Vous êtes sur la page 1sur 42

The FHPP Positioning Library STEP 7

Table of Contents
1 The FHPP Positioning Library STEP 7 .............................................................................................. 1
1.1 Designated use..................................................................................................................................... 1
1.2 Target group ......................................................................................................................................... 1
1.3 Service ................................................................................................................................................. 1
1.4 Safety instructions ................................................................................................................................ 2
1.5 Important user information .................................................................................................................... 2
1.5.1 Danger categories ........................................................................................................................ 2
1.6 Marking special information .................................................................................................................. 3
1.6.1 Pictograms ................................................................................................................................... 3
1.6.2 Text markings ............................................................................................................................... 3
1.6.3 Further conventions ..................................................................................................................... 3
1.7 Overview .............................................................................................................................................. 4
1.7.1 Architecture .................................................................................................................................. 4
1.8 General information on Festo motor controllers ................................................................................... 6
1.8.1 Documentation on Festo motor controllers .................................................................................. 6
1.9 Festo Handling and Positioning Profile (FHPP) .................................................................................... 7
1.10 Function blocks for Festo motor controllers .......................................................................................... 8
1.11 Configuration ........................................................................................................................................ 9
1.11.1 Installing the GSD/GSDML files in the Hardware Manager .................................................. 9
1.11.2 Adding a PROFIBUS drive to the hardware configuration ................................................. 10
1.11.3 Adding a PROFINET drive to the hardware configuration .................................................. 11
1.12 Control function blocks ....................................................................................................................... 12
1.12.1 Inputs and outputs ............................................................................................................. 12
1.12.2 Linking the function blocks ................................................................................................. 18
1.13 Organisation function blocks .............................................................................................................. 19
1.13.1 Inputs and outputs ............................................................................................................. 19
1.14 Parameterisation function blocks ........................................................................................................ 20
1.14.1 xxx_PRM_SINGLE ............................................................................................................ 20
1.14.2 xxx_PRM_MULTI ............................................................................................................... 22
1.14.3 xxx_PRM_DIAG ................................................................................................................. 24
1.14.4 xxx_PRM_DIRMP .............................................................................................................. 26
1.14.5 xxx_PRM_KO .................................................................................................................... 28
1.14.6 xxx_CAM_PRM_CAMNUMBER ........................................................................................ 29
1.14.7 xxx_FHPP_PLUS ............................................................................................................... 30
1.15 Examples ............................................................................................................................................ 32
1.15.1 Actuating a Festo motor controller ..................................................................................... 32
1.15.2 Parameterising a Festo motor controller ............................................................................ 36

2 Glossary ............................................................................................................................................ 38

3 Index .................................................................................................................................................. 40

ii
1 The FHPP Positioning Library STEP 7
1.1 Designated use
The function blocks (FB) described are designed for controlling and parameterising the associated device.
You can use them to conveniently integrate the many functions of the relevant device into your program.
The function blocks are called cyclically using a separate instance for each motor unit or motor controller
(each axis) integrated into the user program. Simultaneous use of other function blocks for controlling the
same device is not permitted.
Read the "Safety instructions" and instructions on the designated use of the relevant devices, components
and modules. If additional commercially available components such as sensors and actuators are
connected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not be
exceeded.

1.2 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 and the relevant
fieldbuses.

1.3 Service
Please contact your local Festo service centre or write to the following e-mail address if you have any
technical problems:
o service_international@festo.com

1
The FHPP Positioning Library STEP 7

1.4 Safety instructions


When commissioning and programming positioning systems, you must observe the safety regulations in
the manuals and operating instructions for the components used.
The user must make sure that there is nobody within the positioning range of the connected actuators or
axis systems. Access to the possible danger area must be prevented by suitable measures such as
barriers and warning signs.

Warning
Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to
people and damage to components.
 Make sure that nobody can place their hand in the positioning range of the axes or other
connected actuators and that there are no objects in the positioning path while the
system is still connected to a power supply.

Warning
Parameterisation errors can cause injury to people and damage to property.
 Only enable the controller if the axis system has been installed and parameterised by
technically qualified staff.

1.5 Important user information


1.5.1 Danger categories
This document contains information on possible dangers that can occur if the product is not used as
designated. These danger warnings are marked with a signal word (warning, caution, etc.), placed on a
grey background and additionally marked with a pictogram. A distinction is made between the following
danger warnings:

Warning
... means that serious injury to people and damage to property can occur if this warning is not
heeded.

Caution
... means that injury to people and damage to property can occur if this warning is not heeded.

Note
... means that damage to property can occur if this warning is not heeded.

2
The FHPP Positioning Library STEP 7

1.6 Marking special information


You can find information on how danger warnings are represented under "Important user information".

1.6.1 Pictograms
The following pictograms mark passages in the text that contain special information.

Information: Recommendations, tips and references to other sources of information.

Accessory: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally friendly use of Festo products.

1.6.2 Text markings


1. Figures denote activities that must be carried out in the order specified.
 Bullets denote activities that may be carried out in any desired order.
o White dots denote general listings.

1.6.3 Further conventions


[Project] [New] Menu items are framed in square brackets, for example the [New …] command in the
[Project] menu opens a new project.
OK The names of windows, dialogues and buttons, for example "Message window", "Extract
project", "OK" as well as designations are displayed in inverted commas.
CTRL Names of keys on the PC keyboard are shown in upper case letters in the text (e.g.
ENTER, CTRL, C, F1, etc.).
CTRL+C For some functions you need to press two keys simultaneously. For example, press and
hold down the CTRL key and also press the C key. This is represented in the text as
CTRL+C.
If "click" or "double-click" is mentioned, this always applies to the left-hand mouse button.
If the right-hand mouse button is to be used, this will be explicitly mentioned.

3
The FHPP Positioning Library STEP 7

1.7 Overview
The FHPP Positioning Library STEP 7 is a library for Siemens STEP 7. This library can be used to actuate
the following Festo motor controllers (drive controllers):
o CMMD-AS-...
o CMMP-AS-...
o CMMS-AS-...
o CMMS-ST-...
o SFC-DC-...
o MTR-DCI-...
o SFC-LAC-...
o SFC-LACI-...

Communication is established via a fieldbus and one of the following communication protocols:
o PROFIBUS
o ProfiNet
The Festo motor controllers are actuated using the Festo Handling and Positioning Profile (FHPP).
The library contains function blocks for controlling and parameterising the individual drives.
Refer to the relevant motor controller documentation for information on operating and setting up the motor
controller types in question.

1.7.1 Architecture
Each motor controller is integrated into the STEP 7 project using a controller-specific hardware
configuration.
o All function blocks that access I/O data directly to control a motor controller require the first
address of the output data and the first address of the input data as an input/output variable.
o All function blocks that access I/O data directly to parameterise a motor controller require the first
address of the Festo Parameter Channel (FPC) output data and the first FPC address of the input
data as an input/output variable.

A separate instance of the function block must be generated for each motor controller. A function
block used for control purposes cannot be used for two motor controllers.

Motor units/motor Control function block Parameterisation function block


controllers

CMMD-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)


CMMS_AS_PRM_SINGLE (FB)
CMMS_AS_PRM_MULTI (FB)
CMMS_AS_PRM_DIRMP (FB)
CMMS_AS_PRM_DIAG (FB)
CMMS_AS_PRM_KO (FB)
CMMP-AS-... CMMP_AS_CTRL (FB) CMMP_AS_(CAM)_PRM_INIT (FB)
CMMP_AS_CAM_CTRL (FB) CMMP_AS_(CAM)_PRM_SINGLE (FB)
CMMP_AS_(CAM)_PRM_MULTI (FB)
CMMP_AS_(CAM)_PRM_DIRMP (FB)
CMMP_AS_(CAM)_PRM_DIAG (FB)
CMMP_AS_(CAM)_PRM_KO (FB)
CMMP_AS_(CAM)_PRM_PLUS (FB)
CMMP_AS_CAM_PRM_CAMNUMBER (FB)

4
The FHPP Positioning Library STEP 7

Motor units/motor Control function block Parameterisation function block


controllers

CMMS-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)


CMMS_AS_PRM_SINGLE (FB)
CMMS_AS_PRM_MULTI (FB)
CMMS_AS_PRM_DIRMP (FB)
CMMS_AS_PRM_DIAG (FB)
CMMS_AS_PRM_KO (FB)
CMMS-ST-... CMMS_ST_CTRL (FB) CMMS_ST_PRM_INIT (FB)
CMMS_ST_PRM_SINGLE (FB)
CMMS_ST_PRM_MULTI (FB)
CMMS_ST_PRM_DIRMP (FB)
CMMS_ST_PRM_DIAG (FB)
CMMS_ST_PRM_KO (FB)
MTR-DCI-... MTR_DCI_CTRL (FB) MTR_DCI_PRM_INIT (FB)
MTR_DCI_PRM_SINGLE (FB)
MTR_DCI_PRM_MULTI (FB)
MTR_DCI_PRM_DIAG (FB)
SFC-DC-... SFC_DC_CTRL (FB) SFC_DC_PRM_INIT (FB)
SFC_DC_PRM_SINGLE (FB)
SFC_DC_PRM_MULTI (FB)
SFC_DC_PRM_DIAG (FB)
SFC-LAC-... SFC_LAC_CTRL (FB) SFC_LAC_PRM_INIT (FB)
SFC_LAC_PRM_SINGLE (FB)
SFC_LAC_PRM_MULTI (FB)
SFC_LAC_PRM_DIAG (FB)
SFC_LAC_PRM_DIRMP (FB)
SFC-LACI-... SFC_LACI_CTRL (FB) SFC_LACI_PRM_INIT (FB)
SFC_LACI_PRM_SINGLE (FB)
SFC_LACI_PRM_MULTI (FB)
SFC_LACI_PRM_DIAG (FB)
SFC_LACI_PRM_DIRMP (FB)

5
The FHPP Positioning Library STEP 7

1.8 General information on Festo motor controllers


The following sections contain information on the function blocks for Festo motor controllers. The following
additional manuals are required for a complete understanding:

1.8.1 Documentation on Festo motor controllers

Documentation Contents

Brief description and manuals on CD-ROM Brief description: Important instructions on commissioning and
(see catalogue) preliminary information.
Manuals: Contents as described below.
Manuals Installation, commissioning and diagnosis of electric axes with
the relevant Festo motor controller.
Operating instructions for accessories Assembly and commissioning of the electric mini slide SLTE
as an actuator.
Help system for the Festo Configuration Functional descriptions for the Festo Configuration Tool
Tool (contained in FCT software) configuration software.

Note
 Always read the information and safety instructions contained in this documentation.

6
The FHPP Positioning Library STEP 7

1.9 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.
It does this by making the following largely uniform definitions for the user:
o Operating modes,
o I/O data structure,
o parameter objects,
o sequence control.

Figure: The FHPP principle

Control and status data (FHPP Standard)


Communication via the field bus takes place via 8 bytes of control and status data. Functions and status
messages required during operation can be written to and read directly.
Parameter channel
The controller can access all parameter values of the controller via the field bus by means of the
parameter channel. A further 8 bytes of I/O data are used for this purpose.
Parameterisation (FHPP+)
In addition to the control and status bytes and the optional parameter channel (FPC), further PNUs that
can be configured by the user via the cyclic telegram can be transmitted via the configurable I/O extension
FHPP+.

7
The FHPP Positioning Library STEP 7

1.10 Function blocks for Festo motor controllers


The names of function blocks for Festo motor controllers start with the designation of the motor controller,
e.g. CMMP-AS, followed by the function of the relevant block, e.g. CTRL for control function block.
The library FHPP Positioning Library STEP 7 provides the following function blocks (FB):
o Control FBs for controlling the relevant Festo motor controller
o Organisation FBs for parameterising the relevant Festo motor controllers
o Parameter FBs for transferring defined parameters to the relevant Festo motor controller

Function block Explanation

xxx_CTRL Function block for controlling the motor controller


xxx_PRM_INIT Organisation function block for parameterising the motor controller
xxx_ PRM_SINGLE Transfers individual parameters
xxx_ PRM_MULTI Transfers a parameter list (parameter array)
xxx_ PRM_DIAG Reads out the diagnostic memory
xxx_ PRM_DIRMP Transfers the parameters for direct mode position control
xxx_ PRM_KO Transfers communication objects

Notes
o The function blocks can vary depending on the drive.
o The blocks belonging to the CMMS-AS can be used for the motor controller CMMD-AS.

8
The FHPP Positioning Library STEP 7

1.11 Configuration
1.11.1 Installing the GSD/GSDML files in the Hardware Manager
Before the library can be used, the GSD/GSDML files for the respective drive must be installed. The
installation process is the same for the GSD and the GSDML file.
To install the file, open the hardware configuration for your station.
1. Select "Options" > "Install GSD Files...".
2. Click "Browse" and select the folder where the GSD/GSDML files were stored.
3. Select the GSD/GSDML file you want or click "Select All" to install all the files.
4. Click "Install".

9
The FHPP Positioning Library STEP 7

1.11.2 Adding a PROFIBUS drive to the hardware configuration

1. Open the hardware configuration for your station.


2. If you have not already done so, network your station so that the "Profibus Master" is displayed.
3. All the installed drives can be found in the hardware catalogue under "PROFIBUS DP" > "Additional
Field Devices" > "Drives" > "Festo".
4. The drive you want can be added to the Profibus Master by dragging and dropping it.

Next you need to select the protocol you want.


5. The list of possible protocols is opened by opening the drive subfolder.
6. Drag the protocol you want into the list. Position the protocol where you want it.

Addressing takes place automatically, but can be changed manually by double clicking.
7. After completing the configuration, "Save and Compile".

10
The FHPP Positioning Library STEP 7

1.11.3 Adding a PROFINET drive to the hardware configuration

1. Open the hardware configuration for your station.


2. If you have not already done so, network your station so that the "Profinet Master" is displayed.
3. All the installed drives can be found in the hardware catalogue under "PROFINET IO" > "Additional Field
Devices" > "Drives" > "Festo".
4. The drive you want can be added to the Profibus Master by dragging and dropping it.

Next you need to select the protocol you want.


5. The list of possible protocols is opened by opening the drive subfolder.
6. Drag the protocol you want into the list. Position the protocol where you want it.

Addressing takes place automatically, but can be changed manually by double clicking.
7. After completing the configuration, "Save and Compile".

11
The FHPP Positioning Library STEP 7

1.12 Control function blocks


1.12.1 Inputs and outputs
The following table contains all the inputs and outputs that a FHPP function block can potentially provide
for controlling a motor controller. The actual number depends on which control modes are supported by
the motor controller. Refer to the relevant motor controller documentation ( section "Limited selection")
for information on which motor controller supports which control modes.
Key:
o Input/output: Designation of an input or output from the STEP 7 function block ..._CTRL.
o Type: Data type expected by the relevant input or issued at an output.
o Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Input Type Description

PosFactorNum DINT Numerator value for converting from position to increments


PosFactorDenum DINT Denominator value for converting from position to
increments
AxisType INT Connected axis type
EnableDrive BOOL Enable drive
= 1: Enable drive
= 0: Drive blocked
Stop BOOL Stop
= 1: Enable operation.
= 0: Stop active (discard emergency ramp + positioning
task). The drive stops with maximum braking ramp, the
positioning task is reset.
Brake BOOL Release brake
= 1: Release brake
= 0: Engage brake
Note: Releasing the brake is only possible if the controller
is blocked. As soon as the controller is enabled, it has
control of the brake control system.
ResetFault BOOL Reset fault
A fault is acknowledged with a rising edge and the fault
value is deleted.
HMIAccessLocked BOOL Software access blocked
Controls access to the local (integrated) diagnostic
interface of the controller.
= 1: The FCT software can only monitor the controller, it
cannot assume control of the device (HMI control).
= 0: The FCT software can assume control of the device
(to change parameters or control inputs).
OPM INT FHPP operating mode + control mode
= 0: Record selection
= 1: Direct mode position control
= 5: Direct mode force control
= 9: CMMx: Direct mode velocity control
= 13: Reserved
= 17: SFC-LACx: Track mode

Halt BOOL Halt


= 1: Halt is not active
= 0: Halt activated (do not discard braking ramp +
positioning task). The axis stops with a defined braking
ramp, the positioning task remains active (the remaining
distance can be deleted with ClearRemainingPosition).

12
The FHPP Positioning Library STEP 7

Input Type Description

StartTask BOOL Start positioning job


A rising edge transfers the current nominal data and starts
a positioning process (also e.g. record 0 = homing).
StartHoming BOOL Start homing
A rising edge starts homing with the preset parameters.
JogPos BOOL Jog positive
The drive moves at the specified speed 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.
JogNeg BOOL Jog negative
The drive moves at the specified speed or rotational speed
in the direction of smaller actual values, see JoggingPos.
TeachActValue BOOL Teach value
With a falling edge, the current actual value is transferred
to the setpoint value register of the currently addressed
positioning record. Actual values can be e.g. position,
pressure or torque.
ClearRemPos BOOL Delete remaining distance
In the "Halt" state, a rising edge causes the positioning task
to be deleted and a transition to the "Ready" state.
AbsRel BOOL Absolute/relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
FuncSet BOOL Cam disc
= 0: Cam disc not active
= 1: Cam disc active
DeactivateStrokeLimit BOOL Force limit value not active (with force control only)
= 0: Force monitoring active
= 1: Force monitoring not active
RecordNo INT Record number
Preselection of record number for record selection.
FuncNumber INT Cam disc function
= 0: Reserved
= 1: Synchronisation to external input
= 2: Synchronisation to external input with cam disc
function
(i.e. slave with physical master)
= 3: Synchronisation to virtual master with cam disc
function
FuncGroup INT Cam disc group
= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
SetValuePosition DINT Position
Position in the position unit
SetValueForceRamp INT Force ramp
Value of the force ramp in % of the nominal value or
maximum value
SetValueVelocity INT Speed
Speed in % of the maximum speed
SetValueForce DINT Force

13
The FHPP Positioning Library STEP 7

Input Type Description


Force in % of the maximum force
SetValueRotRamp INT Speed ramp
Speed ramp in % of the maximum ramp
SetValueRotSpeed DINT Speed
Speed in speed unit

Input/output Type Description

I_ADDRESS VAR_IN_OUT FHPP input data


First address of the input data (output data of the motor
controller)
O_ADDRESS VAR_IN_OUT FHPP output data
First address of the output data (input data of the motor
controller)

Output Type Description

DriveEnabled BOOL Controller enabled


= 0: Drive blocked, controller not active
= 1: Drive (controller) enabled
Ready BOOL Operation enabled
= 0: Stop active
= 1: Operation enabled, positioning possible
Warning BOOL Warning
= 0: Warning not present
= 1: Warning present
Fault BOOL Fault
= 0: No fault
= 1: Fault present or fault reaction active. Fault code in the
diagnostic memory.
SupplyVoltPresent BOOL Load voltage present
= 0: No load voltage
= 1: Load voltage present
ControlFCT_HMI BOOL Device control software
= 0: Device control free (e.g. PLC/fieldbus)
= 1: Device controlled by software (PLC control is locked)
StateOPM INT Acknowledge FHPP operating mode + control mode
= 0: Record selection
= 1: Direct mode position control
= 5: Direct mode force control
= 9: CMMx: Direct mode velocity control
= 13: Reserved
= 17: SFC-LACx: Track mode
HaltNotActive BOOL Halt
= 0: Halt is active
= 1: Halt is not active, axis can be moved
AckStart BOOL Acknowledge start
= 0: Ready for start (homing, jogging)
= 1: Start executed (homing, jogging)
MC BOOL Motion Complete
= 0: Positioning task active
= 1: Positioning task completed, if applicable with fault
Note: MC is set after device is switched on (state "Drive
blocked").

14
The FHPP Positioning Library STEP 7

Output Type Description

AckTeach BOOL Acknowledge teach


= 0: Ready for teaching
= 1: Teaching carried out, actual value has been adopted
DriveMoving BOOL Axis is moving
= 0: Axis speed < limit value
= 1: Axis speed >= limit value
DragError BOOL Drag error
= 0: No following error
= 1: Following error active
StandStillControl BOOL Standstill monitoring
= 0: Axis remains in tolerance window after MC
= 1: Axis left tolerance window after MC
DriveReferenced BOOL Drive homed
= 0: Homing must be carried out
= 1: Homing information exists, homing must not be
carried out
RC1 BOOL 1st record continuation carried out
= 0: A continuation condition has not been configured or
not achieved
= 1: The first continuation condition has been achieved
RCC BOOL Record continuation complete - valid as soon as MC is
available
= 0: Record linking terminated. At least one continuation
condition has not been achieved
= 1: Record sequence has been processed to the end.
FuncActive BOOL Cam disc active
= 0: Cam disc not active
= 1: Cam disc active
VelocityLimitReached BOOL Speed limit value reached (with force control only)
= 1: Speed limit value reached
= 0: Speed limit value not reached
StrokeLimitReached BOOL Force limit value reached (with force control only)
= 0: Force monitoring achieved
= 1: Force monitoring not achieved
ActualRecordNo INT Record number
Acknowledgement of record number for record selection
ActualFuncNumber INT Acknowledgement of cam disc function
= 0: Reserved
= 1: Synchronisation to external input
= 2: Synchronisation to external input with cam disc
function (i.e. slave with physical master)
= 3 Synchronisation to virtual master with cam disc function
ActualFuncGroup INT Acknowledgement of cam disc group
= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
ActualPosition DINT Position
Feedback on the position in position unit
ActualVelocity INT Speed
Acknowledgement of speed in % of the maximum speed
ActualForce INT Force
Acknowledgement of force in % of the maximum force

15
The FHPP Positioning Library STEP 7

Output Type Description

ActualRotRamp INT Speed ramp


Acknowledgement of speed ramp in % of the maximum
ramp
ActualRotSpeed DINT Speed
Acknowledgement of speed in speed unit

Limited selection
The following table contains a list of the inputs and outputs that are only supported by certain Festo motor
controllers and if applicable only for specific operating modes.

Input/output Type Motor controller Operating mode

OPM INT CMMP-AS Set selection


StateOPM CMMS-AS Direct mode position control
CMMD-AS Direct mode force control
CMMS-ST Direct mode velocity control
SFC-LAC Track mode
SFC-LACI
PosFactorNum DINT MTR_DCI All operating modes
SFC_DC
PosFactorDenum DINT MTR_DCI All operating modes
SFC_DC
AxisType INT SFC_LACI All operating modes
Brake BOOL CMMD_AS All operating modes
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LACI
StartHoming BOOL All Set selection
Direct mode position control
TeachActValue BOOL All Set selection
AbsRel BOOL All Direct mode position control
FuncSet BOOL CMMP_AS_CAM Direct mode position control
DeactivateStrokeLimit BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
RecordNo SINT All Set selection
FuncNumber INT CMMP_AS_CAM Direct mode position control
FuncGroup INT CMMP_AS_CAM Direct mode position control
SetValuePosition DINT All Direct mode position control
SetValueForceRamp INT CMMP_AS Direct mode force control
SetValueVelocity INT All Direct mode position control
SetValueForce DINT All Direct mode force control
SetValueRotRamp INT CMMD_AS Direct mode velocity control
CMMP_AS
CMMS_AS
CMMS_ST

16
The FHPP Positioning Library STEP 7

Input/output Type Motor controller Operating mode

SetValueRotSpeed DINT CMMD_AS Direct mode velocity control


CMMP_AS
CMMS_AS
CMMS_ST
AckTeach BOOL All Set selection
DriveReferenced BOOL All Set selection
Direct mode position control
RC1 BOOL CMMD_AS Set selection
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LAC
SFC_LACI
RCC BOOL CMMD_AS Set selection
CMMP_AS
CMMS_AS
CMMS_ST
SFC_LAC
SFC_LACI
FuncActive BOOL CMMP_AS_CAM Direct mode position control
VelocityLimitReached BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
StrokeLimitReached BOOL MTR_DCI Direct mode force control
SFC_DC
SFC_LAC
SFC_LACI
ActualRecordNo INT All Set selection
ActualFuncNumber INT CMMP_AS_CAM Direct mode position control
ActualFuncGroup INT CMMP_AS_CAM Direct mode position control
ActualPosition DINT All Direct mode position control
ActualVelocity INT All Direct mode position control
ActualForce INT All Direct mode force control
ActualRotRamp INT CMMD_AS Direct mode velocity control
CMMP_AS
CMMS_AS
CMMS_ST
ActualRotSpeed DINT CMMD_AS Direct mode velocity control
CMMP_AS
CMMS_AS
CMMS_ST

17
The FHPP Positioning Library STEP 7

1.12.2 Linking the function blocks


To actuate a Festo motor controller, the respective fieldbus data must be transferred to the function block.
The following screenshots show an example of a device configuration with a CMMP-AS.

The Festo Parameter Channel input and output data (FPC_In, FPC_Out) is offset by 8 bytes
behind the FHPP Standard data.

To parameterise a motor controller, a further eight bytes (the Festo Parameter Channel data (FPC data))
are transferred to a special function block. This "transfer" function block supplies all parameterisation
function blocks needed in the project with data.

18
The FHPP Positioning Library STEP 7

1.13 Organisation function blocks


1.13.1 Inputs and outputs
When parameterisation function blocks are used, type …_PRM_INIT function blocks control access to the
I/O data. Data is exchanged via the Festo Parameter Channel (FPC).

..._PRM_... parameterisation function blocks always require an instance of the ..._PRM_INIT


organisation function block.

The following table contains a list of the outputs and inputs of an organisation function block.
Key:
o Input/output: Designation of an input or output from the STEP 7 function block ..._PRM_INIT.
o Type: Data type expected by the relevant input or issued at an output.
o Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Input/output Type Description

DATA_REF VAR_IN_OUT FPC data structure of data type FHPP_PRM_REF


Contents of the data structure are identical to the I/O data
of the FPC
I_ADDRESS VAR_IN_OUT FHPP FPC input data
First address of the CAN input data of the FPC (output data
of the motor controller)
O_ADDRESS VAR_IN_OUT FHPP FPC output data
First address of the CAN output data of the FPC (input data
of the motor controller)

19
The FHPP Positioning Library STEP 7

1.14 Parameterisation function blocks


1.14.1 xxx_PRM_SINGLE
The xxx_PRM_SINGLE function block transfers an individual parameter to the relevant drive controller.

Figure: Example of function block CMMP_AS_PRM_SINGLE

Inputs and outputs


The following table contains a list of inputs and outputs that the function block xxx_PRM_SINGLE has to
parameterise a motor controller.

Input/output Type Description

Execute BOOL Start transfer


0->1: A rising edge starts transfer of a parameter
Write BOOL Read/write
= 0: Read parameters
= 1: Write parameters
Prerequisite: UpperLimit = 0, LowerLimit = 0
UpperLimit BOOL Read upper limit value
= 1: Read upper limit value
Prerequisite: Write = 0, LowerLimit = 0
LowerLimit BOOL Read lower limit value
= 1: Read lower limit value
Prerequisite: Write = 0, UpperLimit = 0,
PNU WORD Number of the corresponding parameter
Subindex BYTE Subindex of the corresponding parameter
DatatypeWR INT Data type of the parameter to be written
= 1: Byte
= 2: Word
= 4: Double word
ParamValueWR DINT Parameter value when writing a parameter
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT

20
The FHPP Positioning Library STEP 7

Input/output Type Description

Done BOOL Transfer status


= 0: Transfer has not been initiated
= 1: Transfer has been initiated
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
ActPNU WORD Current number of the corresponding parameter
ActSubindex BYTE Current subindex of the corresponding parameter
DatatypeRD INT Data type of the read parameter
= 1: Byte
= 2: Word
= 4: Double word
ParamValueRD DINT Parameter value when reading a parameter
RETVAL INT Current status of the FB instance
When using several instances of the FB, the current internal
status of the respective FB is output.
Table: xxx_PRM_SINGLE, inputs and outputs
Key:
o Input/output: Designation of an input or output from the STEP 7 function block.
o Type: Data type expected by the relevant input or issued at an output.
o Description: Name and brief description of the STEP 7 function block (0 = FALSE, 1 = TRUE).

Limited selection of inputs and outputs


The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and
outputs are present in all STEP 7 function blocks ..._PRM_SINGLE depending on the type of the motor
controller.

Input/output Type Motor controller

UpperLimit BOOL CMMD_AS


LowerLimit BOOL CMMP_AS
CMMS_AS
CMMS_ST
DatatypeWR INT MTR_DCI
SFC_DC
DatatypeRD INT
SFC_LAC
SFC_LACI

The position factor must be taken into consideration when using the following inputs and outputs with the
specified motor controllers.

Input/output Type Motor controller

ParamValueWR DINT MTR_DCI


SFC_DC
ParamValueRD DINT
SFC_LAC
SFC_LACI

21
The FHPP Positioning Library STEP 7

1.14.2 xxx_PRM_MULTI
The xxx_PRM_MULTI function block transfers a list of parameters to the relevant motor controller.

Figure: Example of function block CMMP_AS_PRM_MULTI


Inputs and outputs
The following table contains a list of inputs and outputs that the function block xxx_PRM_MULTI has to
parameterise a motor controller.

Input/output Type Description

Execute BOOL Start transfer


0->1: A rising edge starts transfer of a parameter
DB_NO BLOCK_DB Number of the data block containing the multi parameters
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT
Done BOOL Transfer status
= 0: Transfer has not been initiated
= 1: Transfer has been initiated
The result of the read operation is available in the parameter
field array in Value.
ParamNr INT Number of the parameter currently being transferred
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
RETVAL INT Current status of the FB instance
When using several instances of the FB, the current internal
status of the respective FB is output.

Figure: Sample data block for multi parameter containing five parameters. This DB must be transferred to
the function block (top as example DB102).

22
The FHPP Positioning Library STEP 7

Composition of the structure (UDT2) DT_FHPP_PRM_DESCRIPTION

23
The FHPP Positioning Library STEP 7

1.14.3 xxx_PRM_DIAG
The xxx_PRM_DIAG function block reads the error memory or if applicable the warning memory of the
relevant motor controller.

Figure: Example of function block CMMP_AS_PRM_DIAG

Inputs and outputs


The following table contains a list of inputs and outputs that the function block xxx_PRM_DIAG has to
parameterise a motor controller.

Input/output Type Description

ReadLatest BOOL Read the most recent entry


0->1: A rising edge reads out the most recent message
ReadAll BOOL Read all entries
0->1: A rising edge reads out all messages
Warning BOOL Switch between warnings
= 0: Read errors
= 1: Read warnings
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT
Done BOOL Transfer status
= 0: Transfer has not been initiated
= 1: Transfer has been initiated
ParamNr INT Parameter number of the error memory
Number of the parameter currently being transferred
ReadLatest: ParamNr = 1
ReadAll: ParamNr of the error memory currently being
processed
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
DiagBuff ARRAY [1..n] OF Diagnostic buffer
FHPP_PRM_DIAGMESSAGE The read messages are stored in the diagnostic buffer
(array). The completeness of the entries and number of
parameters depend on the relevant device.
RETVAL UINT Current status of the FB instance
When using several instances of the FB, the current
internal status of the respective FB is output.

24
The FHPP Positioning Library STEP 7

Limited selection of inputs and outputs


The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and
outputs are present in all STEP 7 function blocks ..._PRM_DIAG depending on the type of the motor
controller.

Input/output Type Motor controller

Warning BOOL CMMP_AS


CMMP_AS_CAM

Composition of the structure (UDT3) DT_FHPP_PRM_DIAGMESSAGE

Since the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries such as DiagEvent


and DiagTimeStamp are not supported by all drives. The size of the diagnostic buffer is also
dependent on the relevant motor controller.

25
The FHPP Positioning Library STEP 7

1.14.4 xxx_PRM_DIRMP
The xxx_PRM_DIRMP function block writes or reads the dynamic values for direct mode (position control).

Figure: Example of function block CMMP_AS_PRM_DIRMP

Inputs and outputs


The following table contains a list of inputs and outputs that the function block xxx_PRM_DIRMP has to
parameterise a motor controller.

Input/output Type Description

AxisType INT Connected axis type


Execute BOOL Start transfer
0->1: A rising edge starts transfer of a parameter
Write BOOL Read/write
= 0: Read parameters
= 1: Write parameters
Velocity DINT Basic speed: PNU 540
Acceleration DINT Acceleration: PNU 541
Deceleration DINT Deceleration: PNU 542
JerkLimit DINT SFC_LACx: Jerk limit: PNU 543
CMMx_xxx: Jerk limit: PNU 546
DampingTime DINT SFC_LACx: Filter time: PNU 1023
Load DINT SFC_LACx: Additional weight: PNU 544
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT
Done BOOL Transfer status
= 0: Transfer has not been initiated
= 1: Transfer has been initiated
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
ActVelocity DINT Current basic speed: PNU 540
ActAcceleration DINT Current acceleration: PNU 541

26
The FHPP Positioning Library STEP 7

Input/output Type Description

ActDeceleration DINT Current deceleration: PNU 542


ActJerkLimit DINT SFC_LACx: Current jerk limit: PNU 543
(Pos/Neg) CMMx_xxx: Current jerk limit: PNU 546
ActDampingTime DINT SFC_LACx: Current filter time: PNU 1023
ActLoad DINT SFC_LACx: Current additional load: PNU 544
RETVAL INT Current status of the FB instance
When using several instances of the FB, the current internal
status of the respective FB is output.

Limited selection of inputs and outputs


The following inputs and outputs are only supported by certain Festo motor controllers. All other inputs and
outputs are present in all STEP 7 function blocks ..._PRM_DIRMP depending on the type of the motor
controller.

Input/output Type Motor controller

DampingTime DINT SFC_LAC


ActDampingTime DINT SFC_LACI

Load DINT SFC_LAC


SFC_LACI
ActLoad DINT

27
The FHPP Positioning Library STEP 7

1.14.5 xxx_PRM_KO
The xxx_PRM_KO function block transfers a list of communication objects (KO) to the relevant motor
controller.

Figure: Example of function block CMMP_AS_PRM_KO

Note
Communication with the Festo Configuration Tool (FCT) is not possible when using the function
block xxx_PRM_KO.

Inputs and outputs


The following table contains a list of inputs and outputs that the function block xxx_PRM_KO has to
parameterise a motor controller.

Input/output Type Description

Execute BOOL Start transfer


0->1: A rising edge starts transfer of a parameter
Write BOOL Read/write
= 0: Read communication object
= 1: Write communication object
Prerequisite: UpperLimit = 0, LowerLimit = 0
Further information on communication objects can be obtained
from your local Festo service centre.
KO DINT Communication object
Further information on communication objects can be obtained
from your local Festo service centre.
ParamValueWR DINT Parameter value when writing a communication object
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT
Done BOOL Transfer status
= 0: Transfer has not been initiated
= 1: Transfer has been initiated
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
ParamValueRD DINT Parameter value when reading a communication object
RETVAL INT Current status of the FB instance
When using several instances of the FB, the current internal
status of the respective FB is output.

28
The FHPP Positioning Library STEP 7

1.14.6 xxx_CAM_PRM_CAMNUMBER
With the xxx_CAM_PRM_CAMNUMBER function block you can:
o select a cam disc by specifying the cam disc number in the drive
o have the current cam disc read out with the help of the read command.

The function for using cam discs is optional. Please contact your local Festo service centre.

Figure: Example of function block CMMP_AS_CAM_PRM_CAMNUMBER

Note
Repeat the function after resetting the controller.

Inputs and outputs


The following table contains a list of inputs and outputs that the function block
xxx_CAM_PRM_CAMNUMBER has to parameterise a motor controller.

Input/output Type Description

Execute BOOL Start transfer


0->1: A rising edge starts transfer of a parameter
Write BOOL Read/write
= 0: Read PNU 700 Subindex 1
= 1: Write PNU 700 Subindex 1
CamNumber DINT Preselection of the cam disc number
DATA_REF VAR_IN_OUT FPC data structure
Data structure provided by FB ..._PRM_INIT
Done BOOL Transfer status
= 0: Transfer has not been initiated
= 1: Transfer has been initiated
Err BOOL Error
= 0: No error during parameter transfer
= 1: Error during parameter transfer
ErrID DWORD Error number
ActCamNumber DINT Number of the currently selected cam disc
RETVAL UINT Current status of the FB instance
When using several instances of the FB, the current internal
status of the respective FB is output.

29
The FHPP Positioning Library STEP 7

1.14.7 xxx_FHPP_PLUS
Other cyclical user-specific data can be configured in the FHPP+ data package. The FHPP+ data is
configured via a configurator in FCT. The configuration in the Step7 Hardware Manager must match the
configuration in FCT. To keep the block in the PLC as simple as possible, all the FHPP+ parameters are
output as double words; for byte and word parameters, only the relevant bytes are transferred.

Note
o Maximum 10 FHPP elements are possible
o 1st element is always FHPP standard (8-byte control)
o 2nd element optional FPC (8-byte parametrising)
o 2nd .. nth/ 3rd .. nth (n <= 10) element FHPP+ data (max. 24 byte)

Note
Configured parameters always start on an even address, gaps are filled with position holders.
Select an arrangement that makes full use of the available data width.

Warning
When parameters are transferred from the PLC, there is a restricted check of the value limits.
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.

Block xxx_FHPP_PLUS
Block “xxx_FHPP_PLUS” helps the user to map the FHPP+ data in the controller. For operation to function
without errors, the FHPP+ data must be parametrised correctly in the Hardware Manager.
To ensure that the block remains simple and clear, all the FHPP+ parameters are trans-ferred as double
words; for byte and word variables, only the relevant bytes are transferred.

Note
The values are not checked.

The composition of the FHPP+ data configured in the FCT is parametrised via the inputs
“cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”.

Fig: Block xxx_FHPP_PLUS

30
The FHPP Positioning Library STEP 7

Inputs and Outputs

In- / Output Type Description

I_ADDRESS WORD Address of the logical inputs for the slave's FHPP+ data.
O_ADDRESS WORD Address of the logical outputs for the slave's FHPP+ data.
cfgFHPPplusToDrive DINT Configuration of the FHPP+ data to the drive.
cfgFHPPplusFromDrive DINT Configuration of the FHPP+ data from the drive.
FHPPplusToDrive1..9 DWORD FHPP+ data elements 1..9 to the drive.
FHPPplusFromDrive1..9 DWORD FHPP+ data elements 1..9 from the drive.
Err BOOL FALSE: No error
TRUE: Error
ErrID DWORD Description of the error that occurred.
RET_VALUE INT Reply value of the function block.

Block configuration
For the FHPP+ block to prepare the transferred data correctly, it is necessary to communicate the
configuration from FCT to the block.

Configuration is via the inputs “cfgFHPPplusToDrive” and “cfgFHPPplusFromDrive”. Each position in the
configuration variable matches the data size of the relevant FHPP+ element.

Note
Position holders have to be taken into consideration.

31
The FHPP Positioning Library STEP 7

1.15 Examples
1.15.1 Actuating a Festo motor controller
Festo motor controller CMMP-AS with associated function block CMMP_AS_CTRL

Figure: Example of function block CMMP_AS_CTRL

32
The FHPP Positioning Library STEP 7

Motor controllers of the type CMMP-AS-... can be actuated in the following four combinations of operating
and control mode using this function block:
o Set selection
o Direct mode position control
o Direct mode force control
o Direct mode velocity control

The preset operating and control mode is only adopted and displayed when a movement is
initiated, i.e. a rising edge at the "StartTask" input.

Prerequisites for operational readiness


Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13,
etc. Refer to the manual for the motor controller being used for more detailed information.
o Motor controller is switched on
o Load voltage is present
o PLC has control priority

Achieving ready status

Action by the user Feedback

-- SupplyVoltPresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltNotActive = 0

Homing

Action by the user Feedback

StartHoming = 0->1 AckStart = 1


MC = 0
DriveMoving = 1
HaltNotActive = 1
-- DriveMoving = 0,
(homing complete) MC = 1,
DriveReferenced = 1,
HaltNotActive = 1

33
The FHPP Positioning Library STEP 7

Setting and "Set selection" mode

Action by the user Feedback

OPM = 0 StateOPM = 0
RecordNo = 1 --
StartTask 0->1 StateOPM = 0
AckStart = 1
MC = 0
DriveMoving = 1
ActualRecordNo = 1
ActualPosition = ...
-- DriveMoving = 0
(positioning complete) MC = 1

Setting and "Direct mode position control" mode

Action by the user Feedback

OPM = 1 StateOPM = 1
SetValueVelocity = ... --
SetValuePosition = ... --
StartTask = 1 StateOPM = 1
AckStart = 1
MC = 0
DriveMoving = 1
ActualVelocity = ...
ActualPosition = ...
-- DriveMoving = 0
(positioning complete) MC = 1

Setting and "Direct mode force control" mode

Action by the user Feedback

OPM = 5 StateOPM = previous operating and control mode as an INT


SetValueForce = ... --
StartTask = 1 StateOPM = 5
AckStart = 1
MC = 0
DriveMoving = 1
ActualForce = ...
ActualPosition = ...
-- DriveMoving = 0
(force specification reached) MC = 1

34
The FHPP Positioning Library STEP 7

Setting and "Direct mode velocity control" mode

Action by the user Feedback

OPM = 9 StateOPM = previous operating and control mode as an INT


SetValueRotRamp = ... --
SetValueRotSpeed = ... --
StartTask = 1 StateOPM = 9
AckStart = 1
MC = 0
DriveMoving = 1
ActualRotRamp = ...
ActualRotSpeed = ...
-- DriveMoving = 0
(velocity specification reached) MC = 1

35
The FHPP Positioning Library STEP 7

1.15.2 Parameterising a Festo motor controller


Festo motor controller CMMP-AS with associated function block CMMP_AS_PRM_SINGLE.

Figure: Example of function block CMMP_AS_PRM_SINGLE


Motor controllers of the type CMMP-AS-... can be parameterised in all four combinations of operating and
control mode using this function block:
o Set selection
o Direct mode position control
o Direct mode force control
o Direct mode velocity control

Note
A description of the parameters according to FHPP supported by the different motor controllers
can be found in the relevant product documentation.

Prerequisites for operational readiness


Additional input signals may be required depending on the motor controller, e.g. at DIN_4, DIN_5, DIN_13,
etc. Refer to the manual for the motor controller being used for more detailed information.
o Motor controller is switched on
o Load voltage is present
o PLC has control priority

Achieving ready status

Action by the user Feedback

-- SupplyVoltagePresent = 1
EnableDrive = 1 DriveEnabled = 1
MC = 1
Stop = 1 Ready = 1
Halt = 1 HaltNotActive = 0

36
The FHPP Positioning Library STEP 7

Read parameters (e.g. homing method)

Action by the user Feedback

Write = 0 No feedback
UpperLimit Read upper limit value
PNU = 1011 No feedback
Subindex = 1 No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
ActPNU = 1011
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0

Write parameters (e.g. homing method acceleration)

Action by the user Feedback

Write = 1 No feedback
PNU = 1013 No feedback
Subindex = 1 No feedback
ParamValueWR = ... No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
ActPNU = 1013
ActSubindex = 1
ParamValueRD = ...
RETVAL = 0

The values written to the motor controller using the type ..._PRM_SINGLE function block are stored in a
volatile memory and only remain valid until the control voltage of 24 V at the motor controller is interrupted.
The values can be permanently transferred to a non-volatile memory by writing the value 1 to the PNU 127
subindex 2.
The following steps must be taken to permanently adopt written parameters:

Action by the user Feedback

Write = 1 No feedback
PNU = 127 No feedback
Subindex = 2 No feedback
ParamValueWR = 1 No feedback
Execute = 0->1 Done = TRUE
Err = FALSE
ErrID = 0
ActPNU = 127
ActSubindex = 2
ParamValueRD = 0
RETVAL = 0

37
2 Glossary

C
Consistency: A data range which is defined as consistent is transmitted complete, i.e. in one bus
cycle.
Controller: Control electronics which evaluate the control signals and provide the voltage supply for
the motor via the power electronics (power electronics + controller + positioning controller).

F
Festo Configuration Tool (FCT): Commissioning software with uniform project and data
management for all supported device types. The special requirements of a device type are
supported with the necessary descriptions and dialogs by means of plug-ins.
Festo Handling and Positioning Profile (FHPP): Uniform fieldbus data profile for positioning
controllers from Festo.
Festo Parameter Channel (FPC): FHPP-specific parameter channel version.
FHPP: Uniform fieldbus data profile for positioning controllers from Festo (Festo Handling and
Positioning Profile).
FPC: FHPP-specific parameter channel version (Festo Parameter Channel).

G
GSD file: Device master data file in which all specific features of the PROFIBUS slave are saved (e.g.
number of I/Os, number of diagnostic bytes, etc.).
GSDML file: Device master file in which all features of the PROFINET slave are saved (e.g. number
of I/Os, number of diagnostic bytes, etc.).

H
Homing: Homing defines the reference position and thereby the origin of the measuring reference
system of an axis.
Homing method: Method for defining the reference position: against a fixed stop (overcurrent/speed
evaluation) or with reference switch.
Homing mode: Operating mode in which homing is carried out.

J
Jog mode: Manual movement in positive or negative direction.

P
PDO: Process data object.
PKE: Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK)
and the parameter number (PNU).
PKW: Telegram part used for transmitting parameters. PKW refers to a parameter identification value
(see also "Festo Parameter Channel (FPC)").
PNU: Parameters which can be transmitted via the parameter channel are addressed with the
parameter number (PNU). The parameter number is an integral part of the parameter identifier
(PKE) and serves for identifying or addressing the individual parameter.
Position set: Positioning command defined in the position set table, consisting of target position,
positioning mode, positioning speed and accelerations.
Profile position mode: Operating mode for executing a position set or a direct positioning job.
Project zero point (PZ): Measuring reference point for all positions in positioning jobs. The project
zero point forms the basis for all absolute position specifications (e.g. in the position set table or
with direct control via the control interface or diagnostic interface). The basis point for the project
zero point is the axis zero point. With the MTR-DCI, the project zero point PZ and the axis zero
point AZ are identical.

38
Glossary

R
Reference point (REF): Basis point for the incremental measuring system. The reference point
defines a known orientation or position within the positioning path of the drive.

S
Subindex (IND): Integral part of the parameter channel (PKW) which addresses an element of an
array parameter (subparameter number).

T
Teach mode: Operating mode for setting positions by moving to the target position, e.g. when
creating position sets.

39
3 Index
D P
Direct mode....................................................... 7
Parameter channel ............................................ 7
F S
FHPP ................................................................ 7
Safety instructions ............................................. 2
Set selection ...................................................... 7

40