
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
Assignment of the status bytes (overview)

SCON
(all)
B7
OPM2
B6
OPM1
B5
LOCK
B4
24VL
B3
FAULT
Display FHPP operating mode
Drive con- Supply

Fault
trol by
voltage is
software
applied
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
Function group feedback
B4
MOV
B4
FNUM2
Function number
feedback
Control mode feedback (position,

torque, velocity)
Absolute/
Relative
1-11
1.5
Description of the control bytes
1.5.1
Control byte 1 (CCON)
Control byte 1 (CCON)

Bit
EN
Description
B0
ENABLE
Drive Enable
= 1: Enable drive (controller)

= 0: Drive (controller) disabled
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
Software Access Locked
Controls access to the controllers local (integrated) diagnostic interface.

= 1: The software can only observe the controller; the software cannot
take over device control (HMI control) from the software.
= 0: The software may take over the device control (in order to modify
parameters or to control inputs).
B6
OPM1
Select Operating Mode
Bit 7
0
0
1
1
B7
OPM2
6
0
1
0
1
Operating mode
Record selection
Direct mode
Reserved
Reserved
CCON controls statuses in all FHPP operating modes. For

more information, see the description of the drive functions in
Chapter 2.
1-12
1.5.2
Control byte 2 (CPOS)
Control byte 2 (CPOS)

Bit
EN
Description
B0
HALT
Halt
= 1: Halt is not active

= 0: Halt activated (do not cancel braking ramp + positioning task).
The axis stops with a defined braking ramp, the positioning task
remains active (with B6 the remaining positioning distance can be
deleted).
B1
START
Start Positioning Task
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
With a rising edge homing is started with the set parameters.
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
Clear Remaining Position
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.
CPOS controls the positioning sequences in the Record

selection and Direct mode FHPP operating modes, as soon
as the drive is enabled.
1-13
1.5.3
Control byte 3 (CDIR) Direct mode
Control byte 3 (CDIR) Direct mode

Bit
EN
Description
B0
ABS
Absolute/
Relative
= 0: Setpoint value is absolute

= 1: Setpoint value is relative to last setpoint value
B1
COM1
Control Mode
Bit 2 1 Control mode

0 0 Profile Position mode
0 1 Profile Torque mode (torque, current)
1 0 Profile Velocity mode (speed)
1 1 Reserved
Only Profile Position mode can be used for the camming function.
Function
Number
Without camming function (CDIR.B7, FUNC = 0): no function, = 0!

If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):
No. Bit 4 3 Function number 1)
0
0 0 Reserved
1
0 1 Synchronisation with an external input
2
1 0 Synchronisation with an external input with camming
function
3
1 1 Synchronisation with a virtual master with camming
function
Function
Group

No. Bit 6 5 Function group
0
0 0 Synchronisation with/without cam disk
All other values (No. 1 ... 3) are reserved.
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.
In Direct mode, CDRI specifies the type of positioning task

more precisely.
1-14
1.5.4
Bytes 4 and 5 ... 8 Direct mode
Control byte 4 (setpoint value 1) Direct mode

Bit
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
Control bytes 5... 8 (setpoint value 2) Direct mode

Bit
EN
Description
Position
Preselection 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)
Torque
Profile Torque mode:
B0...B31
Velocity
1.5.5
Torque setpoint as percentage of the rated

torque (PNU 1036)
Profile Velocity mode: Speed in unit of velocity (see appendix A.1)
Bytes 3 and 4 ... 8 Record selection
Control byte 3 (record number) Record selection

Bit
EN
Description
B0 ... B7
Record
number
Preselection of record number for record selection.
Control bytes 4 ... 8 Record selection

Bit
EN
Description
B0 ... B7
Reserved (= 0)
1-15
1.6
1.6.1
Description of the status bytes

Status byte 1 (SCON)
Status byte 1 (SCON)

Bit
EN
Description
B0
Drive Enabled
ENABLED
= 0: Drive disabled, controller not active

= 1: Drive (controller) enabled
B1
OPEN
Operation Enabled
= 0: STOP active
= 1: Operation enabled, positioning possible
B2
WARN
Warning
= 0: Warning not registered

= 1: Warning registered
B3
FAULT
Fault
= 0: No fault
= 1: There is a fault or fault reaction is active.
Fault code in the diagnostic memory.
B4
24VL
Supply Voltage = 0: No load voltage

is Applied
= 1: Load voltage applied
B5
LOCK
Drive Control
by Software
Control sovereignty, meaning which device or system has higher control

priority (see PNU 125, section 4.4.4)
= 0: Device control unassigned (software, fieldbus, DIN)
= 1: Device control by software (FCT or DIN)
(PLC control is Locked)
B6
OPM1
Display Operating Mode
Bit 7
0
0
1
1
B7
OPM2
1-16
6
0
1
0
1
Operating mode acknowledgment

Record selection
Direct mode
Reserved
Reserved
1.6.2
Status byte 2 (SPOS)
Status byte 2 (SPOS)

Bit
EN
Description
B0
HALT
Halt
= 0: HALT is active
= 1: HALT is not active, axis can be moved
B1
ACK
Acknowledge
Start
= 0: Ready for start (homing, jog)

= 1: Start carried out (homing, jog)
B2
MC
Motion Complete
= 0: Positioning task active

= 1: Positioning task completed, where applicable with error
Note: MC is set for the first time after switch-on
(status Drive disabled).
B3
TEACH
Acknowledge
Teach /
Sampling
Depending on the setting in PNU 354:

PNU 354 = 0: Display of the teach status
SPOS.B3 = 0: Ready for teaching
SPOS.B3 = 1: Teaching carried out, actual value is transferred
PNU 354 = 1: Display of the sampling status
SPOS.B3 = 0: No edge.
SPOS.B3 = 1: An edge has appeared. New position value available.
For position sampling: see section 2.9.
B4
MOV
Axis is moving
= 0: Speed of the axis < limit value

= 1: Speed of the axis >= limit value
B5
DEV
Drag (deviation) Error
= 0: No drag error (also called following error)

= 1: Drag error active
B6
STILL
Standstill
control
= 0: After MC, axis remains in tolerance window

= 1: Axis has left the tolerance window after MC
B7
REF
Axis is referenced
= 0: Homing must be carried out

= 1: Reference information present, homing not necessary
1-17
1.6.3
Status byte 3 (SDIR) Direct mode

The SDIR status byte acknowledges the positioning mode.
Status byte 3 (SDIR) Direct mode

Bit
EN
Description
B0
ABS
Absolute/
Relative

B1
COM1
Control Mode
feedback
Bit 2
0
0
1
1
Function
Number
feedback
Only if the camming function is used (SDIR.B7, FUNC = 1):

No. Bit 4 3 Function number
0
0 0 CAM-IN / CAM-OUT / Change active
1
2
function
3
function
Function
Group
feedback
Only if the camming function is used

(SDIR.B7, FUNC = 1):
0
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
Control mode feedback

Profile Position mode
Profile Torque mode (torque, current)
Profile Velocity mode (speed)
Reserved
1.6.4
Bytes 4 and 5 ... 8 Direct mode
Status byte 4 (actual value 1) Direct mode

Bit
EN
B0 ... B7
Velocity
Torque
Description
Feedback depends on the closed-loop control mode (CDIR.B1/B2):
Profile Position mode: Velocity as percentage of
Profile Torque mode: Torque as percentage of the rated
torque (PNU 1036)
Profile Velocity mode: no function, = 0
Status bytes 5 ... 8 (actual value 2) Direct mode

Bit
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
Bytes 3, 4 and 5 ... 8 Record selection
Status byte 3 (record number) Record selection

Bit
EN
Description
B0 ... B7
Record
number
Acknowledgement of record number for record selection.
Status byte 4 (RSB) Record selection

Bit
EN
Description
B0
RC1
1st Record
Chaining Done
= 0: A step enabling condition was not configured or not achieved.

= 1: The first step enabling condition was achieved.
B1
RCC
Record Chaining Complete
Valid as soon as MC applies.

= 0: Record chaining cancelled. At least one step enabling condition has
not been met.
= 1: Record chain was processed to the end of the chain.
B2
Reserved
B3
FNUM1
Function
Number
feedback
Only if the camming function is used (RSB.B7, FUNC = 1):

No. Bit 4 3 Function number
0
0 0 CAM-IN / CAM-OUT / Change active
1
2
function
3
function
Function
Group
feedback
Only if the camming function is used

(RSB.B7, FUNC = 1):
0
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
Status bytes 5 ... 8 (position) Record selection

Bit
EN
Description
B0...B31
Position, ...
Acknowledgment of the position:

Position in positioning unit, see appendix A.1
(32-bit number, low byte first)
1-21
1.7
FHPP finite state machine

From all states
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
Fig. 1/2: Finite state machine

1-22
Notes on the Operation enabled state

The transition T3 changes to state S4, which itself contains its
own sub-state machine, the states of which are marked with
SAx and the transitions of which are marked with TAx;
see Fig. 1/2. This enables an equivalent circuit diagram
(Fig. 1/3) to be used, in which the internal states SAx are
omitted.
Switched off
From all states

T7*
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
Fig. 1/3: Finite state machine equivalent circuit diagram

Transitions T4, T6 and T7* are executed from every sub-state
SAx and automatically have a higher priority than any transition TAx.
Reaction to faults
T7 (Fault recognised) has the highest priority (and receives
the asterisk *).
T7 is executed from S5+S6 if an fault of higher priority occurs.
This means that a serious fault can displace a simple fault.
1-23
1.7.1
Establishing the ready status

To create the ready status, additional input signals are required, depending on the controller, at DIN 4, DIN 5, DIN 13,
etc., for example.
For more detailed information about this, see the description
of the controller in question.
Internal conditions
T1
Drive is switched on.

There is no fault detected.
T2
Load voltage applied.

Control sovereignty with PLC.
Actions of the user
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
Reaction to fault completed, drive stopped.
T9
There is no longer a fault.

It was a serious fault.
Reset fault = 0 1
CCON = xxx0.Pxxx
T10
There is no longer a fault.

It was a simple fault.
Reset fault = 0 1
CCON = xxx0.Pxx1
T11
Fault still exists.
Reset fault = 0 1
CCON = xxx0.Pxx1
Key: P = positive edge, N = negative edge, x = any
1-24
1.7.2
Positioning
As a general rule:
Transitions T4, T6 and T7* always have priority.
TA
Internal conditions
Actions of the user
TA1
Homing has been carried out.
Start positioning task = 01

Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2
Motion Complete = 1
The current record is completed. The next record
is not to be carried out automatically
Halt status is any

CCON = xxx0.xx11
CPOS = 0xxx.xxxx
TA3
Motion Complete = 0
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA4
TA5
Halt = 1
Start positioning 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
Clear remaining position = 0 1

CCON = xxx0.xx11
CPOS = 0Pxx.xxxx
TA7
Start homing = 01
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA8
Homing finished or Halt.
Only for Halt:

Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
1-25
TA
Internal conditions
Actions of the user
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
There are additional transitions if the camming function is

used; see appendix B.2.
1-26
1.7.3
Special features dependent on FHPP operating mode
FHPP operating
mode
Notes on special features
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
Examples of control and status bytes

On the following pages you will find typical examples of control and status bytes:
0. Safeguard device control
1. Create readiness to operate Record selection
2. Create readiness to operate Direct mode
3. Fault handling
4. Homing
5. Positioning with record selection
6. Positioning with direct mode
For information about the state machine, see section 1.7.
For all examples:

Additional digital I/Os are required for CMM... controller
enabling and closed-loop controller enabling; see manual
for the CMM... controller used.
1-27
0. Safeguard device control

Step/Description
Control bytes
Byte
0.1 Drive control by

software = on
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
CLEAR TEACH JOGN
x: not relevant (any);
RESET BRAKE
STOP
ENABL
HOM
START
HALT
JOGP
B7 B6 B5 B4 B3 B2 B1 B0
Byte 1
OPM2 OPM1 LOCK
SCON 0
Byte 2
REF
SPOS 0
24VL
FAULT WARN OPEN ENABL
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
Tab. 1/4: Control and status bytes for Device control active
Description of 0. Safeguard device control:

0.1
1-28
Device control via software (e.g. Festo Configuration

Tool) is activated.
To control using the fieldbus interface, device control
via the software has to be deactivated first.
1. Create readiness to operate Record selection

Step/Description
Control bytes
Byte
1.1 Basic status

(Drive control by
software = off )
1.2 Disable device
control by software
Byte 1
Byte 2
CPOS
CPOS
(Record selection)
0: logic 0;
1: logic 1;
0
0
OPM2 OPM1
Byte 1
CCON 0
CPOS
LOCK
CLEAR TEACH JOGN
OPM2 OPM1
Byte 2
LOCK
CLEAR TEACH JOGN
CCON x
Byte 2
1.3 Enable drive,

enable operation
OPM2 OPM1
CCON 0
Byte 1
Status bytes
x
LOCK
CLEAR TEACH JOGN
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
OPM2 OPM1 LOCK
SCON 0
OPM2 OPM1 LOCK
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
Description of 1. Create readiness to operate:

1.1
Basic status of the drive when the supply voltage has

been switched on.
} Step 1.2 or 1.3
1.2
Disable device control by software.

Optionally, assuming of device control by the software
can be disabled with CCON.B5 = 1 (LOCK).
} Step 1.3
1.3
Enable drive in Record selection mode.

} Homing: example 4, Tab. 1/8.
If there are faults after switching on or after setting CCON.B0

(ENABLE):
} Fault handling: see example 3, Tab. 1/7.
1-29
2. Create readiness to operate Direct mode

Step/Description
Control bytes
Byte
2.1 Basic status

(Drive control by
software = off )
2.2 Disable device
control by software
Byte 1
Byte 2
CPOS
CPOS
(Direct mode)
0: logic 0;
1: logic 1;
0
0
OPM2 OPM1
Byte 1
CCON 0
CPOS
LOCK
CLEAR TEACH JOGN
OPM2 OPM1
Byte 2
LOCK
CLEAR TEACH JOGN
CCON x
Byte 2
2.3 Enable drive,

enable operation
OPM2 OPM1
CCON 0
Byte 1
Status bytes
x
LOCK
CLEAR TEACH JOGN
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
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
OPM2 OPM1 LOCK
SCON 0
OPM2 OPM1 LOCK
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
Description of 2. Create readiness to operate:

2.1
Basic status of the drive when the supply voltage has

been switched on.
} Step 2.2 or 2.3
2.2
Disable device control by software.

Optionally, assuming of device control by the software
can be disabled with CCON.B5 = 1 (LOCK).
} Step 2.3
2.3
Enable drive in Direct mode.

} Homing: example 4, Tab. 1/8.
If there are faults after switching on or after setting CCON.B0

(ENABLE):
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
CLEAR TEACH JOGN
OPM2 OPM1
CCON 0
LOCK
CLEAR TEACH JOGN
OPM2 OPM1
CCON x
Byte 2
Status bytes
x
LOCK
CLEAR TEACH JOGN
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
OPM2 OPM1 LOCK
SCON 0
HALT
REF
24VL
OPM2 OPM1 LOCK
SCON x
HALT
REF
SPOS x
ENABL
OPM2 OPM1 LOCK
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
Tab. 1/7: Control and status bytes for Fault handling
1-31
Description of 3. Fault handling

3.1
A fault is shown with SCON.B3 (FAULT).

} Positioning can no longer be undertaken.
3.2
A warning is shown with SCON.B2 (WARN).

} Positioning can still be undertaken.
3.3
Reset fault with positive edge at CCON.B3 (RESET).

} Fault bit SCON.B3 (FAULT) or
SCON.B3 (WARN) is reset
} SPOS.B2 (MC) is set
} Drive is ready to operate
Faults and warnings can be also reset using DIN5 (closedloop controller enable), see manual for the controller used.
1-32
4. Homing (requires status 1.3 or 2.3)

Step/Description
Control bytes
Byte
4.1 Start homing
Byte 1
OPM2 OPM1
CCON 0
4.2 Homing running
Byte 2
CPOS
Byte 1
CPOS
4.3 Homing finished
Byte 1
1: logic 1;
Byte 2
CPOS
LOCK
CLEAR TEACH JOGN
0
x
LOCK
CLEAR TEACH JOGN
OPM2 OPM1
CCON 0
0: logic 0;
OPM2 OPM1
CCON 0
Byte 2
Status bytes
LOCK
CLEAR TEACH JOGN
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
OPM2 OPM1 LOCK
SCON 0
OPM2 OPM1 LOCK
SCON 0
24VL
1
24VL
STILL
DEV
MOV
TEACH
MC
ACK
HALT
F: positive edge
Tab. 1/8: Control and status bytes for Homing
1-33
Description for 4. Homing:

4.1
A positive edge at CPOS.B2 (HOM, Start homing)

starts the homing. The start is confirmed with SPOS.B1
(Acknowledge start) as long as CPOS.B2 (HOM) is set.
4.2
Movement of the axis is shown with SPOS.B4 (MOV,

Axis is moving).
4.3
After successful homing SPOS.B2 (MC, Motion

Complete) and SPOS.B7 (REF) will be set.
If there are faults during homing:

1-34
5. Positioning with record selection

(requires status 1.3/2.3 and possibly 4.3)
Step/Description
5.1 Preselect record
number
(control byte 3)
Control bytes
Byte
Status bytes
Byte 3
Record number
Byte 3
Record number
Record
No.
Record no. (0 ...)
Record
No.
Previous record no. (0 ...)
5.2 Start task
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
OPM2 OPM1 LOCK
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
OPM2 OPM1 LOCK
24VL
Record number
Byte 3
Record number
Record
No.
Record no. (0 ...)
Record
No.
Current record no. (0 ...)
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
5.4 Task finished
0: logic 0;
B7 B6 B5 B4 B3 B2 B1 B0
Reserved
Reserved
SPOS
OPM2 OPM1 LOCK
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
Description of 5. Positioning with record selection:

(steps 5.1 ... 5.4 conditional sequence)
When the readiness to operate is created and homing has
been carried out, a positioning task can be started.
5.1
Preselect record number: Byte 3 of the output data

0
= Homing
1 ... = Programmable positioning records
5.2
With CPOS.B1 (START, Start positioning task) the

preselected positioning task will be started. The start
is confirmed with SPOS.B1 (Acknowledge start) as long
as CPOS.B1 (START) is set.
5.3
Movement of the axis is shown with SPOS.B4

(MOV, Axis is moving).
5.4
At the end of the positioning task, SPOS.B2

(MC, Motion Complete) will be set.
If there are faults during positioning:

1-36
6. Positioning with direct mode

(requires status 1.3/2.3 and possibly 4.3)
Step/Description
Control bytes
Byte
6.1 Preselect position

and speed
(bytes 4 and 5...8)
6.2 Start task
Byte 4
Velocity
Byte 4
Velocity
Speed preselect (0...100 %)
Velocity
Speed feedback (0...100 %)
Byte 5...8
Position
Byte 5...8
Position
Setpoint
pos.
Setpoint position
(positioning units)
Byte 1
OPM2 OPM1
CCON
Byte 2
LOCK
CLEAR TEACH JOGN
RESET BRAKE
FAST
XLIM
VLIM
CONT
LOCK
Byte 1
OPM2 OPM1
CCON
Byte 2
Byte 1
1
0
OPM2 OPM1
CCON
Byte 2
CPOS
CLEAR TEACH JOGN
LOCK
CLEAR TEACH JOGN
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
CONT COM2 COM1
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
COM2 COM1
RESET BRAKE
JOGP
HOM
RESET BRAKE
OPM2 OPM1 LOCK
OPM2 OPM1 LOCK
OPM2 OPM1 LOCK
24VL
0
24VL
1
24VL
SCON
JOGP
HOM
START
HALT
Byte 2
REF
STILL
DEV
MOV
TEACH
MC
ACK
HALT
SPOS
0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge;

S: positioning condition: 0= absolute; 1 = relative
Tab. 1/10: Control and status bytes for Positioning with direct mode
1-37
Description of positioning with direct mode:

(step 6.1 ... 6.4 conditional sequence)
When the readiness to operate is created and homing has
been carried out, a setpoint position must be preselected.
6.1
The setpoint position is transferred in positioning units

in bytes 5...8 of the output word.
The setpoint speed is transferred in % in byte 4
(0 = no speed; 100 = max. speed).
6.2
With CPOS.B1 (START, Start positioning task) the

preselected positioning task is started. The start is
confirmed with SPOS.B1 (Acknowledge start) as long a
s CPOS.B1 (START) is set.
6.3
Movement of the axis is shown with SPOS.B4

(MOV, Axis is moving).
6.4
At the end of the positioning task, SPOS.B2

(MC, Motion Complete) will be set.
If there are faults during positioning:

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
Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1
Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2
Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1
Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.2
Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.3
Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . .
Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.1
Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . .
2.7.2
Sequence for Profile Torque mode (torque and current control) . .
2.7.3
Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . .
Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
On-the-fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . .
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
Reference system for electric drives
Reference system for electric linear drives

2
1
d
REF
LSE
AZ
PZ
TP/AP
USE
LES
HES
Positions increasing in size, positive travel
REF
Homing point (reference point)
Axis zero point offset
AZ
Axis zero point
Project zero point offset
PZ
Project zero point
Target/actual position
offset
LSE
Lower software end position
d, e
Software end position

offsets
USE
Upper software end position
Effective stroke
LES
Lower end switch (lower limit switch)
Nominal stroke
HES
Higher end switch (higher limit switch)
TP, AP
Tab. 2/1: Reference system for electric drives
2-3
2. Drive functions
Reference system for electric rotary drives

Rotation axis: example with negative
reference switch homing method
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
Project zero point offset: distance from AZ
d, e
Software end position offsets: limit the permitted positioning range (usable stroke).
Optional: endless positioning possible
Effective stroke: permitted positioning range
Tab. 2/2: Reference system for electric rotary drives
2-4
2. Drive functions
2.2
Calculation rules for the reference system
Reference point
Calculation rule
Axis zero point
AZ
= REF + a
Project zero point
PZ
= AZ + b
= REF + a + b
LSE
= AZ + d
= REF + a + d
USE
= AZ + e
= REF + a + e
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).
Various homing modes are permitted, depending on the

controller and drive.
An overview is shown in Tab. 2/4.
For a description of the homing modes, see section 2.3.2.
2-5
2. Drive functions
Homing mode
Controller
Hex
Dec
Description
CMMP-AS
CMMS-AS/ CMMS-ST
CMMD-AS
01h
Negative limit switch with index pulse
x 1)
02h
Positive limit switch with index pulse
x 1)
07h
Reference switch in positive direction with

index pulse
0Bh
11
Reference switch in negative direction with

index pulse
11h
17
Negative limit switch
12h
18
Positive limit switch
17h
23
Reference switch in positive direction
1Bh
27
Reference switch in negative direction
21h
33
Index pulse in negative direction
x 1)
22h
34
Index pulse in positive direction
x 1)
23h
35
Current position
FFh
-1
Negative stop with index pulse
x 1)
FEh
-2
Positive stop with index pulse
x 1)
EFh
-17
Negative stop
x 1)
EEh
-18
Positive stop
x 1)
E9h
-23
Reference switch in positive direction with

travel to stop or limit switch
E5h
-27

travel to stop or limit switch
1)
Only possible for motors with an encoder
Tab. 2/4: Permissible homing modes, as of August 2007
2-6
2. Drive functions
2.3.1
Homing for electric drives

The drive homes against a stop, a limit switch or a reference
switch. An increase in the motor current indicates that a stop
has been reached. As the drive must not continuously reference against the stop, it must move at least one millimetre
back into the stroke range.
Sequence:
1. Search for the reference point in accordance with the
configured method.
2. Travel the distance of the axis zero point offset relative
to the reference point.
3. Set at axis zero point:
Current position = 0 project zero point offset.
Overview of parameters involved (see also section 4.4.17)

Parameters involved
Description
PNU
Axis zero point offset
1010
Homing method
1011
Homing speeds
1012
Homing accelerations
1013
Homing required
1014
CMMP only: Homing maximum torque
1015
Start (FHPP)
CPOS.B2 = positive edge: Start homing
Feedback (FHPP)
SPOS.B1 = positive edge: Acknowledge start

SPOS.B7 = Axis is referenced
Requirement
Device control by PLC/fieldbus

Controller must be in status Operation enabled
There must not be any command for jogging
Tab. 2/5: Parameters involved in homing
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
Negative limit switch with index pulse 1)

1. If the negative limit switch is inactive:
run at search speed in negative direction to
negative limit switch.
2. Run at crawl speed in positive direction until
the limit switch becomes inactive, then on to
first index pulse. This position is saved as the
reference point.
3. If this has been entered in the parameters: run
at travel speed to axis zero point.
02h
1)
Positive limit switch with index pulse 1)

1. If the positive limit switch is inactive:
run at search speed in positive direction to
positive limit switch.
2. Run at crawl speed in negative direction until
the limit switch becomes inactive, then on to
first index pulse. This position is saved as the
reference point.
Index pulse
Index pulse
Only possible for motors with an encoder.
2-8
2. Drive functions
Homing methods
Hex
Dec
Description
07h
Reference switch in positive direction with index

pulse 1)
1. If reference switch is inactive:
reference switch.
If the stop or limit switch is reached in the process: run at search speed in negative direction
to reference switch.
the reference switch becomes inactive, then on
to first index pulse. This position is saved as
the reference point.
0B
11h
1)
11
17

index pulse 1)
reference switch.
If the stop or limit switch is reached in the process: run at search speed in positive direction
the reference switch becomes inactive, then on
to first index pulse. This position is saved as
the reference point.
1. If the negative limit switch is inactive:
negative limit switch.
limit switch becomes inactive. This position is
saved as the reference point.
Index pulse
Reference switch
Index pulse
Reference switch
2-9
2. Drive functions
Homing methods
Hex
Dec
Description
12h
18

1. If the positive limit switch is inactive:
positive limit switch.
limit switch becomes inactive. This position is
saved as the reference point.
17h
1Bh
1)
23
27
Reference switch in positive direction

reference switch.
If the stop or limit switch is reached in the process: run at search speed in negative direction
reference switch becomes inactive. This position is saved as the reference point.
Reference switch in negative direction
reference switch.
If the stop or limit switch is reached in the process: run at search speed in positive direction
Reference switch
Reference switch
2-10
2. Drive functions
Homing methods
Hex
Dec
Description
21h
33
Index pulse in negative direction 1)

1. Run at crawl speed in negative direction to
index pulse. This position is saved as the
reference point.
22h
34
Index pulse in positive direction 1)

1. Run at crawl speed in positive direction to
reference point.
23h
35
Current position
1. The current position is saved as the reference
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
Negative stop with index pulse 1) 2)

1. Run at search speed in negative direction to
stop.
2. Run at crawl speed in positive direction to next
reference point.
FEh
1)
2)
-2
Positive stop with index pulse 1) 2)

1. Run at search speed in positive direction to
stop.
2. Run at crawl speed in negative direction to
next index pulse. This position is saved as the
reference point.
Index pulse
Index pulse
Index pulse
Index pulse

Limit switches are ignored during the run to the stop.
2-11
2. Drive functions
Homing methods
Hex
Dec
Description
EFh
-17
Negative stop 1) 2) 3)
stop. This position is saved as the reference
point.
EEh
-18
Positive stop 1) 2) 3)
stop. This position is saved as the reference
point.
E9h
-23
Reference switch in positive direction with travel

to stop or limit switch.
stop or limit switch.
2. run at search speed in negative direction to
reference switch.
E5h
1)
2)
3)
-27

travel to stop or limit switch.
stop or limit switch.
reference switch.
reference switch becomes active. This position
is saved as the reference point.
Reference switch
Reference switch

Limit switches are ignored during the run to the stop.
Since the axis is not intended to stay at the stop, the run to the axis zero point has to parametrised
and the axis zero point offset has to be 0.
Tab. 2/6: Overview of homing methods

2-12
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 to teaching positions
Moving the drive out of the way (e.g. after a system fault)
Manual traversing as a normal operating mode (manually

operated feed).
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
1 Low speed, phase 1
(slow travel)
2 Maximum speed for
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
Jog mode velocity phase 1
530
Jog mode velocity phase 2
531
Jog mode acceleration
532
Jog mode deceleration
533
Jog mode time phase 1 (T1)
534
Start (FHPP)
CPOS.B3 = positive edge: Jog positive (towards increasing actual values)

CPOS.B4 = positive edge: Jog negative (towards decreasing actual values)
Feedback (FHPP)
SPOS.B4 = 1: Drive is moving

SPOS.B2 = 0: (Motion Complete)
Requirement

Tab. 2/7: Parameters involved in jog mode
2-14
2. Drive functions
2.5
Teaching via fieldbus

Position values can be taught via the fieldbus. Previously
taught position values will then be overwritten.
Procedure
1. The drive is moved to the desired position by jog mode or
manually. This can be accomplished in jog mode by positioning (or by moving manually in the Drive disabled
status in the case of motors with an encoder).
2. The user must make sure that the desired parameter is
selected. For this, the parameter Teach target and, if
applicable, the correct record address must be entered.
Teach target (PNU 520) Is taught
= 1 (default)
Setpoint position in the positioning

record.
Record selection:
Positioning record according to
control byte 3
Direct mode:
Positioning record according to
PNU=400
=2
Axis zero point
=3
Project zero point
=4
=5
Tab. 2/8: Overview of teach targets

3. Teaching takes place via the handshake of the bits in the
control and status bytes CPOS/SPOS:
2-15
2. Drive functions
1 PLC:
Teach actual
value
CPOS.B5
Prepare teaching
2 Controller:
Ready for teaching
3 PLC:
Teach now
Acknowledgement
SPOS.B3
4 Controller:
Value transferred
Fig. 2/2: Handshake during teaching

Note:
The drive does not need to be at a standstill for teaching.
However, with the usual cycle times of the PLC + fieldbus +
controller there will be inaccuracies of several millimetres
even at a speed of only 100 mm/s.
Overview of parameters involved (see sections 4.4.8 and 4.4.9)
Parameters involved
Description
PNU
Teach target
520
Record number
400
Project zero point offset
500
Software end positions
501
Axis zero point offset (electric drives)
1010
Start (FHPP)
CPOS.B5 = falling edge: Teach actual value
Feedback (FHPP)
SPOS.B2 = 1: Value transferred
Requirement

Tab. 2/9: Parameters involved in teach mode
2-16
2. Drive functions
2.6
Carry out record (Record selection)

A record can be started in the Drive enabled state.
This function is usually used for:
Moving to any position in the record list by the PLC
Processing a positioning profile by linking records
Known target positions that seldom change (recipe

change)
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:
No homing was carried out (where necessary;

see PNU 1014).
The target position and/or the preselect position cannot

be reached.
Invalid record number.
Record not initialised.
2-17
2. Drive functions
In the event of conditional record chaining (see section 2.6.3):

If a new speed and/or a new target position is specified in the
movement, the remaining path to the target position must be
large enough to reach a standstill with the braking ramp that
was set.

Parameters involved
Description
PNU
Record number
400
All parameters of the record data, see sections 2.6.2, Tab. 2/11
401
...
421
Start (FHPP)
CPOS.B1 = positive edge: Start

Jogging and homing have priority.
Feedback (FHPP)
SPOS.B2 = 0: Motion Complete

Requirement

Record number must be valid
Tab. 2/10: Parameters involved in record selection
2.6.1
Record selection sequence charts

Fig. 2/3, Fig. 2/4 and Fig. 2/5 show typical sequence charts
for starting and stopping a record.
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:
4 The controller reacts with a falling
Acknowledge start = 0
2 Rising edge at Start causes the new
edge at Acknowledge start
5 As soon as Acknowledge start is
record number N to be accepted and

Acknowledge start to be set
3 As soon as Acknowledge start is
recognised by the PLC, the next record

number may be started
6 A currently running positioning task
recognised by the PLC, Start may be

set to 0 again
can be stopped with Stop
Fig. 2/3: Sequence chart for Start/Stop record

2-19
2. Drive functions
Stop record with Halt and continue

Target record
number
Output data
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
1 Record is stopped with Halt, actual

record number N is retained, Motion
Complete remains reset
2 Rising edge at Start starts record N

again, Confirm Halt is set
Fig. 2/4: Sequence chart for Stop record with Halt and Continue
2-20
2. Drive functions
Stop record with Halt and Clear remaining position

Target record
number
Output data
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
2 Clear remaining position
Fig. 2/5: Sequence chart for Stop record with Halt and Clear remaining position
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
Record control byte 1
Setting for positioning task:

absolute/relative, position/torque control, ...
402
Record control:
Settings for conditional record chaining
404
Setpoint value
Setpoint value as per record control byte 1.
405
Preselection value
CMMS/CMMD only: preselection value as per record control byte 2.
406
Velocity
Auxiliary setpoint: nominal speed.
407
Acceleration
Auxiliary setpoint: nominal acceleration during start up.
408
Deceleration
Auxiliary setpoint: nominal acceleration during braking.
413
Jerk-free filter time
Auxiliary setpoint: filter time for smoothing the profile ramps.
414
Record profile
CMMS/CMMD only: number of the record profile. The record profile

defines the PNUs 405, 406, 407, 408, 413 for all the assigned records, along with other shared settings; see section 4.4.8.
415
Reserved
(not supported by CMM...)
416
Record following position/record control
Record number to which record chaining jumps when the step

enabling condition is met.
418
Torque limitation
CMMP only: limitation of the maximum torque.
419
Cam disk number
CMMP only: number of the cam disk to be executed with this record.
Requires configuration of PNU 401 (virtual master).
420
Remaining distance
message
CMMP only: distance in front of the target position where a display

can be triggered via a digital output to show it has been reached.
421
CMMP only: settings for specific behaviour of the record.
Tab. 2/11: Record parameters
2-22
2. Drive functions
2.6.3
Conditional record chaining (PNU 402)

Record selection mode allows multiple positioning tasks to be
linked. This means that, starting at CPOS.B1, various records
are automatically executed one after the other. This allows a
positioning profile to be defined, e.g. switching to another
speed after a position is reached.
To do this, the user sets a (decimal) condition in RCB2 to define that the following record is automatically executed after
the current record.
It is only possible to set all of the parameters for the record
chaining (route program) (e.g. the following record) using
the FCT.
If a condition was defined, it is possible to prohibit automatic
continuation to the following record by setting the B7 bit. This
function should be used for debugging using FCT and not for
normal control purposes.
Record control byte 2 (PNU 402)

Bits 0 ... 6
Numerical value 0 to 128: step enabling condition as a list, see Tab. 2/13
Bit 7
= 0: record chaining (bits 0 to 6) is not disabled (default)

= 1: record chaining disabled
Tab. 2/12: Settings for conditional record chaining
2-23
2. Drive functions
Step enabling conditions

Value
Condition
Description
No automatic continuation
1 1)
MC
The preselection value is

interpreted as a delay in
milliseconds. The chain
continues to the next record once the target setpoint value is reached,
i.e. once the MC condition is fulfilled (MC=1)
and a delay time has expired as well.
Note:
Thus the axis is at a
standstill for a moment
during positioning. Not
necessarily the case with
torque control (Profile
Torque mode).
2 1)
Position

interpreted as the position value 2.
The chain continues to
the next record as soon
as the current actual
position exceeds the
preselection value in the
direction of travel 1.
As there is no need to
stop, the drive reaches
its target position
quicker.
3 1)
Torque
The preselection value is interpreted as the torque. The chain continues to

the next record once the current actual torque exceeds the preselection
value in the direction of travel. It is not absolutely necessary for a torque
command to be specified here. It is also possible to position to the end
point. When a specific actual torque is reached, torque control is activated.
1)
Not supported by CMM...
2-24
2. Drive functions

Value
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
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.
8 1)
Velocity profile
The setpoint generator

calculates the trajectory
so that the records setpoint speed is active in
the target position. The
final speed is therefore
not 0.
ignored.
Note: in type 1, the user
only defines the chaining
position; the user has no
influence over the speed.
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:
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:
1)
2)
Not supported by CMM...

Not supported by CMMP
2-25
2. Drive functions

Value
Condition
Description
11 2)
Position
(relative)
This chaining is the same

as type 2 except that the
specified position is not
specified absolutely but
relative to the last setpoint position 2 .
The chain continues to
the next record as soon
as the current actual
position exceeds the
preselection value in the
direction of travel 1.
Important: For the chaining position to be reproducible, the specification
must be calculated relative to the last target
position; in other words,
not relative to the actual
position.
12
Internal MC
condition
Like condition 1, but

without an external MC
signal between the individual records. An external MC signal (SPOS.B2)
is only set after the last
record in the chain.
2)
Not supported by CMMS/CMMD
Tab. 2/13: Step enabling conditions
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:
Moving to any position within the effective stroke.
The target positions are unknown during designing or

change frequently (e.g. several different workpiece positions).
A positioning profile consisting of chained records

(G25 function) is not necessary.
The drive is to continuously follow a setpoint value.
If short wait times are not critical, it is possible to implement

a positioning profile by chaining records externally through
the PLC.
Causes of errors in application

see PNU 1014).
Target position cannot be reached or lies outside the

software end positions.
Load torque is too large.
2-27
2. Drive functions

Parameters involved
Description
PNU
Position specifications
Base velocity value 1)
540
Direct mode acceleration
541
Direct mode deceleration
542
Jerk-free filter time
546
Base torque ramp 1)
550
Torque target window
552
Damping time
553
Torque specifications
(for CMMP only) 2)
Permissible speed during torque control

Velocity specifications
Base acceleration ramp
554
1)
560
Velocity target window (for CMMP only) 2)
561
Damping time for velocity target window (for CMMP only) 2)
562
Standstill target window (for CMMP only) 2)
563
Damping time for standstill target window (for CMMP only) 2)
564
Torque limit (for CMMP only) 2)
565
Start (FHPP)
CPOS.B1 = positive edge: Start

CDIR.B0 = Absolute/Relative setpoint position
CDIR.B1/B2 = Control mode (see section 1.5.3)
Feedback (FHPP)
SPOS.B2 = 0: Motion Complete

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
Tab. 2/14: Parameters involved in direct mode
2-28
2. Drive functions
2.7.1
Sequence for discrete setpoint value

1. The user sets the desired setpoint value (position, torque)
and the positioning condition (absolute/relative, velocity)
in his or her output data.
2. With a rising edge at START (CPOS.B1) the controller accepts the setpoint values and starts the positioning task.
After the start, a new setpoint value can be started at any
time. There is no need to wait for MC.
3. Once the last setpoint position is reached, MC (SPOS.B2)
is set.
Starting the positioning task
Setpoint position
Output data
N-1
N+1
N+2
Start
CPOS.B1
Acknowledge start
SPOS.B1
Motion Complete
SPOS.B2
Fig. 2/6: Starting the positioning task

The sequence of the remaining control and status bits as well
as the functions Halt and Stop are the same as for the Record
selection function, see Fig. 2/3, Fig. 2/4 and Fig. 2/5.
2-29
2. Drive functions
2.7.2
Sequence for Profile Torque mode (torque and current control)

Profile Torque mode is prepared by switching over the control
mode with the bits CDIR - COM1/2. The drive remains at a
standstill with the position controlled. The signal MC
(Motion Complete) is used in this control mode to mean
Torque setpoint value reached.
After the setpoint specification, the start signal (start bit)
builds up the torque/moment using the torque ramp
(CMMP-AS only) in the direction indicated by the setpoint
values prefix (+ or -) and the active Profile Torque mode is
displayed via the bits SDIR - COM1/2.
For CMMP:
The speed is limited to the value in the parameter Maximum
speed. Once this speed has been reached, the bit Speed
limit reached is set in the status byte SDIR.
Once the setpoint value has been reached, taking into account the target window and the time window, the MC
signal is set. Torque/moment continue to be controlled.
Causes of errors in application
2-30

see PNU 1014).
2. Drive functions
Setpoint specification / actual value query in direct mode in

Profile Torque mode:
CCON.B6 (OPM1) = 1, CCON.B7 (OPM2) = 0
CDIR.B1 (COM1) = 1, CDIR.B2 (COM2) = 0
Direct mode
Byte 1
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
Reserved (no function, = 0)
Setpoint value 2
Setpoint torque
Percentage of rated torque (PNU 1036)
Actual value 1
Actual torque
Percentage of rated torque (PNU 1036)
Actual value 2
Actual position
Positioning unit, see appendix A.1
2-31
2. Drive functions
2.7.3
Sequence for Profile Velocity mode

Profile Velocity mode (speed adjustment) is only supported in
Direct mode. Only discrete setpoint adjustment (compare
section 2.7.1) is supported.
Speed adjustment is requested by switching the closed-loop
control mode. The drive remains in the operating mode that
was set previously. After the setpoints are specified, the start
signal (start bit) switches the system to Profile Velocity mode
and the velocity setpoint value comes into effect.
The torque is limited here to the value set in the Torque
limit parameter (PNU 565).
The signal MC (Motion Complete) is used in this control
mode to mean target velocity reached.
Motion Complete / standstill notification
The same comparator type is used to determine velocity
reached and velocity 0 and it behaves as per Fig. 2/7, see
Tab. 2/15.
Setpoint value
Specifications for reaching MC (Motion Complete)
Target velocity: Setpoint value as per input data

Tolerance:
Velocity target window (PNU 561)
Response time: Damping time for velocity target window (PNU 562)
=0
Target velocity: Setpoint value as per input data

Tolerance:
Standstill target window (PNU 563)
Response time: Damping time for standstill target window (PNU 564)
Tab. 2/15: Motion Complete / standstill notification specifications
2-32
2. Drive functions
Velocity (rpm)
Target rpm + tolerance

Target rpm
Target rpm - tolerance
Timer
Damping time
Motion Complete (SPOS.B2)

or
Standstill control (SPOS.B6)
Fig. 2/7: Motion Complete / standstill notification
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
Standstill control cannot be switched on or off explicitly. It

becomes inactive when the standstill position window is set
to 0.
Parameters involved
Description
PNU
Target position window
1022
Position window time
1023
Setpoint position
1040
Current position
1041
Standstill position window
1042
Standstill timeout
1043
Start (FHPP)
SPOS.B2 = positive edge: Motion Complete
Feedback (FHPP)
SPOS.B6 = 1: Drive has moved out of standstill position window
Requirement

Tab. 2/16: Parameters involved in standstill control
2-35
2. Drive functions
2.9
On-the-fly measurement (position sampling)

To find out whether this function is supported by the controller you are using and its firmware version, see the help for
the associated FCT plug-in.
The local digital inputs can be used as quick sampling inputs:
with every rising and falling edge at the configured sample
input (only possible using the FCT), the current position value
is written into a register of the controller and can afterwards
be read out (PNU 350:01/02) by the higher-level control
system (PLC/IPC).
Parameters for position sampling (on-the-fly measurement)

Parameter / Description
PNU
Position value for a rising edge in user-defined units
350:01
Position value for a falling edge in user-defined units
350:02
Tab. 2/17: Parameters for on-the-fly measurement
2-36
Fault reaction and diagnosis
Chapter 3
Fault reaction and diagnosis
3-1
3. Fault reaction and diagnosis
Contents
3.1
3.5
Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.1
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.2
Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3
Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.4.1
CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.4.2
CMMS/CMMD fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
3-2
3.2
3.3
3.4
3.1
Classifying the faults

We differentiate between the following types of fault:
Warnings
Fault type 1 (output stage not switched off )
Fault type 2 (output stage switched off )
The classification of the possible faults is specified separately

for each controller. The basis for this classification is the way
in which each controller has to behave for each fault.
The controllers indicate faults by appropriate error messages

or warnings. These can be evaluated via the following:
Display
Status bytes (see section 1.4)
Bus-specific diagnosis (see description of the fieldbus for

the controller in question)
Diagnostic memory (see section 3.2)
FCT (see FCT help)
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
Controller and output stage remain active.
The current positioning task is not interrupted.
Depending on the fault number a new positioning task

may be possible.
The SCON.B2 (WARN) bit is set.
If the cause of the warning disappears, the SCON.B2 bit is

automatically cleared again.
CMMP only:
The warning numbers are logged in the warning register
(PNU 211).
Causes of warnings
3-4
Parameters cannot be written or read (not permitted in

the operating mode, invalid PNU, ...)
Following (drag) error, drive has exceeded the tolerance

after Motion Complete, and similar minor control errors.
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
The output stage is not switched off.
The current positioning task is interrupted.
The speed is reduced on the emergency ramp.
The sequence control switches to the Fault status. No new

positioning task can be carried out.
The SCON.B3 (FAULT) bit is set.
The Fault status can be exited by switching off, with a

positive edge at input CCON.B3 (RESET), or by resetting/
setting DIN5 (closed-loop controller enable).
Holding brake is activated when the drive is stopped.
Causes of type 1 faults
Software end positions are violated.
Motion Complete timeout.
Following error monitoring (monitoring of drag error).
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
The output stage is switched off.
The current positioning task is interrupted.
The drive runs down.
The sequence control switches to the Fault status. No new

positioning task can be carried out.
The SCON.B3 (FAULT) bit is set.
The Fault status can be exited by switching off, with a

positive edge at input CCON.B3 (RESET), or by resetting/
setting DIN5 (closed-loop controller enable).
Holding brake is activated when the drive is stopped.
Causes of type 2 faults
Load voltage is missing (e.g. if emergency off has been

implemented)
Hardware fault:
3-6
Measuring system fault.
Bus fault.
SD card fault.
Impermissible operating mode switch.
3.2
Diagnostic memory (faults)

The diagnostic memory for faults contains the codes of the
last fault messages that occurred. The diagnostic memory
is protected against power failure. If the diagnostic memory
is full, the oldest element will be overwritten (FIFO principle).
Structure of the diagnostic memory in CMMS/CMMD
Parameter 1)
201
Format
uint16
Meaning
Fault number
Subindex 1
Most recent/current fault
Subindex 2
2nd saved fault
Subindex 3
3rd saved fault
Subindex 4
4th saved fault
1)
See section 4.4.5
Tab. 3/1: Structure of diagnostic memory in CMMS/CMMD

Structure of the faults diagnostic memory in CMMP
Parameter 1)
200
201
202
Format
uint8
uint16
uint32
Meaning
Diagnostic event
Fault number
Time
Subindex 1
Most recent/current fault
Subindex 2
2nd saved fault
...
2)
Subindex 32
1)
...
32nd saved fault
See section 4.4.5
Tab. 3/2: Structure of diagnostic memory in CMMP
3-7
3.3
Warning memory (CMMP only)

Some controllers have a separate diagnostic memory for
warnings.
The warning memory contains the codes of the last warnings
that occurred. It functions in the same way as the diagnostic
memory for faults.
Structure of the warning memory
Parameter 1)
210
211
212
Format
uint8
uint16
uint32
Meaning
Warning event
Warning
number
Time
Subindex 1
Most recent/current warning
Subindex 2
Second saved warning message
...
...
Subindex 16
Last warning message
1)
(see section 4.4.5)
Tab. 3/3: Structure of the warning memory
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-...
3.4.1 CMMP fault numbers

Error messages CMMP
Main
index
Subindex
Message
Causes
Measures
Invalid error
Information: an invalid error

entry (corrupted) was found in
the diagnostic memory marked
with this error number.
The system time entry is set
to 0.
Invalid error detected and corrected
Information: an invalid error

entry (corrupted) was found
in the diagnostic memory and
corrected. The additional information contains the original
error number.
The system time entry contains
the address of the corrupted
error number.
Error cleared
Information: active errors were

reset.
3-9
Error messages CMMP

Main
index
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.).
Load a new firmware release.

Reduce the processor load.
Contact Technical Support.
Intermediate circuit Intermediate circuit voltage is

undervoltage
falling below the parametrised
threshold.
Error priority set too high?
Quick discharge due to mains
supply being switched off.

Check the power supply.
Couple the intermediate cir-
cuits, if technically possible.

Check intermediate circuit
voltage (measure it).

Additional information (PNU 203/213):
Higher 16 bits: state number of internal state machine
Lower 16 bits: intermediate circuit voltage in internal scaling
(approx. 17.1 digital increments/V).
3
3-10
Analogue motor
overtemperature
Digital motor overtemperature
Motor overloaded, temperature

too high.
Suitable sensor or sensor characteristics parametrised?
Sensor defective?
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.
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 3
Analogue motor
overtemperature:
Broken wire
The measured resistance value

is above the threshold for wire
break detection.
Check the connecting cables
Analogue motor
overtemperature:
Short circuit
The measured resistance value

is below the threshold for short
circuit detection.
Check the connecting cables
Power section over- Device is overheated; is displayed temperature plausible?

temperature
Device fan defective?
Device overloaded?
Intermediate circuit
overtemperature
Failure of internal
voltage 1
Failure of internal
voltage 2
Failure of driver
supply
Undervoltage of
digital I/O
of the temperature sensor for

wire breaks.
Check the parametrisation
(threshold value) for wire
break detection.
of the temperature sensor for
wire breaks.
Check the parametrisation
(threshold value) for short circuit detection (Subindex 3).
Check installation conditions;
are the control cabinet fan

filters dirty?
Check the drive layout (due to
possible overloading in continuous duty).
The monitoring of the internal

Disconnect the device from all
power supply reported underperipherals and check
voltage. Either an internal defect
whether the error is still there
or overload/short circuit from
after resetting. If yes, then
connected peripheral devices.
there is an internal defect and
repair by the manufacturer is
necessary.
Defective peripheral device?
Check connected peripherals
for short circuit / rated loads.

Check connection of the
Overcurrent of
digital I/O
brake (connected
incorrectly?).
3-11
Error messages CMMP

Main
index
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
Overload current at the brake

chopper output.
Check external braking resis-
tor for short circuit or insufficient resistance value.

Check the circuitry of the
brake chopper output on the
motor controller (jumpering
etc.).
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
Overvoltage in intermediate circuit
Braking resistor is overloaded;

too much braking energy which
cannot be dissipated quickly
enough.
Resistor capacity is incorrect?
Resistor not parametrised?
Resistor not connected correctly?
Check the design of the braking

resistor; resistance value may be
too great.
Check parametrisation.
Check the connection to the
braking resistor (internal/external).
Resolver angle encoder error
Resolver signal amplitude is

faulty
Step-by-step procedure
according to a) to c):
a) If possible, test with a different (error-free) resolver (replace the

connecting cable too). If the error still occurs, there is a fault in
the motor controller. Repair by the manufacturer is necessary.
b) If the error occurs only with a specially designed resolver and its
connecting cable: check the resolver signals (carrier and SIN/
COS signals); see specifications. If the signals do not comply
with the signal specifications, replace the resolver.
c) If the error recurs sporadically, check the screen bonding or
check whether the resolver simply has an insufficient transmission ratio (standard resolver: A = 0.5).
1
Sense of rotation
of the serial and incremental position
evaluation is not
identical
Only encoders with serial position transmission combined with

an analogue SIN/COS signal
track: the directions of rotation
for position determination in the
encoder and for incremental
evaluation of the analogue track
system in the motor controller
are the wrong way round.
Swap the following signals on

the X2B angle encoder interface
(the wires in the connecting plug
must be changed around), observing the technical data for
the angle encoder where applicable:
Swap SIN/COS track.
Swap the SIN+/SIN- or
COS+/COS- signals, as
applicable.
The encoder counts positively in e.g. clockwise direction while the

incremental evaluation counts in negative direction with the same
mechanical rotation. The mix-up of rotational direction is detected
mechanically at the first movement of over 30 and the error is
triggered.
3-13
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 8
Incremental encoder Z0 track signals error
Signal amplitude of the Z0 track

on X2B is faulty.
Angle encoder connected?
Angle encoder cable defective?
Angle encoder defective?
Check configuration of the angle

encoder interface.
Proceed according to a) to c)
a) Z0 evaluation activated but no
track signals are connected or
present (e.g. EnDat 2.2 or
EnDat 2.1 without analogue
track). Heidenhain encoder:
order codes EnDat 22 and
EnDat 21. With these encoders there are no incremental
signals, even when the cables
are connected.
b) Encoder signals faulty? 1)
c) Test with another encoder. 2)
Incremental encoder Z0 track signals error
Signal amplitude of the Z1 track

on X2B is faulty.

encoder interface.
Proceed according to a) to c):
a) Z1 evaluation activated but
not connected.
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
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 8
Digital incremental
encoder track signals error (X2B)
Faulty A, B, or N track signals on

X2B.

encoder interface. Proceed according to a) and b):
a) Encoder signals faulty? 1)
b) Test with another encoder. 2)
Incremental encoder Hall generator signals error
Faulty Hall sensor signals from a

digital incr. encoder on X2B.

Angle encoder
communication
fault
Communication to serial angle

encoders is disrupted (EnDat encoders, HIPERFACE encoders,
BiSS encoders).

encoder interface:
proceed according to a) to c):
a) Serial encoder parametrised
but not connected?
Incorrect serial protocol selected?
Signal amplitude of Faulty A, B, or N track signals on

incremental tracks X10.
erroneous (X10)

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
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 8
Internal angle encoder error
Internal monitoring of the angle

encoder (X2B) has detected a
fault and forwarded it via serial
communication.
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
Angle encoder type read at X2B

which is not supported or cannot be used in the desired operating mode.
Incorrect or inappropriate protocol type selected?
Firmware does not support the
connected encoder model?
Depending on the additional information 1) for the error message:

Load appropriate firmware.
Check/correct the configuration for encoder evaluation.
Connect an appropriate encoder type.
1)
Additional information (PNU 203/213):

0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or
load more recent firmware.
0002: EnDat: the address space in which the encoder parameters would have to lie does not exist with
the connected EnDat encoder -> check the encoder type.
0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load
more recent firmware.
0004: EnDat: encoder rating plate cannot be read from the connected encoder. -> change encoder or
load more recent firmware.
0005: EnDat: EnDat 2.2 interface parametrised, but connected encoder only supports EnDat2.1.
-> change encoder type or change parameters to EnDat 2.1.
0006: EnDat: EnDat2.1 interface parametrised with analogue tracking but the rating plate of the connected encoder says that it does not support track signals. -> change encoder or switch off
Z0 track signal evaluation.
0007: Displacement encoder with EnDat2.1 connected but parametrised as a purely serial encoder.
Purely serial evaluation is not possible due to the long response times of this encoder system.
Encoder must be operated with analogue track signal evaluation -> switch to analogue Z0 track
signal evaluation.
3-16
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
Old angle encoder

parameter record
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.
No action necessary at this

point. The warning should not
re-appear when the 24V supply
is switched back on.
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.
The EEPROM of the encoder

contains data (communication
objects) which is not supported
by the loaded firmware. The
data in question is then discarded.
The parameter record can be
adapted to the current firmware
by writing the encoder data to
the encoder. Alternatively, appropriate (more recent) firmware
must be loaded.
Unknown version of The data saved in EEPROM is

angle encoder
not compatible with the current
parameter record
version. A data structure was
found which is unable to decode
the loaded firmware.
Save the encoder parameters

again in order to delete the
parameter record in the encoder
and replace it with a readable
record (this will, however, delete
the data in the encoder irreversibly). Alternatively, appropriate
(more recent) firmware must be
loaded.
Defective data
structure in angle
encoder parameter
record
Save the encoder parameters

again in order to delete the
parameter record in the encoder
and replace it with a readable
record. If the error still occurs
after that, the encoder may be
faulty.
Replace the encoder as a test.
Data in EEPROM do not match

the stored data structure. The
data structure was identified as
valid but may be corrupted.
3-17
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 9
EEPROM data:
Faulty user-specific
configuration
Only with specialised motors:

The plausibility check returns an
error, e.g. because the motor
was repaired or replaced.
If motor was repaired: carry out

homing again and save in the
angle encoder, after that (!) save
in the motor controller.
If motor replaced: parametrise
the controller again, then carry
out homing again and save in
the angle encoder, after that (!)
save in the motor controller.
Write-protected
angle encoder
EEPROM
Data cannot be saved in the

A data field in the encoder
EEPROM of the angle encoder.
EEPROM is write-protected
Occurs with Hiperface encoders. (e.g. after operation on a motor
controller from another manufacturer). No solution possible,
encoder memory must be unlocked with an appropriate
parametrisation tool (from
manufacturer).
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.
Overspeed (spinning protection)
Motor racing (spinning)

Check the commutation angle
because the commutation angle offset. Check the limit value setoffset is incorrect.
ting in the parameters.
Motor is parametrised correctly
but the limit for spinning protection is set too low.
10
3-18
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
11
Error when
homing is started
Controller enable missing.
Homing can only be started

when closed-loop controller enable is active. Check the condition or sequence.
Error during
homing
Homing was interrupted,

e.g. by:
Withdrawal of controller
enable.
Reference switch is beyond
the limit switch.
External stop signal
(a phase was aborted
during homing).
Check the homing sequence.

Check the arrangement of the
switches.
If applicable, lock the stop
input during homing if it is not

desired.
Homing: No valid
index pulse
Reserved for later extensions

(required index pulse missing).
Homing: Timeout
The parametrised maximum

time for the homing run was exceeded before the homing run
was completed.
Check the time setting in the

parameters.
Homing: Incorrect/
invalid limit switch
Relevant limit switch not connected.

Limit switches swapped?
No reference switch found between the two limit switches.
Reference switch is at the limit
switch.
Index pulse/index pulse
method: active limit switch in
the area of the index pulse (not
permitted).
Both limit switches active at the
same time.
Check whether the limit

switches are connected in the
correct direction of travel or
whether the limit switches act
on the intended inputs.
Reference switch connected?
Check the arrangement of the
reference switch.
Move the limit switch so that it
is not in the area of the index
pulse.
3-19
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 11
Homing: I@t /
following error
Acceleration ramps not suitably

parametrised.
Reversing due to premature
triggering of following (drag)
error; check parametrisation of
following error (drag error).
No reference switch reached between the end stops.
Index pulse method: end stop
reached (not permitted here).
Parametrise the acceleration

ramps so they are flatter.
Check connection of a reference
switch.
Method appropriate for the application?
Homing: End of
search path
The maximum permissible path Fault in switch detection.

for the homing run has been tra- Switch for homing is defective?
velled without reaching the reference point or the homing run
target.
CAN: Double node

number
Node number assigned twice.
Check the configuration of the

CAN bus stations
CAN: Communication error, bus OFF
The CAN chip has switched off

communication due to communication errors (BUS OFF).
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
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 12
CAN: Communication error during

transmission
The signals are interrupted when

messages are sent.
Device boot up is so fast that no
other nodes on the bus has yet
been detected when the
boot-up message is sent.
Check wiring:
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: Communica- The signals are interrupted when Check wiring:

tion error during re- messages are received.
ception
the device as a test. If a different
device works without errors with
the same cabling, send the device to the manufacturer for
checking.
CAN: Node
Guarding
Node Guarding telegram not received within the parametrised

time.
Faulty signals?
CAN: RPDO too

short
A received RPDO does not con- The number of parametrised

tain the parametrised number of bytes does not match the
bytes.
number of bytes received.
Check the parametrisation and
correct.
CAN: Protocol error Faulty bus protocol.
Compare the cycle time of the

remote frames with that of the
control system, or control system failure.
Check the parametrisation of the

selected CAN bus protocol.
3-21
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
13
CAN bus timeout
Error message from manufacturer-specific protocol.
Check the CAN parametrisation
14
Insufficient power
supply for identification
Current regulator parameters

cannot be determined (because
of insufficient supply).
The available intermediate circuit voltage is too low for

measurement.
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.
Output stage enable could not be

issued
The output stage has not been

enabled.
Check the connection of DIN4.
Output stage was

prematurely
switched off
Output stage enable was

switched off during identification.
Check the sequence control.
Identification does
not support the
configured device
type
Reserved for later extensions:

Identification cannot be carried
out with the parametrised angle
encoder settings.
Index pulse not

found
The index pulse was not found

after the maximum permissible
number of electrical rotations.
Check the index pulse signal.

Angle encoder parametrised correctly?
Hall signals invalid
Hall signals faulty or invalid.

Check connection.
The pulse train or segmenting of Refer to the technical data to
the Hall signals is inappropriate. check whether the encoder
shows three Hall signals with
120 or 60 segments; if
necessary, contact
Technical Support.
3-22
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 14
Identification not
possible
Angle encoder at a standstill.
Ensure there is sufficient intermediate circuit voltage.

Encoder cable connected to the
correct motor?
Is motor blocked, e.g. holding
brake will not release?
Invalid number of
pairs of poles
The calculated number of pole

pairs lies outside the parametrisable range.
Compare result with the technical data specifications for the

motor.
Check the parametrised number
of lines.
Division by 0
Internal firmware error.

Division by 0 when using the
math library.
Load the default parameter record. Check the firmware to

make sure that released firmware has been loaded.
Range exceeded

Overflow when using the math
library.
Counter underrun

Internal correction factors could
not be calculated.
Check the setting of the factor

group for extreme values and
change if necessary.
Error in program
execution

Error during program execution.
Illegal CPU command found in
the program sequence.
If error is repeated, load firmware again. If the error appears

again, the hardware is faulty.
Illegal interrupt
Error during program execution.

An unused IRQ vector was used
by the CPU.
Initialisation error
Unexpected state
Error during periphery access

within the CPU or error in the
program sequence (illegal
branching in case structures).
15
16
3-23
Error messages CMMP

Main
index
Subindex
Message
17
Following error limit The threshold of comparison to

exceeded
the following (drag) error limit
was exceeded.
Enlarge error window.

Acceleration parameter too
large.
Motor overloaded (current
limitation from i@t monitoring is
active?).
Encoder difference
monitoring
Deviation between the actual

position value and commutation
position is too great.
External angle encoder not connected or faulty?
Deviation fluctuates, e.g. due to

gear backlash; cut-off threshold
may need to be increased.
Check connection of the actual
value encoder.
18
Analogue motor
temperature
Motor temperature (analogue)

greater than 5 below T_max.
Check parametrisation of current

regulator and/or speed regulator.
Motor permanently overloaded?
21
Error 1 current
measurement U
Offset for current measurement If the error appears again, the

hardware is faulty.
1 phase U is too great. The
closed-loop controller carries
out offset compensation of the
current measurement every time
its controller enable is issued.
Tolerances which are too high
lead to an error.
Error 1 current
measurement V
Offset for current measurement

1 phase V is too great.
Error 2 current
measurement U

2 phase U is too great.
Error 2 current
measurement V

2 phase V is too great.
PROFIBUS: Faulty
initialisation
Faulty initialisation of the Profibus technology module. Technology module defective?
Replace the technology module.

Repair by the manufacturer may
be an option.
PROFIBUS communication error
Faults in communication.
Check the slave address set.

Check bus termination.
Check wiring.
22
3-24
Causes
Measures
Error messages CMMP

Main
index
Subindex
Message
Causes
... 22
PROFIBUS: Invalid
slave address
Communication was started with Select a different slave address.

slave address 126.
PROFIBUS: Value
range error
During conversion with the factor group, the value range was
exceeded.
Mathematical error when converting physical units.
Value range of the data and the

physical units do not match.
Check and correct.
Invalid device type
Device coding not recognised or

invalid.
Fault cannot be rectified independently. Send the motor

controller to the manufacturer.
Device type not

supported
Device coding valid, but not sup- Load up-to-date firmware. If

ported by the loaded firmware. newer firmware is not available,
the problem may be a hardware
defect. Send the motor controller to the manufacturer.
Hardware version
not supported
The controllers hardware version is not supported by the

loaded firmware.
Check the firmware version; update the firmware to a more recent version if necessary.
Device functionality Device is not unlocked for this

limited!
function
Device is not unlocked for the

desired functionality and may
need to be unlocked by the
manufacturer. The device must
be sent to the manufacturer for
this.
Missing user parameter set
No valid user parameter record

in the flash memory
Load factory settings. If the error

persists, the hardware may be
faulty.
Checksum error
Checksum error in a parameter

record
Load factory settings. If the error

persists, the hardware may be
faulty.
25
26
Measures
3-25
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 26
Flash: Write error
Error when writing to internal or

external flash memory
Repeat the last operation. If the

error appears again, the hardware may be faulty.
Flash: Delete error
Error when clearing internal or

external flash memory
Repeat the last operation. If the

error appears again, the hardware may be faulty.
Flash: Internal flash The default parameter record is

error
corrupted / data error in the
FLASH range where the default
parameter record is located.
Load firmware again. If the error

appears again, the hardware
may be faulty.
Missing calibration
data
Factory-set calibration parameters incomplete/corrupted.
Fault cannot be rectified independently.
Missing user
position data sets
Position data records incomplete or corrupt.
Load the factory settings or save

the current parameters again so
that the position data is written
again.
Faulty data tables

(CAM)
Data for the cam disk is corrupted.
Load the factory settings; if

necessary, reload the parameter
record. If the error persists, contact Technical Support.
Following error
warning threshold
Motor overloaded? Check motor

capacity.
Acceleration or braking ramps
are set too steep.
Motor blocked? Commutation
angle correct?
Check the parametrisation of the

motor data.
Check parametrisation of following error (drag error).
27
3-26
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
28
Missing operating
hour meter
No record for an hours-run

meter could be found in the
parameter block. A new hoursrun meter was created. Occurs
during initial start-up or a processor change.
Warning only, no further action

necessary.
Operating hour
meter: Write error
The data block in which the

hours-run meter is stored could
not be written to. Cause unknown; possibly problems with
the hardware.

necessary.
If the error occurs again, the
hardware may be faulty.
Operating hour
meter corrected
The hours-run meter has a

backup copy. If the controllers
necessary.
24V power supply fails precisely
when the hours-run meter is
being updated, the written record may be corrupted. In such
cases, the controller restores
the hours-run meter from the intact backup copy when it
switches back on.
Operating hour
meter converted
Firmware was loaded in which

the hours-run meter has a differ- necessary.
ent data format. The next time
the controller is switched on, the
old hours-run meter record is
converted to the new format.
Internal conversion
error
Range exceeded for internal

scaling factors which are dependent on the parametrised
controller cycle times.
30
Check whether extremely short

or extremely long cycle times
were set in the parameters.
3-27
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
31
Motor I@t
Motor blocked?
Motor under-sized?
Check power dimensioning of

drive package.
Servo controller I@t
The I@t monitoring is responding

frequently.
Motor controller does not have
the required capacity?
Mechanical system is sluggish?
Check the design characteristics

of the motor controller; use a
more powerful type if necessary.
Check the mechanical system.
PFC I@t
PFC power rating exceeded.
Parametrise operation without

PFC (using FCT).
Braking resistor I@t
Overloading of the internal braking resistor.

External braking resistor connected but not activated?
Use an external braking resistor

and activate it.
Check parametrisation of the
external load resistance (FCT).
Intermediate circuit The intermediate circuit could

charging time
not be charged after the mains
exceeded
voltage was applied. A fuse may
be faulty, or an internal braking
resistor may be faulty, or, in the
case of operation with an external resistor, that resistor is not
connected.
Check interface to the external

braking resistor. Alternatively,
check whether the jumper for
the internal braking resistor is in
place. If the interface is correct,
the internal braking resistor or
the built-in fuse is probably
faulty. On-site repair is not
possible.
Undervoltage for
active PFC
32
3-28
The PFC cannot be activated at

all until an intermediate circuit
voltage of about 130 VDC is
reached.
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 32
Brake chopper
overload. Intermediate circuit
could not be discharged.
The utilisation of the brake

chopper when quick discharge
began was already in the range
above 100%. Quick discharge
took the brake chopper to the
maximum load limit and was
prevented/aborted.
No measures required
Intermediate circuit Intermediate circuit could not be

discharge time ex- quickly discharged. The internal
ceeded
braking resistor may be faulty or,
in the case of operation with an
external resistor, that resistor is
not connected.
Check interface to the external

braking resistor. Alternatively,
check whether the jumper for
the internal braking resistor is in
place. If the internal resistor has
been activated and the jumper
has been positioned correctly,
the internal braking resistor is
probably faulty. On-site repair is
not possible.
Power supply
missing for controller enable
Controller enable was issued

when the intermediate circuit
was still in its charging phase
after mains voltage was applied
and the mains relay was not yet
activated. The drive cannot be
enabled in this phase, because
the drive is not yet firmly connected to the mains (through
the mains relay).
In the application, check

whether the mains supply and
controller enable signals were
sent one quickly after the other.
Power supply failure during controller enable
Interruptions/failure in the
power supply while the controller enable was activated.
Phase failure
Failure of one or more phases

(only in the case of three-phase
supply).
3-29
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
33
Encoder emulation
following error
The critical frequency for encoder emulation was exceeded

(see manual) and the emulated
angle at X11 was no longer able
to follow. Can occur when very
high numbers of lines are programmed at X11 and the drive
reaches high velocities.
Check whether the parametrised

number of lines may be too high
for the velocity being represented. Reduce the number of
lines if necessary.
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.
Fieldbus synchronisation error
3-30
Synchronisation via fieldbus

messages during ongoing operation (interpolated position
mode) has failed.
Synchronisation messages from
master failed?
Synchronisation interval (IPO interval) set too small/too large?
Check the settings for the controller cycle times.
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
35
Linear motor spinning protection
Encoder signals are faulty. The

motor may be racing (spinning) because the commutation
position has been shifted by the
faulty encoder signals.
Check that installation complies

with EMC recommendations.
In the case of linear motors with
inductive/optical encoders with
separately mounted measuring
tape and measuring head: check
the mechanical clearance. In the
case of linear motors with inductive encoders, make sure that
the magnetic field of the
magnets or the motor winding
does not leak into the measuring head (this effect usually occurs when high accelerations =
high motor current).
Error during the determination of the

commutation position
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)
Notes on determining the commutation position:

a) The alignment method is inappropriate for locked or sluggish drives or drives capable of low-frequency oscillation.
b) The microstep method is appropriate for air-core and iron-core motors. As only very small movements
are carried out, it works even when the drive is on elastic stops or is locked but can still be moved
elastically to some extent. Due to the high excitation frequency, however, the method is very susceptible to oscillations in the case of poorly damped drives. In such cases, you can attempt to reduce the
excitation current (%).
c) The saturation method uses local occurrences of saturation in the iron of the motor. Recommended
for locked drives. Air-core drives are by definition not suitable for this method. If the (iron-core) drive
moves too much when locating the commutation position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if the drive does not
move, the excitation current may not be strong enough, causing the saturation to be insufficient.
3-31
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
36
Parameter was
limited
An attempt was made to write a

value which was outside the
permitted limits, so the value
was limited.
Check the user parameter record.
Parameter was not

accepted
An attempt was made to write

to an object which is read only
or is not write-capable in the
current state (e.g. with controller
enable active).
SERCOS: Received
data disrupted
The signal on the Sercos bus is

faulty. The cause in this case
could be poor plug connectors
or screw fittings which have not
been tightened. This problem
can also occur when the light
output is set too high (overloading).
Check all connections and

cables (broken cable or connector not tightened).
Check the settings for light output in the ring (too high/too
low).
SERCOS: Fibreoptic ring interrupted
The Sercos ring is not closed.

The cause could be a broken
cable.
Check that all cables are connected and none are broken.
SERCOS: 2-fold
MST failure
Two successive master sync

telegrams from the master are
missing. This error usually occurs together with Ring not
closed or Massive distortion.
Either the ring was interrupted
during operation, or the master
is no longer sending sync telegrams.
Check the Sercos ring (and

check for interruptions).
Check that the master is still
operating correctly.
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
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 37
SERCOS: 2-fold
MDT failure
Two successive master data

telegrams from the master are
missing. This error usually occurs together with Ring not
closed or Massive distortion.
Either the ring was interrupted
during operation, or the master
is no longer sending data telegrams.
Check the Sercos ring and check

for interruptions.
Check that the master is still
operating correctly.
SERCOS: Shift to
The master wants to go into an
unknown operating operating mode which is not
mode
supported by the drive.
Check the settings for the operating modes in IDNs S-0-0032 to

S-0-0035.
SERCOS: T3 invalid
The master specifies an invalid

time for taking on the setpoint
values (T3). This lies within the
transmission time of ATs or
MDTs on the bus. The T3 time is
determined by the master during
phase run-up. The cause could
be either invalid timing by the
master or the transmission of
too much cyclic data for the
cycle time used.
Increase the baud rate to

shorten the transmission time of
the telegrams on the bus.
Increase the cycle time.
Move T3 time manually (can be
done by manually entering an
offset for T3 on the Beckhoff
control systems, for example).
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.
SERCOS: No module present
When the Sercos bus was activated, no valid module was detected.
38
Check that a Sercos module is

plugged into TECH2.
Replace the technology module
if possible.
3-33
Error messages CMMP

Main
index
Subindex
Message
Causes
... 38
SERCOS: Defective
module
The hardware test of the module Replace the technology module

(the memory test) failed when
and send it to the manufacturer
the Sercos bus was activated.
for checking.
If the error still occurs with a replacement technology module,
the motor controller must be
sent to the manufacturer for
checking.
SERCOS: S-0-0127: In the command Phase transiInvalid data in

tion CP2 -> CP3 it was found
S-0-0021
that some of the configuration
data transmitted in CP2 is faulty.
The following settings are
checked here by the master:
Configuration of the cyclically transmitted
parameters in AT and MDT.
Timing information.
SERCOS: S-0-0127: Unknown/invalid IDNs were

Invalid IDNs in AT
configured for the parameters to data to be transmitted cyclically.
or MDT
be transmitted cyclically in MDT
and AT.
SERCOS: S-0-0128: In the command Phase transiInvalid data in

tion CP3 -> CP4 it was found
S-0-0022
that some of the configuration
data in CP3 is faulty. The following settings are checked:
Weighting settings.
Operating mode settings.
Check the weighting settings.

Check the operating mode settings (also for internal/external
angle encoder).
SERCOS: S-0-0128: Invalid weighting settings were

Weighting
found in the command Phase
parameters faulty
transition CP3 -> CP4.
Check the weighting settings.
3-34
Measures
Configuration of the cyclic data

for MDT and AT (in some circumstances, parameters not supported there might be configured).
Time slot calculation by the
master?
Error messages CMMP

Main
index
Subindex
Message
... 38
SERCOS: S-0-0128: SERCOS phase run-up: error in

Please contact Technical
Weighting paracommand S-0-0128 - error in the Support if necessary.
meters faulty
setting of the weighting parameters.
SERCOS: Invalid
IDN in S-0-0026 /
S-0-0027
SERCOS: Error dur- An internal conversion error has

ing conversion
occurred (when converting from
bus into internal basic units, or
vice versa). The weighting settings must be checked here.
Overflow, underflow or some
other internal mathematical
error has occurred.
SERCOS: SERCON
410b mode active
SERCOS activation: SERCON 816 Replace the technology module

is being operated in SERCON
410b compatibility mode.
for checking.
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
Invalid IDNs were configured for

the Sercos signal status word
or the Sercos signal control
word.
Measures
Check the configuration in signal

status and control words in the
IDN lists S-0-0026 and
S-0-0027.
Check the use of an alternative
weighting.
3-35
Error messages CMMP

Main
index
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
Start of synchronisation without

prior sampling pulse
Check the derivative action settings in the parameters.
42
Positioning:
Missing subsequent positioning:
Stop
The positioning target cannot

be reached due to the options
for positioning or ancillary
parameters.
Check parameters of the position records in question.
Positioning: Rotation reversal is not

allowed: Stop
Positioning: Rotation reversal after

stop is not allowed
40
3-36
Check the target data.

Check the positioning range.
Start of a positioning task was

suppressed because the target
lies behind the respective software limit switch.
Error messages CMMP

Main
index
Subindex
Message
Causes
... 42
Start positioning
rejected: Wrong
mode of operation
Switching of the operating mode Check parameters of the

by the positioning record was
position records in question.
not possible.
Start positioning
rejected: Please
enforce homing
run!
A normal positioning record was

started, but the drive needs a
valid reference position before
starting.
Reset optional Homing

required parameter.
Carry out homing again after
resetting an angle encoder error.
Rotary axis: Direction of rotation is

not allowed
The positioning target cannot

be reached due to the options
for positioning or ancillary
parameters.
The calculated direction of
rotation is not permitted for
the rotary axis in the set mode.
Check the selected mode.
Error when starting Acceleration limit exceeded or

the positioning task positioning record disabled.
Limit switch: Nega- Negative hardware limit switch Check parameters, wiring, and
limit switches.
tive setpoint locked reached.
Limit switch: Posi- Positive hardware limit switch

tive setpoint locked reached.
Limit switch: Positioning suppressed
43
The drive has left the intended

range of motion.
Technical defect in the system?
Measures
Check parametrisation and

sequence control and correct if
necessary.
Check the intended range of

motion.
3-37
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
44
Fault in the cam

disk tables
Cam disk to be started not

available.
Check transmitted cam disk

number. Correct parametrisation
or programming
Cam disk: general

fault in referencing
Starting a cam disk when homing is required but the drive is

not yet referenced.
Carry out homing.
Start homing with active cam

disk
Deactivate cam disk. Then

restart cam disk if necessary
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.
Driver supply cannot be activated
During deactivation of Safe

standstill the driver supply was
not switched on within an adequate time.
Driver supply was

activated
The internal driver supply was

re-applied even though safe
standstill had been activated.
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.
The internal logic may be being

disrupted by high-frequency
switching operations at the
input for safe standstill.
Check control; the error must
not appear again.
If the error occurs repeatedly:
Check the firmware (released
version?)
If all of the above possibilities
have been ruled out, the motor
controller hardware is faulty.
If the error appears repeatedly
when safe standstill is activated,
the motor controller hardware is
faulty.
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
49
DCO file: Data fault
Formatting error in the DCO

file.
Faulty parameters in the
DCO file (invalid value).
Error during KO access
(read or write).
Note: error 49-2 is not triggered
in the case of the SD card. Instead error 29-2 is triggered
(due to compatibility with
CMMS-ST)
50
Too many synchronous PDOs
More PDOs have been activated

than can be processed in the
underlying SYNC interval.
This message also appears if
only one PDO is to be transmitted synchronously, but a high
number of other PDOs with a
different transmission type have
been activated.
Check the activation of PDOs.

If the configuration is appropriate, the warning can be suppressed using error management.
Extend the synchronisation interval.
SDO errors have

occurred
An SDO transfer has caused an

SDO abort, for example due to
data exceeding the value range
or accessing of an object which
does not exist.
Check the command sent.
3-39
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
51
No/unknown FSM
module
Unknown module type (reading

of EEPROM).
FSM: Driver supply

is faulty
Signal RM_5V_OS or RM_5V_US

is not present (FSM blind).
Unequal module
type
Unequal module type (reading

EEPROM and comparing with
data in the parameter FLASH
memory).
Unequal module
version
Unequal version number for an

otherwise equal module type
(reading EEPROM and comparing with data in the parameter
FLASH memory).
60
Ethernet user-specific (1)
Reserved.
61
Ethernet user-specific (2)
Reserved.
3-40
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
62
EtherCAT: general
bus error
No EtherCAT bus present.
Switch on the EtherCAT master.

Check cabling.
EtherCAT: Initialisa- Error in the hardware.

tion fault
EtherCAT: Protocol
error
CAN over EtherCAT is not in use. Incorrect protocol. EtherCAT bus

cabling fault.
EtherCAT: Invalid
RPDO length
Sync manager 2 buffer size is

too large.
Check the RPDO configuration of

the motor controller and the
higher-level control system.
EtherCAT: Invalid
TPDO length
Sync manager 3 buffer size is

too large.
Check the TPDO configuration of

the motor controller and the
higher-level control system.
EtherCAT: Cyclic
data transmission
error
Emergency shut-down due to

failure of cyclic data transmission.

master. Synchronous transmission is unstable.
EtherCAT: Defective Error in the hardware.

module

for checking.
EtherCAT: Invalid
data
Faulty telegram type.
Check the cabling.
EtherCAT: TPDO
data not read
The buffer for sending the data

is full.
The data was sent faster than

the motor controller could process it. Reduce the cycle time on
the EtherCAT bus.
63

for checking.
3-41
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 63
EtherCAT: No
distributed clocks
active
Warning: firmware is synchronising with the telegram, not with

the distributed clocks system.
When the EtherCAT was started,
no hardware SYNC (distributed
clocks) was found. The firmware
now synchronises with the
EtherCAT frame.
If necessary, check whether the

master supports the distributed
clocks feature.
If not: ensure that the EtherCAT
frames are not disrupted by
other frames if the interpolated
position mode is to be used.
A SYNC message is
missing in the IPO
cycle
Telegrams are not being sent in

the time slot pattern of the IPO.
Check the station responsible

for distributed clocks.
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
The DeviceNet module is not

supplied with 24 V DC.
DeviceNet: Receive Too many messages received

buffer overflow
within a short period.
Reduce the scan rate.
DeviceNet: Send
buffer overflow
Not sufficient free space on the

CAN bus for sending messages.
Increase the baud rate, reduce

the number of nodes or reduce
the scan rate.
DeviceNet: IO
message not sent
Error in sending I/O data.
Check that the network is connected correctly and has no

faults.
DeviceNet: Bus Off
The CAN controller is BUS OFF.
Check that the network is connected correctly and has no

faults.
DeviceNet: CAN
controller reports
overrun
The CAN controller has an overrun.
Increase the baud rate, reduce

the number of customer nodes
or reduce the scan rate.
64
3-42
In addition to the motor controller the DeviceNet module

must also be connected to
24 V DC.
Error messages CMMP

Main
index
Subindex
Message
Causes
65
DeviceNet activated, but no

module
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.
IO connection time- Interruption of an I/O connecout

tion.
No I/O message received within

the expected time.
FHPP:
Mathematical error
Check the cyclic data and/or

check the factor group.
FHPP: Factor group Calculation of the factor group

invalid
leads to invalid values.
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.
FHPP: Invalid receive telegram
Too little data is being transmitted by the control system

(data length too short).
FHPP: Invalid response telegram
Too much data is set to be

transmitted from the CMMP-AS
to the control system (data
length too great).
Overflow current
controller IRQ
The process data could not be

Please contact Technical
calculated in the set current/vel- Support.
ocity/position interpolator cycle.
Overflow speed
controller IRQ
Overflow position
controller IRQ
Overflow interpolator IRQ
Overflow low-level
IRQ
Overflow MDC IRQ
70
71
80
81
Overrun/underrun or division by
zero during calculation of cyclic
data.
Measures
Check the factor group.
Check the data length parametrised in the control system for

the controllers received telegram and/or check the configured data length in the FHPP+
Editor in the FCT.
3-43
Error messages CMMP

Main
index
Subindex
Message
82
Sequencing control IRQ4 overflow (10 ms low-level

IRQ).
Internal sequence control: process interrupted.

Only for information - no
measures required.
83
Invalid technology
module
The technology module plugged

in could not be detected or the
loaded firmware was unknown.
A supported technology module
might be plugged into the wrong
slot (e.g. SERCOS 2, EtherCAT).
Check the firmware to find out

whether the technology module
is supported. If yes, then check
that the technology module is in
the right place and is plugged in
correctly. If necessary, replace
technology module and/or firmware.
Technology module The technology module plugged

not supported
in could be detected, but is not
supported by the loaded firmware.
Check the firmware to find out

whether the technology module
is supported. If necessary, replace the firmware.
Technology module: Hardware version not supported
The technology module plugged

in could be detected and is also
usually supported, however in
this case the current hardware
version is not supported (because it is too old).
Examples include the ProfiBus
piggy-back and the EA88 piggyback, which were produced in
an initial 5V version (Version 1.0)
but which cannot run on the current motor controller.
The technology module must be

replaced. If necessary, contact
Technical Support. With the
ProfiBus or EA88 module, use
hardware version 2.0 or greater.
Service module:
Write error
Data access to the service module (FLASH technology module)

is being disrupted. There were
sectors which could not be
written or cleared.
Switch on the device again

(24V). If the error appears again,
the hardware of the FLASH
module is faulty. In that case replace the module. If that is not
successful, the hardware of the
motor controller is defective and
on-site repair is not possible.
MC2000 Watchdog
Reserved.
... 83
3-44
Causes
Measures
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
85 ...
89
Reserved.
90
Missing hardware
External SRAM not detected /
component (SRAM) not sufficient.
Hardware error (SRAM component or board is defective).
Missing hardware
component
(FLASH)
External FLASH not detected /

not sufficient.
Hardware error (FLASH component or board is defective).
Error at FPGA
boot-up
The FPGA cannot be booted. The Switch on the device again

FPGA is booted serially when the (24V). If the error appears again,
device is started, but in this case the hardware is faulty.
it could not be loaded with data
or it reported a checksum error.
Error at SD-ADU
start
SD-ADUs cannot be started. One Switch on the device again

or more SD-ADUs are not sup(24V). If the error appears again,
plying any serial data.
the hardware is faulty.
SD-ADU synchronisation error after

start
SD-ADU not synchronous after

Switch on the device again
starting. During operation, the
SD-ADUs for the resolver signals the hardware is faulty.
continue running with strict synchronisation once they have
been initially started synchronously. The SD-ADUs could not be
started at the same time during
that initial start phase.
3-45
Error messages CMMP

Main
index
Subindex
Message
Causes
Measures
... 90
SD-ADU not synchronous
SD-ADU not synchronous after

starting. During operation, the
SD-ADUs for the resolver signals
continue running with strict synchronisation once they have
been initially started synchronously. This is checked continually
during operation and an error
may be triggered.
Severe EMC interference could

theoretically also cause this effect. Switch on the device again
the hardware is faulty (almost
certainly one of the three
SD-ADUs).
IRQ0 (current controller): Trigger

error
The output stage is not trigger- Switch on the device again

ing the software IRQ which then (24V). If the error appears again,
operates the current regulator.
Very likely to be a hardware
error on the board or in the processor.
No CAN controller
present
CAN controller chip could not be In the case of a firmware error,

found or is defective.
an update must be loaded.
In the case of a hardware error
(CAN chip or board defective),
Device parameters
checksum error
The device parameter record,

which includes description of
the output stage data, is inconsistent. Since it is itself part of
the firmware, this error can only
occur with beta versions.
DEBUG firmware
loaded
A beta version compiled for the Check the firmware version,

debugger was loaded as normal. and update the firmware if
necessary.
Internal initialisation error
Internal SRAM too small for the

compiled firmware. Can only
occur with beta versions.
91
3-46
Check the firmware version,

and update the firmware if
necessary.
Check the firmware version,

and update the firmware if
necessary.
3.4.2 CMMS/CMMD fault numbers

Error messages CMMS/CMMD
Main
index
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
Undervoltage monitoring is configured using the FCT.

Measure intermediate circuit voltage.
Check configuration.
03
4310
Motor temperature monitoring
Motor too hot? Check parameters (current regulator,

current limits)
Right sensor?
Cable broken?
Sensor defective?
If the error remains even when the sensor is bridged:
device defective.
03
4310
Motor temperature monitoring
Fault in digital motor temperature sensor.
04
4210
Over-/under-temperature in power
electronics
Temperature display plausible?

Check installation conditions (cooling: via the housing surface, the integrated heat sink and back wall)
05
5114
5V supply fault

Send the motor controller to the manufacturer.
5115
24V supply fault

(out of range)
16V < U24V < 32V = OK, otherwise NOK
5116
12V electronics
supply fault
11V < U12V < 13V = OK, otherwise NOK
8000
Driver supply
fault
Fault in the plausibility check of the driver supply

(safe standstill)
3-47

Main
index
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
Overvoltage in intermediate circuit
Check the connection to the braking resistor.

Check design (application).
08
7380
Encoder supply
fault
4V < U_encoder < 6V = OK, otherwise NOK
7386
CMMS-AS/
CMMD-AS only:
SINCOS-RS485
communication
error
Angle encoder cable connected?
7388
CMMS-AS/
CMMD-AS only:
Internal angle encoder error
Alarm bit set in the EnDat encoder.
11
8A81
Error during homing
Homing was interrupted, e.g. by withdrawal of controller enable or by a limit switch.

Check whether the limit switches are connected in the
correct direction of travel or whether the limit switches
have an effect on the intended inputs.
Check phase sequence of the motor connection.
Check configuration of the reference switches.
Move limit switch so that it is not in the zero pulse area.
12
8181
CAN communication error
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
Motor identification fault
Error when automatically determining the motor

parameters.
16
6187
Initialisation fault
Error initialising the default parameters.
16
6183
Unexpected
status/programming error
The software went into an unexpected state,

e.g. unknown state in the FHPP state machine.
3-48

Main
index
Subindex
Fault
code
Meaning of error
message
Measures
17
8611
Following error
limit exceeded
Enlarge error window.

Acceleration parameter too large.
18
4380
Motor temperature 5C below

maximum
The motor temperature is less than 5C below the

parametrised maximum temperature
4280
Output stage
temperature 5C
below maximum
CMMS-ST: the output stage temperature is greater

than 80C
CMMS-AS/CMMD-AS: the output stage temperature
is greater than 90C
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

Send the motor controller to the manufacturer.
22
7500
PROFIBUS:
faulty initialisation
Extension module defective?

Please contact Technical Support.
7500
Communication
fault PROFIBUS
Check the set slave address.

Check bus termination
Check wiring
25
6081
Hardware error
Motor controller and firmware are not compatible.

Update the firmware.
26
5581
Checksum error

Please contact Technical Support.
29
7680
No SD
Tried to access missing SD card.
7681
SD initialisation
error
Error on initialisation / communication not possible.
7682
SD parameter
record error
Checksum incorrect / file missing / incorrect file format / error when saving the parameter file to the SD
card
3-49

Main
index
Subindex
Fault
code
Meaning of error
message
Measures
31
2312
I@t fault on motor

(I@t at 100%)
I@t monitoring of the motor has responded; motor/

mechanical system blocked or sluggish?
2311
I@t fault on controller (I@t at

100%)
I@t monitoring of the controller has responded.

Check power dimensioning of drive package.
3280
CMMS-AS/
CMMD-AS only:
Intermediate circuit pre-charging
fault
Intermediate circuit could not be charged (UIC <

150V)
3285
CMMS-AS/
CMMD-AS only:
Fault: controller
enable without
intermediate circuit
Power failure after controller enable is issued
35
6199
Timeout for quick

stop
The parametrised time for quick stop was exceeded
40
8612
Fault: SW limit
switch reached
Negative software limit switch reached.
8612
Fault: SW limit
switch reached
Positive software limit switch reached.
8612
Fault: SW limit
switch reached
Target position is behind the negative software limit

switch
8612
Fault: SW limit
switch reached
Target position is behind the positive software limit

switch
6193
Fault: record
chaining, unknown command
Unknown command found during record chaining
6192
Route program
jump target error
Jump to a positioning record outside the permitted

range
32
41
3-50

Main
index
Subindex
Fault
code
Meaning of error
message
Measures
42
8681
Positioning: Error
in pre-calculation
The positioning target cannot be reached due to the

options for positioning or ancillary parameters.
Check parameters of the position records in question.
8488
Homing required
No positioning possible without homing. Homing

must be carried out.
6191
Position data record error
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
Negative hardware limit switch reached. Check

parameters, wiring, and limit switches.
8612
Fault in limit
switch
Positive hardware limit switch reached. Check

8612
Fault in limit
switch
Both limit switches active at the same time. Check

8000
Driver supply
fault
The driver supply is still active despite request of the

'Safe Halt'. 1)
8000
Driver supply
fault
The driver supply is activated again, even though the

"Safe Halt" has been requested. 1)
8000
Driver supply
fault
The driver supply has not been reactivated, even

though the 'Safe Halt' is no longer requested. 1)
8087
DIN4 plausibility
error
Error during plausibility check of output stage enable.
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

Main
index
Subindex
Fault
code
Meaning of error
message
Measures
64
7584
DeviceNet
general error
The 24V bus voltage is missing
7582
DeviceNet communication error
Receive buffer overflow
7582
Send buffer overflow
7582
IO message could not be sent
7582
Bus Off
7582
Overrun in the CAN controller
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
DeviceNet initialisation error
DeviceNet piggy-back initialisation error:

Node number exists twice
7582
IO connection timeout
6195
General arithmetic error
The FHPP factor group cannot be calculated correctly.
6380
Operating mode
error
Prohibited change of operating mode.

E.g. Profile Torque mode (torque control) on CMMSST in open-loop-controlled operation or parametrisation mode in FHPP; change in operating mode when
output stage is released.
65
70
3-52

Main
index
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)
SSIO partner has error 760.
7510
RS232 communication error
Overrun when receiving RS232 commands.
79
3.5
Diagnosis using FHPP status bytes

The controller supports the following diagnosis options using
FHPP status bytes (see section 1.4):
SCON.B2 (WARN) Warning
SCON.B3 (FAULT) Fault
SPOS.B5 (DEV) Drag fault
SPOS.B6 (STILL) Standstill control
In addition, all diagnostic information available as PNU (e.g.

the diagnostic memory) can be read over FPC (Festo Parameter Channel Section 5.1) or FHPP+ ( Appendix B.1).
3-53
3-54
Parameters
Chapter 4
Parameters
4-1
4. Parameters
Contents
4.1
4.2
4.3
4.4
4-2
FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1
Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . .
4.4.2
PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . .
4.4.3
Device data Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4
Device data Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.5
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.6
Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.7
On-the-fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.8
Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.9
Project data General project data . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.10 Project data Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.11 Project data Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.12 Project data Direct mode, Profile Position mode . . . . . . . . . . . . .
4.4.13 Project data Direct mode, Profile Torque mode . . . . . . . . . . . . . .
4.4.14 Project data Direct mode, Profile Velocity mode . . . . . . . . . . . . .
4.4.15 Function data Camming function . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.16 Function data Position triggers and rotor position triggers . . . . .
4.4.17 Axis parameters for electric drives 1 Mechanical parameters . . .
4.4.18 Axis parameters for electric drives 1 Homing parameters . . . . . .
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.20 Axis parameters for electric drives 1 Electronic rating plate . . . .
4.4.21 Axis parameters for electric drives 1 Standstill control . . . . . . . .
4.4.22 Axis parameters for electric drives 1 Drag error monitoring . . . .
4.4.23 Axis parameters for electric drives 1 Other parameters . . . . . . . .
4.4.24 Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . .
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
FHPP general parameter structure

A controller contains a parameter record for each axis with
the following structure.
Group
Indices
Description
Administrative and configuration data
1 ... 99
Special objects, e.g. for FHPP+
Device data
100 ... 199
Device identification and device-specific settings, version

numbers, etc.
Diagnostics
200 ... 299
Diagnostic events and diagnostic memory. Fault numbers,

fault time, incoming/outgoing event.
Process data
300 ... 399
Current setpoint and actual values, local I/Os, status

data etc.
Record list
400 ... 499
A record contains all the setpoint value parameters

required for a positioning procedure.
Project data
500 ... 599
Basic project settings. Maximum speed and acceleration,

project zero point offset etc. - > parameters are the basis
for the record list.
Function data
700 ... 799
Parameters for special functions, e.g. for the camming

function.
Axis data for electric

drives 1
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.
Tab. 4/1: Parameter structure
4-3
4. Parameters
4.2
Access protection
4.2.1 Access via PLC and FCT

The user can prevent the drive from being operated simultaneously by PLC and FCT. The CCON.B5 bit (FCT access locked)
and the SCON.B5 bit (FCT control sovereignty) are used for
this.
Preventing FCT operation: CCON.B5 (LOCK)
By setting the CCON.B5 control bit, the PLC prevents the FCT
from taking over control sovereignty. So if the LOCK is set, FCT
cannot write parameters or control the drive, execute homing
etc.
The PLC is programmed not to enable this until the user
carries out the relevant action. This generally exits automatic
operation. This means that the PLC programmer can ensure
that the PLC always knows when it has control over the drive.
Important: the block is active if the CCON.B5 bit has logic 1.
It therefore does not need to be set compulsorily. A user who
does not need this type of locking can always set the bit to 0.
Control sovereignty acknowledgment for FCT: SCON.B5
(LOCK)
This bit informs the PLC that the drive is controlled by the FCT
and that the PLC no longer has any control over the drive. This
bit does not need to be evaluated. The PLC can react by
switching to stop or manual operation.
4-4
4. Parameters
4.3
Overview of FHPP parameters

The following overview (Tab. 4/2) shows the FHPPs
parameters.
The parameters are described in sections 4.4.2 to 4.4.21.
General remarks on the parameter names:
The names are largely based on DS 402. Some names may
vary from product to product while the functionality remains
the same (e.g. in FCT). Examples: velocity and speed, or
torque and force.
Name
Controller
FHPP
PNU
Subind.
Type
PNUs for the FHPP+ telegram entries (see section 4.4.2)

FHPP Receive Telegram
(FHPP telegram received by controller)
CMMP
40
1 ... 10
uint32
FHPP Response Telegram

(FHPP telegram sent by controller)
CMMP
41
1 ... 10
uint32
FHPP Receive Telegram State

(state of FHPP telegram received by controller)
CMMP
42
uint32
FHPP Response Telegram State

(state of FHPP telegram sent by controller)
CMMP
43
uint32
Manufacturer Hardware Version
All
100
uint16
Manufacturer Firmware Version
All
101
uint16
Version FHPP
All
102
uint16
Project Identifier
All
113
uint32
Controller Serial Number
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
Device data Extended parameters (see section 4.4.4)

Manufacturer Device Name
All
120
1 ... 30
uint8
User Device Name
All
121
1 ... 32
uint8
Drive Manufacturer
All
122
1 ... 30
uint8
HTTP Drive Catalog Address
All
123
1 ... 30
uint8
Festo Order Number
All
124
1 ... 30
uint8
Device Control
All
125
uint8
Data Memory Control
All
127
1 ... 6
uint8
Diagnostic Event
CMMP
200
1 ... 32
uint8
Fault Number
CMMP
201
1 ... 32
uint16
Diagnosis (see section 4.4.5)
CMMS/CMMD 201
1 ... 4
uint16
Fault Time Stamp
CMMP
202
1 ... 32
uint32
Fault Additional Information
CMMP
203
1 ... 32
unt32
Diagnosis Memory Parameter
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
Warning Time Stamp
CMMP
212
1 ... 16
uint32
Warning Additional Information
CMMP
213
1 ... 16
unt32
Warning Memory Parameter
CMMP
214
1, 2, 4
uint8
Position Values
All
300
1 ... 3
int32
Torque Values
All
301
1 ... 3
int32
Local Digital Inputs
All
303
1, 2, 4
uint8
Local Digital Outputs
All
304
1, 3
uint8
Maintenance Parameter
All
305
uint32
Velocity Values
All
310
1 ... 3
int32
State Signal Outputs
All
311
1, 2
uint32
Process data (see section 4.4.6)
4-6
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
All
350
1, 2
int32
Record Status
All
400
1 ... 3
uint8
Record Control Byte 1
CMMP
401
On-the-fly measurement (see section 4.4.7)

Position Value Storage
Record list (see section 4.4.8)

Record Setpoint Value
Record Preselection Value
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
Record Velocity Limit
CMMP
412
1 ... 250
uint32
Record Jerkfree Filter Time
CMMP
413
1 ... 250
uint32
CMMS/CMMD 413
1 ... 63
uint32
Record Profile
CMMS/CMMD 414
1 ... 63
uint8
Record Following Position
CMMP
1 ... 250
uint8
CMMS/CMMD 416
1 ... 63
uint8
Record Torque Limitation
CMMP
418
1 ... 250
uint32
Record CAM ID
(cam disk number for record)
CMMP
419
1 ... 250
uint8
Record Remaining Distance Message
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
Software End Positions
All
501
1, 2
int32
Max. Speed
All
502
uint32
Max. Acceleration
All
503
uint32
Max. Jerkfree Filter Time
All
505
uint32
All
520
uint8
Jog Mode Velocity Slow Phase 1
All
530
int32
Jog Mode Velocity Fast Phase 2
All
531
int32
Jog Mode Acceleration
All
532
uint32
Jog Mode Deceleration
All
533
uint32
Jog Mode Time Phase 1
All
534
uint32
Project data Teaching (see section 4.4.10)

Teach Target
Project data Jog mode (see section 4.4.11)
Project data Direct mode, Profile Position mode (see section 4.4.12)
Direct Mode Position Base Velocity
All
540
int32
Direct Mode Position Acceleration
All
541
uint32
Direct Mode Position Deceleration
All
542
uint32
Direct Mode Jerkfree Filter Time
All
546
uint32
Project data Direct mode, Profile Torque mode (see section 4.4.13)
Direct Mode Torque Base Torque Ramp
CMMP
550
uint32
Direct Mode Torque Target Torque Window
CMMP
552
uint16
Direct Mode Torque Time Window
CMMP
553
uint16
Direct Mode Torque Speed Limit
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
Direct Mode Velocity Target Window
CMMP
561
uint16
Direct Mode Velocity Window Time

(damping time for velocity target window in direct
mode)
CMMP
562
uint16
Direct Mode Velocity Threshold

(standstill target window in direct mode)
CMMP
563
uint16
Direct Mode Velocity Threshold Time

(damping time for standstill in direct mode)
CMMP
564
uint16
Direct Mode Velocity Torque Limit
CMMP
565
uint32
CAM ID
(cam disk number)
CMMP
700
uint8
Master Start Position Direct Mode

(master start position in direct mode)
CMMP
701
int32
Input Config Sync.

(input configuration for synchronisation)
CMMP
710
uint32
Gear Sync.
(synchronisation gear ratio)
CMMP
711
1, 2
uint32
Output Config Encoder Emulation

(output configuration for encoder emulation)
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
Position Trigger Low
CMMP
731
1 ... 4
int32
Position Trigger High
CMMP
732
1 ... 4
int32
Rotor Position Trigger Low
CMMP
733
1 ... 4
int32
Rotor Position Trigger High
CMMP
734
1 ... 4
int32
4-9
4. Parameters
Name
Controller
FHPP
PNU
Subind.
Type
Axis parameters for electric drives 1 Mechanical parameters

Axis parameters for electric drives 1 Mechanical parameters (see section 4.4.17)
Polarity
(reversal of direction)
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
Homing Max. Torque
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
Position Window Time

(adjustment time for position)
All
1023
uint16
Control Parameter Set

(controllers parameters)
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
Motor Rated Current
All
1035
uint32
Motor Rated Torque
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
Position Actual Value

(current position)
All
1041
int32
Standstill Position Window
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
Following Error Time

(drag error timeout)
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
Function parameters for digital I/Os (see section 4.4.24)

Remaining Distance for Remaining Distance Message
1)
With CMMP-AS: in Direct mode only
Tab. 4/2: Overview of FHPP parameters
4-11
4. Parameters
4.4
Descriptions of FHPP parameters
4.4.1 Representation of the parameter entries

1
Encoder Resolution
FHPP (all)
1001
Description
Encoder resolution in increments per revolution

The encoder resolution is fixed and cannot be modified by the user. The
calculated value is derived from the fraction (encoder increments/motor
revolution).
Encoder Increments 1001
1 ... 2
uint32
rw
uint32
rw
Value range: 0x00000000 ... 0xFFFFFFFF (0 ... 232-1)

Motor Revolutions 1001
uint32
rw
Fixed = 1
1 Name of the parameter (sometimes with short explanation in brackets)

2 PNU (parameter number)
3 Subindices of the parameter (1: no subindex, simple variable)
4 Element variable type
5 Read/write permission: ro = read only, rw = read and write
6 Identifier for general or limited validity (e.g. CMMP only)
7 Description of the parameter
8 Name and description of subindices, if present
Fig. 4/1: Representation of the parameter entries
4-12
4. Parameters
4.4.2 PNUs for the telegram entries for FHPP+

FHPP Receive Telegram (FHPP telegram received by controller)
FHPP (CMMP)
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
1st transmitted PNU: always PNU 1:1

2nd PNU 40
2nd transmitted PNU: with FPC: always PNU 2:1

without FPC: any PNU
3rd PNU 40
uint32
ro
uint32
ro
3rd transmitted PNU: any PNU

... PNU 40
4 ... 10
...
FHPP Response Telegram (FHPP telegram sent by controller)

FHPP (CMMP)
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
1st transmitted PNU: always PNU 1:1

2nd PNU 41
2nd transmitted PNU: with FPC: always PNU 2:1

without FPC: any PNU
3. PNU 41
uint32
ro
uint32
ro
3rd transmitted PNU: any PNU

... PNU 41
4 ... 10
...
4-13
4. Parameters
Contents of a subindex for PNU 40 and 41 (uint 32 - 4 bytes)

Byte
Contents
Reserved (= 0)
Subindex
Transmitted PNU (2-byte value)
Tab. 4/3: Format of the entries in PNU 40 and 41

FHPP Receive Telegram State (state of FHPP telegram received by controller)
FHPP (CMMP)
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
FHPP Response Telegram State (state of FHPP telegram sent by controller)

FHPP (CMMP)
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
4.4.3 Device data Standard parameters

Manufacturer Hardware Version
FHPP (all)
100
uint16
Description
Coding of the hardware version, specification in BCD: xxyy

(xx = main version, yy = secondary version)
ro
Manufacturer Firmware Version

FHPP (all)
101
Description
Coding of the firmware version, specification in BCD: xxyy

uint16
ro
Version FHPP (FHPP version)

FHPP (all)
102
uint16
Description
Version number of the FHPP, specification in BCD: xxyy

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
Controller Serial Number

FHPP (all)
114
Description
Serial number for uniquely identifying the controller.
uint32
ro
4-15
4. Parameters
4.4.4 Device data Extended parameters

Manufacturer Device Name
FHPP (all)
120
1 ... 30
uint8
ro
Description
Designation of the drive or controller (ASCII, 7 bit).

Unused characters are filled with zero (00h=\0).
Example: CMMS-ST
User Device Name

FHPP (all)
121
1 ... 32
uint8
rw
Description
Users designation of the controller (ASCII, 7 bit).

Unused characters are filled with zero (00h=\0).
Drive Manufacturer
FHPP (all)
122
Description
Name of the drives manufacturer (ASCII, 7-bit) Fixed: Festo AG & Co. KG
1 ... 30
uint8
ro
HTTP Drive Catalog Address (HTTP address of manufacturer)

FHPP (all)
123
Description
Manufacturers Internet address (ASCII, 7-bit) Fixed: www.festo.com
1 ... 30
uint8
ro
Festo Order Number

FHPP (all)
124
Description
Festo order number / order code (ASCII, 7-bit).
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
Data Memory Control

FHPP (all)
127
Description
Commands for EEPROM (non-volatile memory)
Delete EEPROM 127
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
Type of fault or diagnostic information saved in the diagnostic memory. Displays

whether an incoming or outgoing fault is saved.
Value
Type of diagnostic event
0x00 (0) No fault (or fault message deleted)
0x01 (1) Incoming fault
0x02 (2) Reserved (outgoing fault)
0x03 (3) Reserved
0x04 (4) Reserved (Overrun time stamp)
Event 1 200
1 ... 32
uint8
uint8
ro
ro
Type of latest/current diagnostic message

Event 2 200
uint8
ro
Type of second saved diagnostic message

Event ...
200
...
uint8
ro
1 ... 32
uint16
ro
1 ... 4
uint16
ro
...
Fault Number
FHPP (CMMP)
201
FHPP (CMMS/CMMD) 201

Description
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
Latest/current diagnostic message

Event 2 201
2nd saved diagnostic message

Event ...
201
...
...
4-19
4. Parameters
Fault Time Stamp

FHPP (CMMP)
202
Description
Time of the diagnostic event in seconds after switch-on. In case of overrun,

the time stamp jumps from 0xFFFFFFFF to 0.
Event 1 202
1 ... 32
uint32
uint32
ro
ro
Time of the latest/current diagnostic message

Event 2 202
uint32
ro
Time of the second saved diagnostic message

Event ...
202
...
uint32
ro
...
Fault Additional Information (additional information for fault)

FHPP (CMMP)
203
Description
Additional information for service staff.

Event 1 203
1 ... 32
1
uint32
ro
uint32
ro
Additional information for the latest/current diagnostic message

Event 2 203
uint32
ro
Additional information for the second saved diagnostic message

Event ...
203
...
uint32
ro
...
Diagnosis Memory Parameter (parameters for diagnostic memory)

FHPP (CMMP)
204
Description
Configuration of the diagnostic memory.
Fault Type 204
1, 2, 4
1
uint8
ro
uint8
ro
uint8
ro
uint8
ro
Incoming and outgoing faults.

Fix 0x02 (2): Record only incoming faults
Resolution 204
Time stamp resolution.

Fix 0x03 (3): 1 Second
Number of Entries 204
Read out the number of valid entries in the diagnostic memory.

Value range: 0 32
4-20
4. Parameters
Fieldbus Diagnosis
FHPP (CMMP)
206
Description
Readout of fieldbus diagnostic data.
CANopen Diagnosis 206
5
5
uint8
ro
uint8
ro
Selected profile (protocol type):

Values: 0 = DS 402 (not available via FHPP)
1 = FHPP
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
Type of latest/current warning message

Event 2 210
Type of second saved warning message

Event ...
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
Most recent/current warning message

Event 2 211
2nd saved warning message

Event ...
211
...
...
4-21
4. Parameters
Warning Time Stamp

FHPP (CMMP)
212
Description
Time of the warning event in seconds after switch-on. In case of overrun,

the time stamp jumps from 0xFFFFFFFF to 0.
Event 1 212
1 ... 16
uint32
uint32
ro
ro
Time of the latest/current warning message

Event 2 212
uint32
ro
Time of the second saved warning message

Event ...
212
...
uint32
ro
...
Warning Additional Information (additional information for warning)

FHPP (CMMP)
213
Description
Additional information for service staff.

Event 1 213
1 ... 16
1
uint32
ro
uint32
ro
Time of the latest/current diagnostic message

Event 2 213
uint32
ro
Time of the second saved diagnostic message

Event ...
213
...
uint32
ro
...
Warning Memory Parameter (parameters for warning memory)

FHPP (CMMP)
214
Description
Configuration of the warning memory.
Warning Type 214
1, 2, 4
1
uint8
rw/ro
uint8
ro
Incoming and outgoing warnings.

Fix 0x02 (2): Record only incoming warnings
Resolution 214
uint8
ro
uint8
ro
Time stamp resolution.

Fix 0x03 (3): 1 Second
Number of Entries 214
Read number of valid entries in the warning memory.

Value range: 0 16
4-22
4. Parameters
4.4.6 Process data

Position Values
FHPP (all)
300
Description
Current values of the position controller, stated in the positioning unit

(see PNU 1004).
Actual Position 300
1 ... 3
int32
ro
int32
ro
Nominal Position 300

2
int32
(setpoint position)
Current setpoint position of the controller.
ro
Current actual position of the controller.
Actual Deviation 300
int32
ro
int32
ro
Current deviation.
Torque Values
FHPP (all)
301
Description
Current values of the torque controller, stated in mNm.
Actual Force 301
1 ... 3
1
int32
ro
Nominal Force 301

2
int32
(setpoint force)
Current setpoint value of the controller.
ro
Current actual value of the controller.
int32
ro
Current deviation.
4-23
4. Parameters
Local Digital Inputs

FHPP (all)
303
Description
The controllers local digital inputs.
1, 2, 4
Input DIN 0 ... 7 303
uint8
ro
uint8
ro
Digital inputs: standard DIN (DIN 0 ... DIN 7)

Input DIN 8 ... 13 303
uint8
ro
Digital inputs: standard DIN (DIN 8 ... DIN 13)

Input CAMC DIN 0 303
4
uint8
... 7
Digital inputs: CAMC-D-8E8A (DIN 0 ... DIN 7)
ro
PNU 303 allocation

Subindex 1
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
Local Digital Outputs

FHPP (all)
304
Description
The controllers local digital outputs.
1, 3
Output DOUT 0 ... 3 304
uint8
rw
uint8
rw
Digital outputs: standard DOUT (DOUT 0 ... DOUT 3)

Output CAMC 304
3
uint8
DOUT 0 ... 7
Digital outputs: CAMC-D-8E8A (DOUT 0 ... DOUT 7)
rw
PNU 304 allocation

Subindex 1
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
Information about the controllers or the drivers running performance.
Operating Hours 305
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
Current values of the speed regulator.
1 ... 3
Actual Revolutions 310

1
(actual speed)
Current actual value of the controller.
int32
Speed deviation.
4-26
4. Parameters
State Signal Outputs (status of signal outputs)

FHPP (CMMP)
311
Description
Parameters for displaying the status of the signal outputs.
1,2
Outputs Part 1 311

Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17..32
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
Outputs Part 2 311
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
Reserved for rotor position triggers 5 ... 8
General action bits 1
Reserved for general action bits 5 ... 8
4-27
4. Parameters
4.4.7 On-the-fly measurement

For information about on-the-fly measurement,
see section 2.9.
Position Value Storage

FHPP (all)
350
Description
Sampled positions.
1, 2
int32
ro
Sample Value 350

1
int32
ro
Rising Edge
Last sampled position with a rising edge, stated in positioning unit (see
PNU 1004).
Sample Value 350
2
int32
ro
Falling Edge
Last sampled position with a falling edge, stated in positioning unit (see
PNU 1004).
4-28
4. Parameters
4.4.8 Record list
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
Number of positioning records: For CMMP ... : 1 ... 250

For CMMS/CMMD ... : 1 ... 63
Tab. 4/4: Structure of FHPP record list

With FHPP, record selection for reading and writing is made
via the subindex of the PNUs 401 ... . The active record for
positioning or teaching is selected with PNU 400.
Controller/ PNU
drive
401 402
404
405
406
407
408
412
413
414
416
418 ... 421
CMMP-AS
CMMS-AS/
CMMD-AS
CMMS-ST
Tab. 4/5: Supported elements in the record list
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.
Memory structure of positioning record list and

record profiles for CMMS/CMMD
Record list
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.
Pointers to profile memory
Fig. 4/2: Positioning record list and record profiles
4-30
4. Parameters
Record Status
FHPP (all)
400
Description
Record status.
1 ... 3
uint8
rw/ro
Demand Record 400

1
uint8
rw
Number
Nominal record number. The value can be changed using FHPP.
In Record selection mode, the nominal record number is always copied from the
masters output data with a rising edge at START.
Value range:
CMMP: 0x00 ... 0xFA (0 ... 250)
CMMS/CMMD: 0x00 ... 0x3F (0 ... 63)
Actual Record 400
2
Number
Current record number.
Record Status Byte 400
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
= 0: A step enabling condition was not configured/achieved.

= 1: The first step enabling condition was achieved.
Valid as soon as MC applies.

RCC = 0: Record chaining cancelled. At least one step enabling condition was not achieved.
= 1: Record chain was processed to the end of the chain.
Bits 2 ... 7
Reserved.
Tab. 4/6: Allocation of PNU 400/3 (RSB)
4-31
4. Parameters

FHPP (CMMP)
401

Description
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
Record control byte 1 for positioning record 1.

Record 2 401
uint8
rw

Record ...
401
...
uint8
rw
Record control byte 1 for positioning record ...
Bit
Description
B0
ABS
Absolute/Relative
FHPP does not provide access to other modes, e.g. relative to actual value, analogue
input, etc.
B1, B2
COM1/2
Bit 2 1 Control mode feedback

0 0 Profile Position mode
0 1 Profile Torque mode (torque, current)
1 0 Profile Velocity mode (speed)
1 1 Reserved
Only Profile Position mode can be used for the camming function.
B3, B4
FNUM1/2

No. Bit 2 1 Function number *)
0
0 0 Reserved
1
2
1 0 Synchronisation with an external input with camming function
3
1 1 Synchronisation with a virtual master with camming function
B5, B6
FGRP1/2

0
B7
FUNC
= 0: Normal task
= 1: Execute camming function, as per bits 3 ... 6 (only with CMMP)
Tab. 4/7: RCB1 allocation

4-32
4. Parameters

FHPP (CMMP)
402

Description
1 ... 250
uint8
rw
1 ... 63
uint8
rw
Record control byte 2 (RCB2) controls conditional record chaining.

If a condition was defined, it is possible to prohibit automatic continuation to
the following record by setting the B7 bit. This function is intended for debugging and not for normal control purposes.
Bit
Meaning
Bit 0 ... 6 Numerical value 0 ... 128: step enabling condition as a list,
see section 2.6.3 Tab. 2/13.
Bit 7
= 0: record chaining (bits 0 ... 6) is not disabled
= 1: record chaining is disabled
Record 1 402
uint8
rw

Record 2 402
uint8
rw

Record ...
402
...
uint8
rw
Record Setpoint Value

FHPP (CMMP)
404

Description
1 ... 250
int32
rw
1 ... 63
int32
rw
Target position of the positioning record table. Setpoint position as per

PNU 401/RCB1, absolute or relative, stated in positioning unit (see PNU 1004).
Record 1 404
int32
rw
Setpoint position for positioning record 1.

Record 2 404
int32
rw
Setpoint position for positioning record 2.

Record ...
404
...
int32
rw
Setpoint position for positioning record ... .

Control
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)
Examples of positioning unit, see PNU 1004
Tab. 4/8: Setpoint values for positioning units in PNU 404

4-33
4. Parameters

FHPP (CMMP)
405
Description
Following position (record number of the following position with NEXT1).
Record 1 405
1 ... 250
1
int32
rw
int32
rw
int32
rw
int32
rw
int32
rw
Following position for record 1.

Record 2 405
Following position for record 2.

Record ...
405
...
Following position for record ...

Description
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
Preselection value for record 1.

Record 2 405
Preselection value for record 2.

Record ...
405
...
Preselection value for record ...
Record Velocity
FHPP (CMMP)
406
Description
Velocity setpoint value in unit of velocity (see PNU 1006).
Record 1 406
1 ... 250
1
uint32
rw
Velocity setpoint value for positioning record 1

Record 2 406
uint32
rw
Velocity setpoint value for positioning record 2

Record ...
406
...
uint32
rw
Velocity setpoint value for positioning record ...
4-34
4. Parameters
Record Velocity
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).
Record 1 406
uint32
rw
Velocity setpoint value of the record profile of positioning record 1.

Record 2 406
uint32
rw
Velocity setpoint value of the record profile of positioning record 2.

Record ...
406
...
uint32
rw
Velocity setpoint value of the record profile of positioning record ...
Record Acceleration
FHPP (CMMP)
407
Description
Acceleration setpoint value for start-up, stated in unit of acceleration

(see PNU 1007).
Record 1 407
1 ... 250
uint32
uint32
rw
rw
Acceleration setpoint value for positioning record 1.

Record 2 407
uint32
rw
Acceleration setpoint value for positioning record 2.

Record ...
407
...
uint32
rw
Acceleration setpoint value for positioning record ...
Record Acceleration
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).
Record 1 407
uint32
rw
Acceleration setpoint value of the record profile of positioning record 1.

Record 2 407
uint32
rw
Acceleration setpoint value of the record profile of positioning record 2.

Record ...
407
...
uint32
rw
Acceleration setpoint value of the record profile of positioning record ...
4-35
4. Parameters
Record Deceleration
FHPP (CMMP)
408
Description
Deceleration setpoint value for braking, stated in unit of acceleration

(see PNU 1007).
Record 1 408
1 ... 250
uint32
uint32
rw
rw
Deceleration setpoint value for positioning record 1

Record 2 408
uint32
rw
Deceleration setpoint value for positioning record 2

Record ...
408
...
uint32
rw
Deceleration setpoint value for positioning record ...
Record Deceleration
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).
Record 1 408
uint32
rw
Deceleration setpoint value of the record profile of positioning record 1.

Record 2 408
uint32
rw
Deceleration setpoint value of the record profile of positioning record 2.

Record ...
408
...
uint32
rw
Deceleration setpoint value of the record profile of positioning record ...
Record Velocity Limit

FHPP (CMMP)
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
Velocity limit for positioning record 1.

Record 2 412
Velocity limit for positioning record 2.

Record ...
412
...
Velocity limit for positioning record ...
4-36
4. Parameters

FHPP (CMMP)
413
Description
Jerk-free filter time in ms.

Specifies the filter time constant for the output filter that is used to smooth
the linear movement profiles. Completely jerk-free movement is achieved if the
filter time is the same as the acceleration time.
Record 1 413
1 ... 250
uint32
uint32
rw
rw
Jerk-free filter time for positioning record 1.

Record 2 413
uint32
rw
Jerk-free filter time for positioning record 2.

Record ...
413
...
uint32
rw
Jerk-free filter time for positioning record ...

Description
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.
Record 1 413
uint32
rw
Jerk-free filter time of the record profile of positioning record 1.

Record 2 413
uint32
rw
Jerk-free filter time of the record profile of positioning record 2.

Record ...
413
...
uint32
rw
Jerk-free filter time of the record profile of positioning record ...
4-37
4. Parameters
Record Profile
Description
1 ... 63
uint8
rw
Specifies affiliation to a record profile. The positioning records are assigned to

the profiles (0 ... 7). The following parameters are defined in a profile:
Preselection value (PNU 405)
Positioning velocity (PNU 406)
Acceleration (PNU 407)
Deceleration (PNU 408)
Jerk-free filter time (PNU 413)
Maximum positioning time 1)
Start delay 1)
Final velocity 1)
Start during an ongoing positioning task 1)
The settings in the record profile are uniformly effective for all assigned
records; see Fig. 4/2.
Value range: 0 ... 7 (equates to the assigned record profile)
Record 1 414
uint8
rw
uint8
rw
uint8
rw
1 ... 250
uint8
rw
1 ... 63
uint8
rw
Record profile for positioning record 1.

Record 2 414
Record profile for positioning record 2.

Record ...
414
...
Record profile for positioning record ...

1)
Cannot be parametrised with FHPP, access via FCT only
Record Following Position (for record chaining)

FHPP (CMMP)
416

Description
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
Following position for positioning record 1.

Record 2 416
uint32
rw
Following position for positioning record 2.

Record ...
416
...
uint32
rw
Following position for positioning record ...
4-38
4. Parameters
Record Torque Limitation

FHPP (CMMP)
418
Description
Torque/current current limitation in Profile Position mode in mNm.
Record 1 418
1 ... 250
1
uint32
uint32
rw
rw
Torque limitation for positioning record 1.

Record 2 418
uint32
rw
Torque limitation for positioning record 2.

Record ...
418
...
uint32
rw
Torque limitation for positioning record ...
Record CAM ID (cam disk number for record)

FHPP (CMMP)
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
Cam disk number for positioning record 1.

Record 2 419
uint8
rw
Cam disk number for positioning record 2.

Record ...
419
...
uint8
rw
Cam disk number for positioning record ...
Record Remaining Distance Message

FHPP (CMMP)
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
Remaining distance message for positioning record 1.

Record 2 420
int32
rw
Remaining distance message for positioning record 2.

Record ...
420
...
int32
rw
Remaining distance message for positioning record ...
4-39
4. Parameters

FHPP (CMMP)
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

Record 2 421
uint8
rw

Record ...
421
...
uint8
rw
Bit
Description
B0, B1
Start command during active positioning:

Bit 1 0 Description
0 0 Ignore
0 1 Interrupt active
1 0 Append to active positioning (wait)
1 1 Reserved
B2 ... B9
Reserved (= 0 !)
Tab. 4/9: RCB3 allocation
4-40
4. Parameters
4.4.9 Project data General project data

Project Zero Point (project zero point offset)
FHPP (all)
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
Software End Positions

FHPP (all)
501
Description
Software end positions in positioning unit (see PNU 1004)

A setpoint specification (position) outside the end positions is not permitted
and will lead to a fault. The offset to the axis zero point is entered.
Plausibility rule: min. limit max. limit
Lower Limit 501
1, 2
int32
rw
int32
rw
int32
rw
uint32
rw

Upper Limit 501
Max. Speed
FHPP (all)
502
Description
Max. permissible speed in unit of velocity (see PNU 1006).

This value limits the speed in all operating modes except torque mode.
Max. Acceleration
FHPP (all)
503
uint32
Description
Max. permissible acceleration in unit of acceleration (see PNU 1007).
rw
Max. Jerkfree Filter Time

FHPP (all)
505
Description
Max. permissible jerk-free filter time in ms.

Value range:
CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)
CMMS/CMMD: 0x00000000 ... 0x00000033 (0 ... 51)
uint32
rw
4-41
4. Parameters
4.4.10 Project data Teaching

Teach Target
FHPP (all)
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
4.4.11 Project data Jog mode

Jog Mode Velocity Slow Phase 1
FHPP (all)
530
int32
Description
Maximum velocity for phase 1 in unit of velocity (see PNU 1006).
rw
Jog Mode Velocity Fast Phase 2

FHPP (all)
531
int32
Description
Maximum velocity for phase 2 in unit of velocity (see PNU 1006).
rw
Jog Mode Acceleration

FHPP (all)
532
Description
Acceleration during jogging in unit of acceleration (see PNU 1007).
uint32
rw
Jog Mode Deceleration

FHPP (all)
533
Description
Deceleration during jogging in unit of acceleration (see PNU 1007).
uint32
rw
Jog Mode Time Phase 1

FHPP (all)
534
Description
Time duration of phase 1 (T1) in ms.
uint32
rw
4-43
4. Parameters
4.4.12 Project data Direct mode, Profile Position mode

Direct Mode Position Base Velocity
FHPP (all)
540
int32
rw
Description
Base velocity during direct Profile Position mode in unit of velocity

(see PNU 1006).
Direct Mode Position Acceleration

FHPP (all)
541
Description
Acceleration during direct Profile Position mode in unit of acceleration

(see PNU 1007).
uint32
rw
Direct Mode Position Deceleration

FHPP (all)
542
uint32
Description
Deceleration during direct Profile Position mode in unit of acceleration

(see PNU 1007).
rw
Direct Mode Position Jerkfree Filter Time

FHPP (all)
546
Description
Jerk-free filter time during direct Profile Position mode in ms.

Value range:
CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)
CMMS/CMMD: 0x00000000 ... 0x00000033 (0 ... 51)
4-44
uint32
rw
4. Parameters
4.4.13 Project data Direct mode, Profile Torque mode

Direct Mode Torque Base Torque Ramp
FHPP (CMMP)
550
uint32
Description
Base value for torque ramp in direct Profile Torque mode in mNm/s.
rw
Direct Mode Torque Target Torque Window

FHPP (CMMP)
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.
Direct Mode Torque Time Window

FHPP (CMMP)
553
Description
Damping time for the torque target window during direct Profile Torque mode in
ms.
uint16
rw
Direct Mode Torque Speed Limit

FHPP (CMMP)
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
4.4.14 Project data Direct mode, Profile Velocity mode

Direct Mode Velocity Base Velocity Ramp
FHPP (all)
560
uint32
rw
Description
Base acceleration value (velocity ramp) during direct Profile Velocity mode in
unit of acceleration (see PNU 1007).
Direct Mode Velocity Target Window

FHPP (CMMP)
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.
Direct Mode Velocity Threshold (standstill target window in direct mode)

FHPP (CMMP)
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.
Direct Mode Velocity Torque Limit

FHPP (CMMP)
565
Description
Torque limitation during direct Profile Velocity mode in unit of torque (mNm).
4-46
uint32
rw
4. Parameters
4.4.15 Function data Camming function

Selecting cam disk
CAM ID (cam disk number)
FHPP
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
Synchronisation (input, X10)

Input Config Sync. (input configuration for synchronisation)
FHPP
710
Description
Configuration of the encoder input for synchronisation (physical master on X10,

slave operation).
Bit
Name
Description
0
Ignore index pulse
Bit 0 = 1: without index pulse
Bit 0 = 0: with index pulse
1
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
Gear Sync. (synchronisation gear ratio)

FHPP
711
Description
Gear ratio for synchronisation with an external input (physical master on X10,
slave operation).
1, 2
uint32
rw
uint32
rw
uint32
rw
Motor revolutions (drive input).

Shaft revolutions 711
Shaft rotations (output).
Encoder emulation (output, X11)

Output Config Encoder Emulation (output configuration for encoder emulation)
FHPP
720
Description
Configuration of the encoder for encoder emulation (virtual master).

Bit
Name
Description
0
Switch off A/B track
Bit 0 = 1: without A/B track
Bit 0 = 0: with A/B track
1
Suppress index pulse
Bit 1 = 1: without index pulse
Bit 1 = 0: with index pulse
2
Reversal of direction of rotation Bit 2 = 1: with reversal of direction
of rotation
Bit 2 = 0: without reversal of direction
of rotation
3 ... 31 ...
Reserved = 0
4-48
uint32
rw
4. Parameters
4.4.16 Function data Position triggers and rotor position triggers

Position Trigger Control
FHPP
730
uint32
rw
Description
Bit-by-bit activation of the corresponding triggers.

Bit is set = trigger is computed, i.e. the position comparison is carried out.
Triggers which are not computed save computing time.
Bit (hex value)
Description
0 (0x0000 0001)
Position trigger (actual position) 0
1 (0x0000 0002)
2 (0x0000 0004)
3 (0x0000 0008)
4 ... 15:
Reserved
16 (0x0001 0000)
17 (0x0002 0000)
18 (0x0004 0000)
19 (0x0008 0000)
19 ... 31
Reserved
Position Trigger Low

FHPP
731
Description
Position values for the low position trigger, stated in the positioning unit (see
PNU 1004).
Position Trigger 1 731
1 ... 4
int32
int32
rw
rw
Position values of the first low position trigger.

int32
rw
Position values of the second low position trigger.

int32
rw
Position values of the third low position trigger.

int32
rw
Position values of the fourth low position trigger.
4-49
4. Parameters
Position Trigger High

FHPP
732
Description
Position values for the high position trigger, stated in the positioning unit (see
PNU 1004).
1 ... 4
int32
rw
int32
rw
Position values of the first high position trigger.

int32
rw
Position values of the second high position trigger.

int32
rw
Position values of the third high position trigger.

int32
rw
Position values of the fourth high position trigger.
Rotor Position Trigger Low

FHPP
733
Description
Angle for the low rotor position trigger, stated in .

Value range: -180 ... 180
4-50
1 ... 4
int32
rw
Rotor Position 733

1
int32
Trigger 1
Angle of the first low rotor position trigger.
rw
Rotor Position 733

2
int32
Trigger 2
Angle of the second low rotor position trigger.
rw
Rotor Position 733

3
int32
Trigger 3
Angle of the third low rotor position trigger.
rw
Rotor Position 733

4
int32
Trigger 4
Angle of the fourth low rotor position trigger.
rw
4. Parameters
Rotor Position Trigger High

FHPP
734
Description
Angle for the high rotor position trigger, stated in .

Value range: -180 ... 180
1 ... 4
int32
rw
Rotor Position 734

1
int32
Trigger 1
Angle of the first high rotor position trigger.
rw
Rotor Position 734

2
int32
Trigger 2
Angle of the second high rotor position trigger.
rw
Rotor Position 734

3
int32
Trigger 3
Angle of the third high rotor position trigger.
rw
Rotor Position 734

4
int32
Trigger 4
Angle of the fourth high rotor position trigger.
rw
4-51
4. Parameters
4.4.17 Axis parameters for electric drives 1 Mechanical parameters

Polarity (reversal of direction)
FHPP (all)
1000
Description
Direction of the position values.

Values:
Position value (vector)
0x00 (0):
normal (default)
0x80 (128): inverted (multiplied by -1)
uint8
rw
uint32
rw
Encoder Resolution
FHPP (all)
1001
Description
Encoder resolution in encoder increments / motor revolutions.

Specified internal conversion factor.
The calculated value is derived from the fraction encoder increments/motor
revolution.
Encoder Increments 1001
1, 2
uint32
rw
uint32
rw
uint32
rw
Fixed: 0x00010000 (65536)

Fixed: 0x00000001 (1)
Gear Ratio
FHPP (all)
1002
Description
Ratio of motor revolutions to gearing shaft revolutions (drive output

revolutions), see appendix A.1.
Gear ratio = motor revolutions / shaft revolutions
1, 2
uint32
rw
Gear ratio numerator.

Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(231-1))
Shaft Revolutions 1002
uint32
rw
Gear ratio denominator.

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
Feed constant numerator.

Shaft Revolutions 1003
uint32
rw
Feed constant - denominator.

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
Encoder Resolution * Gear Ratio

Feed Constant
uint32
rw
uint32
rw
int32
rw
int32
rw
Position factor - numerator.

Denominator 1004
Position factor denominator.
Axis Parameter (axis parameters)

FHPP (all)
1005
Description
Specify and read out axis parameters.
Gear Numerator 1005
2, 3
2
Gear ratio axis gear numerator

Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))
Gear Denominator 1005
int32
rw
Gear ratio axis gear denominator

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
Velocity factor numerator.

Denominator 1006
Velocity factor denominator.
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
Acceleration factor numerator.

Denominator 1007
Acceleration factor denominator.
Polarity Slave (reversal of direction for slave)

FHPP (all)
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
4.4.18 Axis parameters for electric drives 1 Homing parameters

Offset Axis Zero Point
FHPP (all)
1010
int32
rw
Description
Axis zero point offset in positioning unit (see PNU 1004).

The offset for the axis zero point (home offset) defines the axis zero point <AZ>
as a dimensional reference point relative to the physical reference point <REF>.
The axis zero point is the point of reference for the project zero point <PZ> and
for the software end positions. All positioning operations refer to the project
zero point (PNU 500).
The axis zero point (AZ) is calculated from: AZ = REF + axis zero point offset
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
Speeds during homing in unit of velocity (see PNU 1006).
Search for Switch 1012
1, 2
1
uint32
uint32
rw
rw
Speed when searching for the reference point REF or a stop or switch.
Running for Zero 1012
uint32
rw
Speed of travel to the axis zero point AZ.

Homing Acceleration
FHPP (all)
1013
Description
Acceleration during homing in unit of acceleration

(see PNU 1007).
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
Homing Max. Torque

FHPP (CMMP)
1015
Description
Max. torque during homing.

Specified as a multiple of the rated torque in % (see PNU 1036).
The maximum permitted torque (via current limiting) during homing. If this
value is reached, the drive identifies the stop (REF) and travels to the axis
zero point.
4-56
uint8
rw
4. Parameters

parameters
Halt Option Code
FHPP (all)
1020
Description
Reaction to a Halt command (falling edge at SPOS.B0).

Values:
0x00 (0): Reserved (switch off motor coil without current,
brake not actuated)
0x01 (1): Brake with stop ramp
0x02 (2): Reserved (brake with emergency stop ramp)
uint16
rw
Position Window
FHPP (all)
1022
Description
Tolerance window in positioning unit (see PNU 1004).

Amount by which the current position may deviate from the target position,
in order that it may still be regarded as being within the target window.
The width of the window is twice the value transmitted, with the target position
in the centre of the window.
uint32
rw
Position Window Time (adjustment time for position)

FHPP (all)
1023
Description
Adjustment time in milliseconds.

If the actual position has been in the target position window this amount of
time, the bit Target reached will be set in the status word.
uint16
rw
4-57
4. Parameters
Control Parameter Set (controllers parameters)

FHPP (all)
1024
Description
Control parameters as well as parameters for quasi-absolute position

registering.
Gain Position 1024
18 ... 22, 32
uint16
18
rw
uint16
rw
uint16
rw
Time Velocity 1024

20
uint16
(velocity time
Time constant for the closed-loop velocity controller.
constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)
rw
Gain of closed-loop position controller.

Value range: 0x0000 ... 0xFFFF (0 ... 65535)
Gain Velocity 1024
19
Gain of closed-loop velocity controller.

Gain Current 1024
21
uint16
rw
Time Current 1024

22
(current time
Time constant for the current regulator.
constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)
uint16
rw
Save Position 1024
uint16
rw
Gain of current regulator.

32
Save the current position when switching off (quasi-absolute positioning).

See also PNU 1014.
Values:
0x00F0 (240) = Current position will not be saved at power-off (default)
0x000F (15) = Reserved
Motor Data
FHPP (all)
1025
Description
Motor-specific data.
Serial Number 1025
1, 3
1
uint32/uint16
ro/rw
uint32
ro
Festo serial number and motors serial number.

Time Max. Current 1025
uint16
rw
I2t time in ms.

When the I2t time elapses, the current is limited automatically to the motor
rated current in order to protect the motor (Motor Rated Current, PNU 1035).
4-58
4. Parameters
Drive Data
FHPP (CMMP)
1026
1 ... 4, 7
uint32
ro/rw
1, 3, 4, 7
uint32
ro/rw
Description
General motor data.
Power Temp. 1026

1
uint32
(output stage
temp.) Temperature of the output stage in C.
Power Stage 1026
2
uint32
Max. Temp.
(output stage max. CMMP only:
temp.) Maximum temperature of the output stage in C.
ro
ro
Motor Rated 1026

3
uint32
Current
Rated motor current in mA, identical to PNU 1035.
rw
Current Limit 1026

4
uint32
(max. motor
Maximum motor current, identical to PNU 1034.
current)
rw
Controller Serial 1026

7
Number
Controllers internal serial number.
uint32
ro
4-59
4. Parameters
4.4.20 Axis parameters for electric drives 1

Electronic rating plate
Max. Current
FHPP (all)
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
Motor Rated Current

FHPP (all)
1035
Description
The motors rated current in mA, identical to PNU 1026/3.
uint32
rw
Motor Rated Torque

FHPP (all)
1036
Description
The motors rated torque in 0.001 Nm.
uint32
rw
uint32
rw
Torque Constant
FHPP (all)
1037
Description
Ratio between the current and torque in the motor used

in mNm/A.
4-60
4. Parameters
4.4.21 Axis parameters for electric drives 1 Standstill control

Position Demand Value (setpoint position)
FHPP (all)
1040
int32
ro
Description
Setpoint target position of the last positioning task, stated in positioning unit
(see PNU 1004).
Position Actual Value (current position)

FHPP (all)
1041
Description
Current position of the drive, stated in the positioning unit (see PNU 1004).
int32
ro
Standstill Position Window

FHPP (all)
1042
Description
Standstill position window in positioning unit (see PNU 1004).

Amount by which the drive may move after MC, until standstill control
responds.
uint32
rw
Standstill Timeout
FHPP (all)
1043
Description
Standstill control timeout in ms.

Time during which the drive must be outside the standstill position window
before standstill control responds.
uint16
rw
4-61
4. Parameters
4.4.22 Axis parameters for electric drives 1 Drag error monitoring

Following Error Window (drag error window)
FHPP (CMMP)
1044
uint32
rw
Description
Define or read the permitted range for drag errors, stated in positioning units.
0xFFFFFFFF = drag error monitoring OFF
Following Error Time (drag error timeout)

FHPP (CMMP)
1045
Description
Define or read a timeout time for drag error monitoring in ms.

uint16
rw
4.4.23 Axis parameters for electric drives 1 Other parameters

Torque Feed Forward Control
FHPP (CMMP)
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
Setup velocity as % of whatever velocity is specified.

Velocity Override
FHPP (CMMP)
1082
Description
Velocity override as % of whatever velocity is specified.

4-62
uint8
rw
4. Parameters
4.4.24 Function parameters for digital I/Os

Remaining Distance for Remaining Distance Message
FHPP (all)
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
Parametrisation with FPC
Chapter 5
Parametrisation with FPC
5-1
5. Parametrisation with FPC
Contents
5.1
5-2
Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1
Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . .
5.1.2
Task identifiers, response identifiers and error numbers . . . . . . . .
5.1.3
Rules for task-response processing . . . . . . . . . . . . . . . . . . . . . . . . .
5-3
5-3
5-5
5-7
5.1
5.1.1
Parametrisation with FHPP

Festo Parameter Channel (FPC) for cyclic data (I/O data)
The parameter channel is used for transmitting parameters.
The parameter channel comprises the following:
Components
Description
Parameter identifier
(ParID)
Parameter channel component which contains the task identifier

(request identifier, ReqID) or response identifier (ResID) and the parameter number (PNU).
The parameter number serves for identifying or addressing the individual
parameter. The task or response identifier (ReqID/ResID) describes the
task/response in the form of an identifier number.
Subindex (IND)
Addresses an element of an array parameter (sub-parameter number)
Parameter value (Value)
Value of the parameter.

If a task for parameter processing cannot be carried out, an error number
will be transmitted in the response telegram instead of the value. The
error number describes the cause of the error.
Tab. 5/1: Components of the parameter channel (FPC)

The parameter channel consists of 8 octets. The following
table shows the structure of the parameter channel in relation
to the size or type of the parameter value:
FPC
Byte 1
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
Subindex - for addressing an array element

Parameter identifier - consists of ReqID or ResID and PNU
Parameter value:
With double word: bytes 5...8
With word: bytes 7, 8
With byte: byte 8
Tab. 5/2: Structure of parameter channel

5-3
Parameter identifier (ParID)

The parameter identifier contains the task identifier
(request identifier, ReqID) or response identifier (ResID)
and the parameter number (PNU).
ParID
Octet 2 (byte 4)
Bit
15
14
13
Octet 1 (byte 3)
12
11
10
Task
ReqID
Rsvd Parameter number (PNU)
Response
ResID
Rsvd Parameter number (PNU)
ReqID
ResID
Value (PNU)
Request identifier task identifier (read, write, ...)

Response identifier (transmit value, fault, ...)
Parameter number serves for identifying or addressing the relevant
parameter (see section 5.1). The task/response identifier identifies
the type of task or response (see section 5.1.2).
Tab. 5/3: Structure of parameter identifier (ParID)
5-4
5.1.2 Task identifiers, response identifiers and error numbers

The task identifiers are shown in the following table:
ReqID
Description
Response identifier
Positive
Negative
No task
Request parameter (array)
Modify parameter value (array, double word)
13
Request lower limit value
14
Request upper limit value
Tab. 5/4: Task identifiers and response identifiers

If the task cannot be carried out, response identifier 7 as well
as the appropriate error number will be transmitted (negative
response).
The following table shows the response identifiers:
ResID
Description
No response
Parameter value transmitted (array, double word)
Task cannot be carried out (with error number) 1)
1)
For error numbers, see following table
Tab. 5/5: Response identifiers
5-5
If the task for parameter processing cannot be carried out, an

appropriate error number will be transmitted in the response
telegram (octets 7 and 8 of the FPC range). The order of error
checking and the possible error numbers are shown in the
following table:
No.
Checking of
Error numbers
Description
PNU defined
0x00
Impermissible PNU. The parameter

does not exist.
If array: IND defined
0x03
Faulty subindex
ReqID permissible
101
0x65
Festo: ReqID is not supported
Access rights (read, write)
0x01
Parameter value cannot be changed

(read only)
102
0x66
Parameter is write-only (with passwords)
If change: operating status
17
0x11
Task cannot be carried out due to

operating status
If change: higher-order
11
0x0B
No higher-order
If change: password
12
0x0C
Incorrect password
If change: value permissible
0x02
Lower or upper value limit exceeded
Tab. 5/6: Order of error checking and error numbers
5-6
5.1.3 Rules for task-response processing

Rules
Description
If the master transmits the identifier for No task, the controller responds with the
response identifier for No response.
A task or response telegram always refers to a single parameter.
The master must continue to send a task until it has received the appropriate response
from the controller.
The master recognises the response to the task requested:

By evaluating the response identifier
By evaluating the parameter number (PNU)
If applicable, by evaluating the subindex (IND)
If applicable, by evaluating the parameter value
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.
Tab. 5/7: Rules for task-response processing
5-7
Sequence of parameter processing

Caution
Observe the following when modifying parameters:
An FHPP control signal which is to refer to a modified
parameter must not be issued until the response identifier
Parameter value transmitted is received for the relevant
parameter and (if applicable) for the index.
If, e.g. a position value in a position register is to be modified
and if a movement is then to be made to this position, the
positioning command must not be given until the controller
has completed and confirmed the modification of the position
register.
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
Output of response identifier = 7
Output an error number in bytes 7 and 8 of the parameter

channel (FPC).
Example of parametrisation via FPC

The following tables show an example of parametrising a
positioning task in the positioning record table via FPC
(Festo Parameter Channel).
Step 1
Output status of the 8 bytes of FPC data:

Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Reserved Subindex ReqID/ResID + PNU
Parameter value
Output data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Input data
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
Step 2
Write record number 1 with absolute positioning:

PNU 401, subindex 2 Modify parameter value, array, byte:
ReqID 12 (0xC) with value 0x00.
Byte 1
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
After receiving the input data with ResID 0xC 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
0x91
Unused
Unused
Unused
0x00
Input data
0x00
0x02
0x01
0x91
0x00
0x00
0x00
0x00
5-9
Step 4
Write record number 1 with target position 0x1234 (decimal

4660 increments):
PNU 404, subindex 2 Modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00001234.
Byte 1
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
Write record number 1 with speed 0x7743 (decimal 30531

increments/s):
PNU 406, subindex 2 Modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00007743.
Byte 1
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
Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.1.2
Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.1.3
Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A.1.4
Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
A.1.5
Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A-13
A-2
A.1
Conversion factors (factor group)
A.1.1 Overview
Motor controllers are used in a wide variety of applications: as
direct drives, with downstream gear units, for linear drives etc.
In order to enable simple 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
Internal controller 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
1) Only with CMMP
Fig. A/1: Factor group
A-3
All parameters are always saved in the motor controller in its

internal units of measurement and are only converted (using
the factor group) when the parameters are written or read
out.
For this reason, the factor group should be set first during
parametrisation and should not be changed again during
parametrisation.
The factor group is set to the following units by default:
Variable
Name
Unit
Explanation
Length
Positioning units
Increments
65536 increments per revolution
Velocity
Units of velocity
min-1
Revolutions per minute
Acceleration
Units of acceleration
(min-1)/s
Velocity increase per second
Tab. A/1: Factor group default settings
A-4
A.1.2 Objects in the factor group

Tab. A/2 shows the parameters in the factor group.
Name
PNU
Object
Type
Access
Polarity
(reversal of direction)
1000
Var
uint8
rw
Position Factor
1004
Array
uint32
rw
Velocity Factor
1006
Array
uint32
rw
Acceleration Factor
1007
Array
uint32
rw
Tab. A/2: Overview of the factor group

Tab. A/3 shows the parameters involved in the conversion.
Name
PNU
Object
Type
Access
Encoder Resolution
1001
Array
uint32
rw
Gear Ratio
1002
Array
uint32
rw
Feed Constant
1003
Array
uint32
rw
Axis Parameter
1005
Array
uint32
rw
Tab. A/3: Overview of parameters involved
A-5
A.1.3 Calculating the positioning units

The position factor (PNU 1004, see section 4.4.17) is used to
convert all the length values from the users positioning units
into the internal unit increments (65536 increments are
equivalent to one motor revolution). The position factor consists of numerators and denominators.
Motor with gear unit
Drive
x in positioning unit
(e. g. degrees)
revsOUT
revsIN
Motor
Gear unit
x in positioning unit
(e. g. mm)
Fig. A/2: Calculating the positioning units

The following parameters are involved in the position factors
calculation formula:
Gear Ratio
Gear ratio between revolutions at the input side (revsIN) and

revolutions at the output side (revsOUT).
Feed Constant
Ratio between movement in positioning units at the drive

and revolutions at the gear units output (revsOUT).
(e. g. 1 rev Z 63.15 mm or 1 rev Z 360 degrees)
A-6
The position factor is calculated using the following formula:

Position Factor
Gear Ratio * IncrementsRevolutions

Feed Constant
The position factor must be written to the motor controller

separated into numerators and denominators. This can make
it necessary to bring the fraction up to whole integers by expanding it accordingly.
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
Fig. A/3: Position factor calculation sequence
A-7
Examples of calculating the position factor

Positioning
units 1)
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)
Desired unit at the output

Positioning units per revolution (revsOUT).
Drives feed constant (PNU 1003) * 10-dp (decimal places taken into consideration)
3) revs per revs
IN
OUT
4) Insert values into formula.
Tab. A/4: Examples of calculating the position factor
A-8
A.1.4 Calculating the units of velocity

The velocity factor (PNU 1006, see section 4.4.17) is used to
convert all the velocity values from the users units of velocity into the internal unit:
With CMMS/CMMD: revolutions per minute
With CMMP-AS: revolutions per 4096 minutes
The velocity factor consists of numerators and denominators.

The velocity factor is calculated in two parts: a conversion
factor from internal units of length into the users positioning
units and a conversion factor from internal units of time into
user-defined units of time (e.g. from seconds to minutes). The
first part is equivalent to calculating the position factor; an
additional factor is required to calculate the second part:
Time factor_v
Ratio between the internal unit of time and the user-defined

unit of time:
(e.g. with CMMS 1 min = 1/4096 4096 min)
Gear Ratio

Feed Constant

The velocity factor is calculated using the following formula:
Velocity Factor
Gear Ratio * Time Factor_v

Feed Constant
Like the position factor, the velocity factor also has to be
written to the motor controller separated into numerators and
denominators. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly.
A-9
Example
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).
Velocity factor calculation sequence
Units of
velocity 1)
Feed con- Time constant 3) Gear Formula 5)

4)
stant 2)
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
Fig. A/4: Velocity factor calculation sequence (here CMMP-AS)
A-10
Examples of calculating the position factor with CMMS/CMMD

Units of
velocity 1)

4)
stant 2)
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)

3) Time factor_v: desired unit of time per internal unit of time
4) Gear ratio: revs per revs
IN
OUT
Tab. A/5: Examples of calculating the position factor with CMMS/CMMD
A-11
Examples of calculating the position factor with CMMP-AS

Units of
velocity 1)

4)
stant 2)
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)

3) Time factor_v: desired unit of time per internal unit of time
IN
OUT
Tab. A/6: Examples of calculating the position factor with CMMP-AS
A-12
A.1.5 Calculating the units of acceleration

The acceleration factor (PNU 1007, see section 4.4.17) is
used to convert all the acceleration values from the users
units of acceleration into the internal unit revolutions per
minute per 256 seconds.
The acceleration factor consists of numerators and denominators.
The acceleration factor is also calculated in two parts: a
conversion factor from internal units of length into the users
positioning units and a conversion factor from internal units
of time squared into user-defined units of time squared
(e.g. from seconds2 to minutes2). The first part is equivalent
to calculating the position factor; an additional factor is required to calculate the second part:
Time factor_a
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

The acceleration factor is calculated using the following formula:
Acceleration Factor
Gear Ratio * Time Factor_a

Feed Constant
Like the position and velocity factors, the acceleration factor

also has to be written to the motor controller separated into
numerators and denominators. This can make it necessary to
bring the fraction up to whole integers by expanding it accordingly.
A-13
Example
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).
Examples of calculating the acceleration factor
Units of
acceler. 1)

4)
stant 2)
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
Fig. A/5: Calculating the acceleration factor
A-14
Examples of calculating the acceleration factor

Units of
acceler. 1)

4)
stant 2)
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)

3) Time factor_a: desired unit of time2 per internal unit of time2
IN
OUT
Tab. A/7: Examples of calculating the acceleration factor
A-15
A-16
FHPP+ and cam disk expansions
Appendix B
FHPP+ and cam disk expansions
B-1
B. FHPP+ and cam disk expansions
Contents
B.1
B.2
B-2
FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

B.1.1
Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
B.1.2
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5
B.1.3
Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . B-6
B.1.4
Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
B.1.5
Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
CMMP-AS - operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
B.2.1
Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B-8
B.2.2
Camming function in Record selection mode . . . . . . . . . . . . . . . . . B-10
B.2.3
Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B-10
B.2.4
Extended finite state machine with camming function . . . . . . . . . . B-11
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.1.1 Structure of the FHPP+ telegram

The first entry in the telegram (address 0) is reserved for the
I/O channel.
Optionally, if the parameter channel FPC is required by the
application and it has been defined in the bus configuration,
it must be selected as the second entry (address 8). The
parameter channel must only be configured in this position.
From the third entry onwards in the telegram (address 16), or
the second entry if FPC is not used (address 8), all remaining
PNUs can be mapped which are required in the application.
With certain control systems (e.g. SIEMENS S7), make sure
that PNUs with lengths of 2 or 4 bytes are in suitable addresses. These PNUs should only be inserted in even addresses. Placeholders are defined so that any gaps can be
filled. They can be used to ensure that PNUs can be mapped
in the addresses desired.
All unused parts of a telegram and especially all unused
entries in the telegram editor are filled with the placeholders.
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
CCON, CPOS, ...
FPC, PNU, SI
Control bytes
Parameter channel FPC
... ...
PNU...
PNU...
PNU...
PNU... PNU...
FHPP+ (max. 16 bytes)
Input 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
SCON, SPOS, ...
FPC, PNU, SI
Status bytes
Parameter channel FPC
PNU...
PNU...
PNU...
PNU...
Example 2
Without FPC, maximum 24 bytes for FHPP+
Output data, bytes 1 ... 31
1
CCON, CPOS, ...
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...
Input data, bytes 1 ... 31

1
SCON, SPOS, ...
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.1.3 Configuration of the fieldbuses with FHPP+

The length and contents of the transmitted data are defined
using the telegram editor.
The data defined in this way must be configured on the
master/scanner specifically for each fieldbus, for example by
means of the corresponding GSD or EDS files.
Information about configuration can be found in the relevant
fieldbus manual.
B.1.4 Telegram editor for FHPP+

The transmitted data is configured solely via the FHPP+ editor
provided by the FCT plug-in.
The relevant PNUs 40 and 41 are read-only; see section B.1.5.
The FHPP+ telegram editor assigns the data contents of the
cyclic FHPP telegram uniquely to the PNUs. The specifications
provide generally for 16 entries per received and sent telegram. The current stage of development permits up to 10
entries for the CMMP-AS controller. The maximum length of a
telegram is restricted to 32 bytes.
The PNUs for telegram mapping settings must not be mapped
in the FHPP+ telegram.
B.1.5 Overview of FHPP+ parameters

The special parameters for FHPP+ are described in
section 4.4.2.
B-6
B.2
CMMP-AS - operation of cam disks

The CMMP-AS has the option of operating 16 cam disks each
with 4 cam tracks assigned to it.
This function is available with CMMP-AS firmware version
3.5.1501.4.1 and higher.
The CMMP-AS provides the following functionality for this
purpose via FHPP:
Operation in synchronisation with an external input, slave

mode.
Operation in synchronisation with an external input with

cam disk, slave mode.
Virtual master (internal) with cam disk.
Control is possible in the following modes:
Record selection.
Direct mode, positioning.
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.2.1 Camming function in Direct mode

Synchronisation with an external master controller
with cam disk (slave operation)
Synchronisation operation allows a slave controller to follow a
master controller via an additional external input in accordance with parametrised rules.
This can be purely position synchronisation or it can be done
with an additional camming function, the CAM function.
Activating synchronisation operation in Direct mode:
Synchronised operation can be selected with control byte 3,
CDIR by setting CDIR.B7 (FUNC), and the desired functionality
can be selected in the function group and the function
number, CDIR.B6 ... B3 (FGRP, FNUM).
Synchronised operation is then activated with a positive edge
at the bit CPOS.B1 (START). The bit CCON.B1 (STOP) stops
synchronisation operation. The bit CPOS.B0 (HALT) has no
intermediate stop function (goes to ready with a stop
ramp). The negative edge of CPOS.B1 (START) also stops
synchronisation operation.
B-8
Setpoint and actual values according to the function

numbers
Function number
Allocation of the setpoint/actual values
FNUM = 0: reserved
FNUM = 1, FNUM = 2:
synchronisation operation
without/with cam disk
Setpoint value 1 Irrelevant as the position setpoint comes via the

external input.
Setpoint value 2 Irrelevant as the position setpoint comes via the
external input.
Actual value 1
Actual velocity of the slave as in Profile Position
mode (according to the cam disk)
Actual value 2
Actual position of the slave as in Profile Position
mode (according to the cam disk)
FNUM = 3: virtual master

(internal) with cam disk
Setpoint value 1 Setpoint velocity of the master, subject to the

operating mode of the master
Setpoint value 2 Setpoint position of the master, subject to the
operating mode of the master
Actual value 1
Actual velocity of the slave (according to the
cam disk)
Actual value 2
Actual position of the slave (according to the
cam disk)
Tab. B/1: Allocation of setpoint/actual values

The cam disk is selected with PNU 700.
FHPP+ can be used to map this selection to the process data.
B-9
B.2.2 Camming function in Record selection mode

With Record selection, the type of record is defined with the
record control byte in the record list. The expansion to camming operation can be activated as for Direct mode with the
bit provided for general function expansion, bit 7 (FUNC) in
record control byte 1.
The cam disk number is selected with PNU 419. If PNU 419 = 0,
the contents of PNU 700 are used.
B.2.3 Parameters for the camming function

The parameters for the camming function can be found in
section 4.4.15.
B-10
B.2.4 Extended finite state machine with camming function

From all states
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
Fig. B/1: Finite state machine with camming function

B-11
TA
TA13
TA14,
TA19
Description
Prepare cam disk

(activate)
De-activate cam
disk
Event with
Ancillary condition
Record selection
Direct mode
Rising edge
(change) of record
number.
Old record: FUNC = 0

New record: FUNC = 1
Rising edge at FUNC.
Rising edge at STOP or ENABLE (activation of

controller enable).
FUNC = 1
Rising edge
(change) of record
number.
Old record: FUNC = 1

New record: FUNC = 0
Falling edge at FUNC.
STOP or withdrawal of ENABLE.
None, FUNC = any

Drive is in TA 13.
TA15
Cam disk active

and being run
Rising edge at START.
TA16
Change cam disk
Rising edge at START.
Changed cam disk

number in PNU 419 or
PNU 700.
FUNC = 1
Rising edge
(change) of record
number and rising
edge at START.
Changed cam disk

number in PNU 419 or
PNU 700.
FUNC = 1
Rising edge at START,

starts the virtual
master automatically.
PNU 700 has been

changed.
FUNC = 1
TA17
Intermediate stop
HALT = 0
TA18
End intermediate
stop
HALT = 1
B-12
Intermediate stop with

virtual master only.
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
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
Operating mode (FHPP operating mode)

Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
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
Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV

Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV
Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV
Project zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV, 4-41
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

Festo Cmms-As FHPP

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Festo Cmms-As FHPP

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Festo Handling and

Contents and general safety instructions

(Festo AG & Co. KG, D-73726 Esslingen, 2010)

Contents and general safety instructions

CANopen, DeviceNet, EtherCAT, and PROFIBUS are registered trademarks of the

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . .

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault reaction and diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Axis parameters for electric drives 1 Drag error monitoring . . . . 4-62

Parametrisation with FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

FHPP+ and cam disk expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Depending on which fieldbus is used, you can find further

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Important user instructions

Additionally, the following pictogram designates text

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Identification of special information

Bullet points indicate activities that may be carried out in

1. Numerals indicate activities that must be carried out in

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Arrowheads indicate general listings.

Contents and general safety instructions

Information about the version

Version 3.5.1501.4.1 and higher

Premium motor controller for servo motors

Version 1.3.0.1.14 and higher

Standard motor controller for stepper motors.

Version 1.3.0.1.15 and higher

Standard motor controller for servo motors.

Version 1.4.0.3.1 and higher

Standard double motor controller for servo

Tab. 0/1: Controller and firmware versions

Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents and general safety instructions

Terms and abbreviations

Axis zero point (AZ)

Contains power electronics + closed-loop controllers + position

Complete actuator, consisting of motor, encoder and axis, optionally

Electrical pulse generator (generally a rotor position transducer).