Festo Handling and Positioning Profile · 2020-03-14 · Description FHPP Motor controller Type...

DescriptionFHPP

Motor controllerType– CMMP-AS– CMMS-ST– CMMS-AS– CMMD-AS

Festo handling andpositioning profile

Description555 696en 1011b[757 714]

Festo Handling andPositioning Profile

Contents and general safety instructions

IFesto P.BE-CMM-FHPP-SW-EN en 1011b

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.comE-Mail: [email protected]

The copying, distribution and utilization of this document aswell as the communication of its contents to others withoutexpress authorization is prohibited. Offenders will be heldliable for the payment of damages. All rights are reserved,in particular the right to carry out patent, registered designor ornamental design registration.


II Festo P.BE-CMM-FHPP-SW-EN en 1011b

CANopen®, DeviceNet®, EtherCAT®, and PROFIBUS® are registered trademarks of therespective trademark owners in certain countries.


IIIFesto P.BE-CMM-FHPP-SW-EN en 1011b

Contents

Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Information about the version XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terms and abbreviations XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. I/O data and sequence control 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Overview of Festo Handling and Positioning Profile (FHPP) 1-3. . . . . . . . . . . . .

1.2 Setpoint specification (FHPP operating modes) 1-5. . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Switching FHPP operating modes 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Record selection 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Direct mode 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Configuration of the I/O data 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Concept 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Assignment of the I/O data for CMMD 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3.3 I/O data in the various FHPP operating modes (control view) 1-10. . . .

1.4 Assignment of the control bytes and status bytes (overview) 1-11. . . . . . . . . . . .

1.5 Description of the control bytes 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Control byte 1 (CCON) 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Control byte 2 (CPOS) 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Control byte 3 (CDIR) – Direct mode 1-14. . . . . . . . . . . . . . . . . . . . . . . .

1.5.4 Bytes 4 and 5 ... 8 – Direct mode 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.5 Bytes 3 and 4 ... 8 – Record selection 1-15. . . . . . . . . . . . . . . . . . . . . . .

1.6 Description of the status bytes 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Status byte 1 (SCON) 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.2 Status byte 2 (SPOS) 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Status byte 3 (SDIR) – Direct mode 1-18. . . . . . . . . . . . . . . . . . . . . . . . .


1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection 1-20. . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-CMM-FHPP-SW-EN en 1011b

1.7 FHPP finite state machine 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Establishing the ready status 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Positioning 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.3 Special features dependent on FHPP operating mode 1-27. . . . . . . . . .

1.7.4 Examples of control and status bytes 1-27. . . . . . . . . . . . . . . . . . . . . . .

2. Drive functions 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Reference system for electric drives 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Calculation rules for the reference system 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Homing 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Homing for electric drives 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Homing methods 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Jog mode 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Teaching via fieldbus 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Carry out record (Record selection) 2-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Record selection sequence charts 2-18. . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Record structure 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Conditional record chaining (PNU 402) 2-23. . . . . . . . . . . . . . . . . . . . . .

2.7 Direct mode 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Sequence for discrete setpoint value 2-29. . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Sequence for Profile Torque mode (torque and current control) 2-30. .

2.7.3 Sequence for Profile Velocity mode 2-32. . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Standstill control 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 On-the-fly measurement (position sampling) 2-36. . . . . . . . . . . . . . . . . . . . . . . . .

3. Fault reaction and diagnosis 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostic memory (faults) 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Warning memory (CMMP only) 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-CMM-FHPP-SW-EN en 1011b

3.4 Fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 CMMP fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 CMMS/CMMD fault numbers 3-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Diagnosis using FHPP status bytes 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Parameters 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 FHPP general parameter structure 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Access protection 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Access via PLC and FCT 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Overview of FHPP parameters 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Descriptions of FHPP parameters 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Representation of the parameter entries 4-12. . . . . . . . . . . . . . . . . . . . .

4.4.2 PNUs for the telegram entries for FHPP+ 4-13. . . . . . . . . . . . . . . . . . . . .

4.4.3 Device data – Standard parameters 4-15. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 Device data – Extended parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5 Diagnostics 4-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.6 Process data 4-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.7 On-the-fly measurement 4-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.8 Record list 4-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.9 Project data – General project data 4-41. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.10 Project data – Teaching 4-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.11 Project data – Jog mode 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.12 Project data – Direct mode, Profile Position mode 4-44. . . . . . . . . . . . .

4.4.13 Project data – Direct mode, Profile Torque mode 4-45. . . . . . . . . . . . . .

4.4.14 Project data – Direct mode, Profile Velocity mode 4-46. . . . . . . . . . . . .

4.4.15 Function data – Camming function 4-47. . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.16 Function data – Position triggers and rotor position triggers 4-49. . . . .

4.4.17 Axis parameters for electric drives 1 – Mechanical parameters 4-52. . .

4.4.18 Axis parameters for electric drives 1 – Homing parameters 4-55. . . . . .

4.4.19 Axis parameters for electric drives 1 – Closed-loop controllerparameters 4-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.20 Axis parameters for electric drives 1– Electronic rating plate 4-60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.21 Axis parameters for electric drives 1 – Standstill control 4-61. . . . . . . .


VI Festo P.BE-CMM-FHPP-SW-EN en 1011b

4.4.22 Axis parameters for electric drives 1 – Drag error monitoring 4-62. . . .

4.4.23 Axis parameters for electric drives 1 – Other parameters 4-62. . . . . . . .

4.4.24 Function parameters for digital I/Os 4-63. . . . . . . . . . . . . . . . . . . . . . . .

5. Parametrisation with FPC 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Parametrisation with FHPP 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 5-3. . . . . . . .

5.1.2 Task identifiers, response identifiers and error numbers 5-5. . . . . . . .

5.1.3 Rules for task-response processing 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 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. . . . . . . . . .

C. Index C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE-CMM-FHPP-SW-EN en 1011b

Intended use

This description includes the Festo Handling and PositionProfile (FHPP) for the CMMx product family corresponding toTab. 0/1 in the ”Version information” section.

This provides you with supplementary information about con-trolling, diagnosing and parametrising the motor controllersvia the fieldbus.

The complete set of information can be found in the docu-mentation for the motor controller in question:

– Description P.BE-CMM...-HW-...:Mechanical system - Electrical system - Overview of thefunction range.

NoteAlways follow the safety-related instructions listed in theproduct manual for the motor controller in question.

Depending on which fieldbus is used, you can find furtherinformation in the following manuals for the CMMx productfamily:

– Description P.BE-CMM...-CO-...:Description of the implemented CANopen protocol as perDSP 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.


VIII Festo P.BE-CMM-FHPP-SW-EN en 1011b

Safety instructions

When commissioning and programming positioning systems,you must always observe the safety regulations in thismanual as well as those in the operating instructions forthe other components used.

The user must make sure that nobody is within the sphere ofinfluence of the connected actuators or axis system. Accessto the potential danger area must be prevented by suitablemeasures such as barriers and warning signs.

WarningAxes can move with high force and at high speed. Colli-sions can lead to serious injuries and damage to compo-nents.

Make sure that nobody can reach into the sphere of influ-ence of the axes or other connected actuators and that noitems are within the positioning range while the system isconnected to energy sources.

WarningErrors in the parametrisation can cause injuries anddamage to property.

Enable the controller only if the axis system has beencorrectly installed and parametrised.


IXFesto P.BE-CMM-FHPP-SW-EN en 1011b

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing posi-tioning systems.

Service

Please consult your local Festo Service department or writeto the following e-mail address if you have any technicalproblems:

[email protected]


X Festo P.BE-CMM-FHPP-SW-EN en 1011b

Important user instructions

Danger categories

This description contains instructions on the possible dangerswhich can arise if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto-gram. A distinction is made between the following dangerwarnings:

Warning... means that failure to observe this instruction may resultin serious personal injury or material damage.

Caution... means that failure to observe this instruction may resultin personal injury or material damage.

Note... means that failure to observe this instruction may resultin material damage.

Additionally, the following pictogram designates textpassages, which describe activities with electrostaticallysensitive devices:

Electrostatically sensitive devices: inappropriate handlingcan result in damage to components.


XIFesto P.BE-CMM-FHPP-SW-EN en 1011b

Identification of special information

The following pictograms designate text passages that con-tain special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation.

Accessories:Information on necessary or useful accessories for the Festoproduct.

Environment:Information on the environmentally-friendly use of Festoproducts.

Text designations

• Bullet points indicate activities that may be carried out inany sequence.

1. Numerals indicate activities that must be carried out inthe sequence specified.

– Arrowheads indicate general listings.


XII Festo P.BE-CMM-FHPP-SW-EN en 1011b

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 Premiummotor 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-... Version 1.3.0.1.14 and higher Standard motor controller for stepper motors.

CMMS-AS-... Version 1.3.0.1.15 and higher Standard motor controller for servo motors.

CMMD-AS-... Version 1.4.0.3.1 and higher 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 thisdocument.

NoteWith newer firmware versions, check whether there is anewer version of this description available:www.festo.com


XIIIFesto P.BE-CMM-FHPP-SW-EN en 1011b

Terms and abbreviations

The following terms and abbreviations are used in thismanual:

Term/abbreviation Meaning

Axis Mechanical component of a drive that transfers the drive force for themotion. An axis enables the attachment and guiding of the work loadand the attachment of a reference switch.

Axis zero point (AZ) Point of reference for the software end positions and the project zeropoint 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 + positioncontroller, evaluates sensor signals, calculates movements and forcesand provides the power supply for the motor via the power electronics.

Drive Complete actuator, consisting of motor, encoder and axis, optionallywith a gearbox, if applicable with controller.

Encoder Electrical pulse generator (generally a rotor position transducer).The controller evaluates the electrical signals that are generated anduses them to calculate the position and speed.

Festo Configuration Tool(FCT)

Software with standardised project and data management for sup-ported device types. The special requirements of a device type aresupported with the necessary descriptions and dialogues by means ofplug-ins.

Festo Handling andPositioning 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 Position-ing Profile” (I/O messaging, 8-byte I/O)

HMI Human-Machine Interface, e.g. control panel with LCD screen andoperating buttons.

Homing Positioning procedure in which the reference point and therefore theorigin 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 referenceswitch.


XIV Festo P.BE-CMM-FHPP-SW-EN en 1011b


Homing mode Defines the measuring reference system of the axis

IOIO

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 andthereby the motor. The logic voltage supplies the evaluation and con-trol 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 speedand accelerations.

Profile Position mode Operating mode for executing a positioning record or a directpositioning task with closed-loop position control.

Profile Torque mode Operating mode for executing a direct positioning task with forcecontrol (open-loop transmission control) by regulation of the motorcurrent.

Project zero point (PZ) Point of reference for all positions in positioning tasks. The projectzero point PZ forms the basis for all absolute position specifications(e.g. in the positioning record table or with direct control via a controlinterface). 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. Thereference point defines a known orientation or position within thepositioning path of the drive.


XVFesto P.BE-CMM-FHPP-SW-EN en 1011b


Reference switch External sensor used for ascertaining the reference position and con-nected 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 beexceeded during positioning.

– Software end position, negative:min. limit position in negative direction; must not be fallen short ofduring positioning.

Speed adjustment(Profile Velocity mode)

Operating mode for executing a positioning record or a directpositioning 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


XVI Festo P.BE-CMM-FHPP-SW-EN en 1011b

I/O data and sequence control

1-1Festo P.BE-CMM-FHPP-SW-EN en 1011b

Chapter 1

I/O data and sequence control

1. I/O data and sequence control

1-2 Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents

1.1 Overview of Festo Handling and Positioning Profile (FHPP) 1-3. . . . . . . . . . . . .

1.2 Setpoint specification (FHPP operating modes) 1-5. . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Switching FHPP operating modes 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Record selection 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Direct mode 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Configuration of the I/O data 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Concept 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Assignment of the I/O data for CMMD 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3.3 I/O data in the various FHPP operating modes (control view) 1-10. . . .

1.4 Assignment of the control bytes and status bytes (overview) 1-11. . . . . . . . . . . .

1.5 Description of the control bytes 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Control byte 1 (CCON) 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Control byte 2 (CPOS) 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Control byte 3 (CDIR) – Direct mode 1-14. . . . . . . . . . . . . . . . . . . . . . . .


1.5.5 Bytes 3 and 4 ... 8 – Record selection 1-15. . . . . . . . . . . . . . . . . . . . . . .

1.6 Description of the status bytes 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Status byte 1 (SCON) 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.2 Status byte 2 (SPOS) 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Status byte 3 (SDIR) – Direct mode 1-18. . . . . . . . . . . . . . . . . . . . . . . . .


1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection 1-20. . . . . . . . . . . . . . . . . . . . .

1.7 FHPP finite state machine 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Establishing the ready status 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Positioning 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.3 Special features dependent on FHPP operating mode 1-27. . . . . . . . . .

1.7.4 Examples of control and status bytes 1-27. . . . . . . . . . . . . . . . . . . . . . .



1.1 Overview of Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especiallytailored to the target applications for handling and positioningtasks, the “Festo Handling and Positioning Profile (FHPP)”.The FHPP enables uniform control and programming for thevarious fieldbus systems and controllers from Festo.

In addition, it defines the following so that they are largelyuniform for the user:

– The operating modes,

– I/O data structure,

– Parameter objects,

– Sequence control.

Fieldbus communication

Record selection

Free access to allparameters –read and write

. . .

Direct mode Parametrisation

Position Velocity Torque

. . .

1

2

3

...

n

>

Fig. 1/1: The FHPP principle



Control and status data (FHPP Standard)

Communication over the fieldbus is effected by way of 8-bytecontrol and status data. Functions and status messages re-quired in operation can be written and read directly.

Parametrisation (FPC)

The control system can access all parameter values of the con-troller 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 thereforeeach have their own finite state machine and a separate data-base.

The Festo Handling and Positioning Profile (FHPP) providesusers with information about a controller’s individual character-istics. The profile is implemented as independently as possiblefrom each controller and fieldbus.



1.2 Setpoint specification (FHPP operating modes)

The FHPP operating modes differ in the content and meaning ofthe cyclic I/O data and in the functions that can be accessed inthe controller.

Operating mode Description

Record selection A specific number of positioning records can be saved in the con-troller. A record contains all the parameters which are specified for apositioning task. The record number is transmitted in the cyclic I/Odata as the setpoint or actual value.

Direct mode The positioning task is transmitted directly in the I/O telegram. Themost important setpoint values (position, velocity, torque) are trans-mitted here. Supplementary parameters (e.g. acceleration) are de-fined 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 controlbyte (see below) and indicated in the SCON status word.

Switching between record selection and direct mode is onlypermitted in the “Ready” state; see section 1.7, Fig. 1/2.



1.2.2 Record selection

Each controller has a specific number of records, which con-tain all the information needed for one positioning task. Themaximum number of records is specified separately for eachcontroller.

The record number that the controller is to process at thenext start is transmitted in the PLC’s output data. The inputdata 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. nouser program. Records cannot be processed automaticallywith a programmable logic. The controller cannot accomplishany useful tasks in a stand-alone state; close coupling to thePLC is necessary.

However, depending on the controller, it is also possible toconcatenate various records and execute them one after theother with the help of a start command. It is also possible(again, dependent on the controller) to define record chainingbefore the target position is reached.

It is only possible to set all of the parameters for the recordchaining (“route program”) (e.g. the following record) usingthe FCT.

In this way, positioning profiles can be created without theinactive times (which arise from the transfer in the fieldbusand the PLC’s cycle time) having an effect.



1.2.3 Direct mode

In the direct mode, positioning tasks are formulated directlyin the PLC’s output data.

The typical application calculates dynamically the target set-point values for each task or just for some tasks. This makesit 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 andsent directly to the controller.



1.3 Configuration of the I/O data

1.3.1 Concept

The FHPP protocol stipulates 8 bytes of input data and8 bytes of output data. Of these, the first byte is fixed (thefirst two bytes in the FHPP operating modes Record selectionand Direct mode). It remains intact in each operating modeand controls the enabling of the controller and the FHPP oper-ating modes. The other bytes are dependent on the FHPPoperating mode that was selected. Additional control orstatus bytes and setpoint and actual values can be trans-mitted here.In the cyclic data, a further 8 bytes of input data and 8 bytesof output data are permissible to transmit parameters accord-ing 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 theinput data

– Additional mode-dependent setpoint and actualvalues

– If required, an additional 8 bytes of input and 8 bytes ofoutput data for FPC parametrisation, see section 5.1.

– If required, up to 24 (without FPC) or 16 (with FPC) addi-tional bytes support I/O data for parameter transfer viaFHPP+, see Appendix B.1.

If applicable, observe the specification in the bus masterfor the representation of words and double words (Intel/Motorola).E.g. in the “little endian” representation when transmitted viaCAN (lowest-value byte first).



1.3.2 Assignment of the I/O data for CMMD

With CMMD, control via FHPP for axis 1 and axis 2 alwaystakes place over a shared fieldbus interface. If an interface isactivated, it is always valid for both axes.

Each axis then has its own I/O data corresponding to section1.3.1 or 1.3.3.

Assignment of the I/O data over the fieldbus depends on thecontrol 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 isalways 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 viathe DIP switches.The I/O data for the two axes are transferred in a sharedtelegram of double length.Example (with FPC):Byte 1 ... 8: control/status bytes axis 1Byte 9 ... 16: FPC axis 1Byte 17 ... 24: control/status bytes axis 2Byte 25 ... 32: FPC axis 2

Note:With PROFIBUS and DeviceNet, the I/O data for axis 2 areread by axis 1, passed on to axis 2 and evaluated there. Theanswer is returned to axis 1 with the next internal communi-cation task (every 1.6 ms) at the earliest. Only then can theanswer be returned via the fieldbus.This means that the processing time of the fieldbus protocolis twice as long as with CMMS-AS.



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 Byte 7 Byte 8

Outputdata

CCON CPOS Recordno.

Reserved Reserved

Inputdata

SCON SPOS Recordno.

RSB Actual position

Direct mode


Outputdata

CCON CPOS CDIR Setpointvalue 1

Setpoint value 2

Inputdata

SCON SPOS SDIR Actualvalue 1

Actual value 2

Further 8 bytes of I/O data for FPC parametrisation(see section 5.1):

Festo FPC


Outputdata

Reserved Subindex Task identifier(ReqID) + parameternumber (PNU)

Parameter value

Inputdata

Reserved Subindex Response identifier(ResID) + parameternumber (PNU)

Parameter value



1.4 Assignment of the control bytes and status bytes (overview)

Assignment of the control bytes (overview)

CCON(all)

B7OPM2

B6OPM1

B5LOCK

B4–

B3RESET

B2BRAKE

B1STOP

B0ENABLE

Select FHPP operat-ing mode

Softwareaccesslocked

– Resetfault

Openbrake

Stop Driveenable

CPOS(RecordselectionandDirectmode)

B7–

B6CLEAR

B5TEACH

B4JOGN

B3JOGP

B2HOM

B1START

B0HALT

– Clear re-mainingposition

Teachactualvalue

Jog nega-tive

Jog posi-tive

Starthoming

Startposition-ing task

Halt

CDIR(Directmode)

B7FUNC

B6FGRP2

B5FGRP1

B4FNUM2

B3FNUM1

B2COM2

B1COM1

B0ABS

Executefunction

Function group Function number Control mode(position, torque,velocity, ...)

Abso-lute/Relative

Assignment of the status bytes (overview)

SCON(all)

B7OPM2

B6OPM1

B5LOCK

B424VL

B3FAULT

B2WARN

B1OPEN

B0ENABLED

Display FHPP operat-ing mode

Drive con-trol bysoftware

Supplyvoltage isapplied

Fault Warning Operationenabled

Driveenabled

SPOS(RecordselectionandDirectmode)

B7REF

B6STILL

B5DEV

B4MOV

B3TEACH

B2MC

B1ACK

B0HALT

Axis isrefer-enced

Standstillcontrol

Drag(deviation)error

Axis ismoving

Acknow-ledgeteach/sampling

Motioncomplete

Acknow-ledgestart

Halt

SDIR(Directmode)

B7FUNC

B6FGRP2

B5FGRP1

B4FNUM2

B3FNUM1

B2COM2

B1COM1

B0ABS

Functionis ex-ecuted

Function group feed-back

Function numberfeedback

Control mode feed-back (position,torque, velocity)

Absolute/Relative



1.5 Description of the control bytes

1.5.1 Control byte 1 (CCON)

Control byte 1 (CCON)

Bit EN Description

B0ENABLE

Drive Enable = 1: Enable drive (controller)= 0: Drive (controller) disabled

B1STOP

Stop = 1: Operation enabled.Any error will be deleted.

= 0: STOP active (cancel emergency ramp + positioning task). The drivestops with maximum braking ramp, the positioning task is reset.

B2BRAKE

Open Brake = 1: Release brake= 0: Activate brakeNote: 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 brake’s con-trol system.

B3RESET

Reset Fault With a rising edge a fault is acknowledged and the fault value is deleted.

B4–

– Reserved, must be at 0.

B5LOCK

Software Ac-cess Locked

Controls access to the controller’s local (integrated) diagnostic inter-face.= 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).

B6OPM1

Select Operat-ingMode

Bit 7 6 Operating mode0 0 Record selection0 1 Direct mode1 0 Reserved1 1 Reserved

B7OPM2

CCON controls statuses in all FHPP operating modes. Formore information, see the description of the drive functions inChapter 2.



1.5.2 Control byte 2 (CPOS)

Control byte 2 (CPOS)

Bit EN Description

B0HALT

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 taskremains active (with B6 the remaining positioning distance can bedeleted).

B1START

Start Position-ing Task

With a rising edge the current setpoint values will be transferred andpositioning started (even if record 0 = homing, for example).

B2HOM

Start Homing With a rising edge homing is started with the set parameters.

B3JOGP

Jog positive The drive moves at the specified velocity or rotational speed in the direc-tion of larger actual values, providing the bit is set. The movement be-gins with the rising edge and ends with the falling edge.

B4JOGN

Jog negative The drive moves at the specified velocity or rotational speed in the direc-tion of smaller actual values, see B3.

B5TEACH

Teach ActualValue

At a falling edge the current actual value is imported into the setpointregister of the currently addressed positioning record; see section 2.5.The teach target is defined with PNU 520. The type is determined by therecord status byte (RSB).See also section 2.5.

B6CLEAR

Clear Remain-ing Position

In the “Halt” status a rising edge causes the positioning task to be de-leted and transfer to the status “Ready.”

B7–

– Reserved, must be at 0.

CPOS controls the positioning sequences in the “Recordselection” and “Direct mode” FHPP operating modes, as soonas the drive is enabled.



1.5.3 Control byte 3 (CDIR) – Direct mode

Control byte 3 (CDIR) – Direct mode

Bit EN Description

B0ABS

Absolute/Relative

= 0: Setpoint value is absolute= 1: Setpoint value is relative to last setpoint value

B1COM1

ControlMode Bit 2 1 Control mode0 0 Profile Position mode0 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.

B2COM2

B3FNUM1

FunctionNumber

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 Reserved1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming

function3 1 1 Synchronisation with a virtual master with camming

function

B4FNUM2

B5FGRP1

FunctionGroup

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 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7FUNC

Function = 0: Normal task= 1: Execute camming function (only permissible with CMMP,

Bit 3 ... 6 = function number and group)

1) With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 deter-mine the reference and the closed-loop control mode of the master.

In Direct mode, CDRI specifies the type of positioning taskmore precisely.



1.5.4 Bytes 4 and 5 ... 8 – Direct mode

Control byte 4 (setpoint value 1) – Direct mode

Bit EN Description

B0 ... B7Velocity

–

Velocity ramp

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 ofbase value (PNU 560)

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

Bit EN Description

B0...B31

Position

Torque

Velocity

Preselection depends on closed-loop control mode (CDIR.B1/B2), ineach case a little-endian 32-bit number:– Profile Position mode: Position in positioning unit (see appendix A.1)

– Profile Torque mode: Torque setpoint as percentage of the ratedtorque (PNU 1036)

– Profile Velocity mode: Speed in unit of velocity (see appendix A.1)

1.5.5 Bytes 3 and 4 ... 8 – Record selection

Control byte 3 (record number) – Record selection

Bit EN Description

B0 ... B7 Recordnumber

Preselection of record number for record selection.

Control bytes 4 ... 8 – Record selection

Bit EN Description

B0 ... B7 – Reserved (= 0)



1.6 Description of the status bytes

1.6.1 Status byte 1 (SCON)

Status byte 1 (SCON)

Bit EN Description

B0ENABLED

Drive Enabled = 0: Drive disabled, controller not active= 1: Drive (controller) enabled

B1OPEN

Operation En-abled

= 0: STOP active= 1: Operation enabled, positioning possible

B2WARN

Warning = 0: Warning not registered= 1: Warning registered

B3FAULT

Fault = 0: No fault= 1: There is a fault or fault reaction is active.

Fault code in the diagnostic memory.

B424VL

Supply Voltageis Applied

= 0: No load voltage= 1: Load voltage applied

B5LOCK

Drive Controlby Software

Control sovereignty, meaning which device or system has higher controlpriority (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)

B6OPM1

DisplayOper-atingMode

Bit 7 6 Operating mode acknowledgment0 0 Record selection0 1 Direct mode1 0 Reserved1 1 Reserved

B7OPM2



1.6.2 Status byte 2 (SPOS)

Status byte 2 (SPOS)

Bit EN Description

B0HALT

Halt = 0: HALT is active= 1: HALT is not active, axis can be moved

B1ACK

AcknowledgeStart

= 0: Ready for start (homing, jog)= 1: Start carried out (homing, jog)

B2MC

Motion Com-plete

= 0: Positioning task active= 1: Positioning task completed, where applicable with errorNote: MC is set for the first time after switch-on(status “Drive disabled”).

B3TEACH

AcknowledgeTeach /Sampling

Depending on the setting in PNU 354:– PNU 354 = 0: Display of the teach status

SPOS.B3 = 0: Ready for teachingSPOS.B3 = 1: Teaching carried out, actual value is transferred

– PNU 354 = 1: Display of the sampling statusSPOS.B3 = 0: No edge.SPOS.B3 = 1: An edge has appeared. New position value available.

For position sampling: see section 2.9.

B4MOV

Axis ismoving = 0: Speed of the axis < limit value= 1: Speed of the axis >= limit value

B5DEV

Drag (devi-ation) Error

= 0: No drag error (also called “following error”)= 1: Drag error active

B6STILL

Standstillcontrol

= 0: After MC, axis remains in tolerance window= 1: Axis has left the tolerance window after MC

B7REF

Axis is refer-enced

= 0: Homing must be carried out= 1: Reference information present, homing not necessary



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

B0ABS

Absolute/Relative

= 0: Setpoint value is absolute= 1: Setpoint value is relative to last setpoint value

B1COM1

ControlModefeedback

Bit 2 1 Control mode feedback0 0 Profile Position mode0 1 Profile Torque mode (torque, current)1 0 Profile Velocity mode (speed)1 1 Reserved

B2COM2

B3FNUM1

FunctionNumberfeedback

Only if the camming function is used (SDIR.B7, FUNC = 1):No. Bit 4 3 Function number0 0 0 CAM-IN / CAM-OUT / Change active1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming


function

B4FNUM2

B5FGRP1

FunctionGroupfeedback

Only if the camming function is used(SDIR.B7, FUNC = 1):No. Bit 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7FUNC

Functionfeedback

= 0: Normal task= 1: Camming function is executed

(bits 3 ... 6 = function number and group)



1.6.4 Bytes 4 and 5 ... 8 – Direct mode

Status byte 4 (actual value 1) – Direct mode

Bit EN Description

B0 ... B7Velocity

Torque

–

Feedback depends on the closed-loop control mode (CDIR.B1/B2):– Profile Position mode: Velocity as percentage of

base value (PNU 540)– Profile Torque mode: Torque as percentage of the rated

torque (PNU 1036)– Profile Velocity mode: no function, = 0

Status bytes 5 ... 8 (actual value 2) – Direct mode

Bit EN Description

B0 ...B31

Position

Torque

Velocity

Feedback depends on closed-loop control mode (CDIR.B1/B2), in eachcase 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



1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection

Status byte 3 (record number) – Record selection

Bit EN Description

B0 ... B7 Recordnumber

Acknowledgement of record number for record selection.

Status byte 4 (RSB) – Record selection

Bit EN Description

B0RC1

1st RecordChaining Done

= 0: A step enabling condition was not configured or not achieved.= 1: The first step enabling condition was achieved.

B1RCC

Record Chain-ing 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

B3FNUM1

FunctionNumberfeedback

Only if the camming function is used (RSB.B7, FUNC = 1):No. Bit 4 3 Function number0 0 0 CAM-IN / CAM-OUT / Change active1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming


function

B4FNUM2

B5FGRP1

FunctionGroupfeedback

Only if the camming function is used(RSB.B7, FUNC = 1):No. Bit 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7FUNC

Functionfeedback

= 0: Normal task= 1: Camming function is executed

(bits 3 ... 6 = function number and group)



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)



1.7 FHPP finite state machine

T7* always has thehighest priority.

Switched off

S1

Controllerswitched on

S3

Drive enabled

S2

Drive disabled

SA1

Ready

SA5

Jog positive

SA6

Jog negative

SA4

Homing is beingcarried out

SA2

Positioning taskactive

SA3

Intermediate stop

S5

Reaction to fault

S6

Fault

From all states

S4

Operation enabled

T6

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1TA2

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

Fig. 1/2: Finite state machine



Notes on the “Operation enabled” state

The transition T3 changes to state S4, which itself contains itsown 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 areomitted.

Switched off

S1 Controllerswitched on

S3Drive enabled

S2 Drive disabled

S5 Reaction tofault

S6 Fault

From all states

Operationenabled

T6

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

S4

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

Transitions T4, T6 and T7* are executed from every sub-stateSAx and automatically have a higher priority than any transi-tion TAx.

Reaction to faults

T7 (“Fault recognised”) has the highest priority (and receivesthe 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.



1.7.1 Establishing the ready status

To create the ready status, additional input signals are re-quired, depending on the controller, at DIN 4, DIN 5, DIN 13,etc., for example.For more detailed information about this, see the descriptionof the controller in question.

T Internal conditions Actions of the user

T1 Drive is switched on.There is no fault detected.

T2 Load voltage applied.Control sovereignty with PLC.

“Drive enable” = 1CCON = xxx0.xxx1

T3 “Stop” = 1CCON = xxx0.xx11

T4 “Stop” = 0CCON = xxx0.xx01

T5 “Drive enable” = 0CCON = xxx0.xxx0

T6 “Drive enable” = 0CCON = 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→ 1CCON = xxx0.Pxxx

T10 There is no longer a fault.It was a simple fault.

“Reset fault” = 0→ 1CCON = xxx0.Pxx1

T11 Fault still exists. “Reset fault” = 0→ 1CCON = xxx0.Pxx1

Key: P = positive edge, N = negative edge, x = any



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 = 0→1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.00P1

TA2 Motion Complete = 1The current record is completed. The next recordis not to be carried out automatically

“Halt” status is anyCCON = xxx0.xx11CPOS = 0xxx.xxxx

TA3 Motion Complete = 0 Halt = 1→ 0CCON = xxx0.xx11CPOS = 0xxx.xxxN

TA4 Halt = 1Start positioning task = 0→1Clear remaining position = 0CCON = xxx0.xx11CPOS = 00xx.xxP1

TA5 Record selection:– A single record is finished.– The next record is to be carried out automatically.

CCON = xxx0.xx11CPOS = 0xxx.xxx1

Direct mode:– A new positioning task has arrived.

CCON = xxx0.xx11CPOS = 0xxx.xx11

TA6 Clear remaining position = 0→ 1CCON = xxx0.xx11CPOS = 0Pxx.xxxx

TA7 Start homing = 0→1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.0Px1

TA8 Homing finished or Halt. Only for Halt:Halt = 1→ 0CCON = xxx0.xx11CPOS = 0xxx.xxxN




TA Actions of the userInternal conditions

TA9 Jog positive = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.Pxx1

TA10 Either– Jog positive = 1→0– CCON = xxx0.xx11– CPOS = 0xxx.Nxx1or– Halt = 1→ 0– CCON = xxx0.xx11– CPOS = 0xxx.xxxN

TA11 Jog negative = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xxP.0xx1

TA12 Either– Jog negative = 1→ 0– CCON = xxx0.xx11– CPOS = 0xxN.xxx1or– Halt = 1→ 0– CCON = xxx0.xx11– CPOS = 0xxx.xxxN


There are additional transitions if the camming function isused; see appendix B.2.



1.7.3 Special features dependent on FHPP operating mode

FHPP operatingmode

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 con-trol 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... controllerenabling and closed-loop controller enabling; see manualfor the CMM... controller used.



0. Safeguard device control

Step/Description Control bytes Status bytes

Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0

0.1 Drive control bysoftware = on

Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0

Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab. 1/4: Control and status bytes for “Device control active”

Description of 0. Safeguard device control:

0.1 Device control via software (e.g. Festo ConfigurationTool) is activated.To control using the fieldbus interface, device controlvia the software has to be deactivated first.



1. Create readiness to operate – Record selection



1.1 Basic status

(Drive control bysoftware = off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

1.2 Disable devicecontrol by software


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

1.3 Enable drive,enable operation

(Record selection)


CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


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 hasbeen switched on.} Step 1.2 or 1.3

1.2 Disable device control by software.Optionally, assuming of device control by the softwarecan 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.



2. Create readiness to operate – Direct mode



2.1 Basic status

(Drive control bysoftware = off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

2.2 Disable devicecontrol by software


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

2.3 Enable drive,enable operation

(Direct mode)


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


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 hasbeen switched on.} Step 2.2 or 2.3

2.2 Disable device control by software.Optionally, assuming of device control by the softwarecan 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):} Fault handling: see example 3, Tab. 1/7.



3. Fault handling



3.1 Fault Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x 0 x x x x SCON x x x x 1 x x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.2 Warning Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x 0 x x x x SCON x x x x x 1 x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.3 Reset fault

with CCON.B3(RESET)


CCON 0 x x 0 F x x 1 SCON 0 x 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; N: negative edge

Tab. 1/7: Control and status bytes for “Fault handling”



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 (closed-loop controller enable), see manual for the controller used.



4. Homing (requires status 1.3 or 2.3)



4.1 Start homing Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1

4.2 Homing running Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1

4.3 Homing finished Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1


Tab. 1/8: Control and status bytes for “Homing”



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, MotionComplete) and SPOS.B7 (REF) will be set.

If there are faults during homing:} Fault handling: see example 3, Tab. 1/7.



5. Positioning with record selection(requires status 1.3/2.3 and possibly 4.3)

Step/Descrip-tion

Control bytes Status bytes


5.1 Preselect recordnumber(control byte 3)

Byte 3 Record number Byte 3 Record number

RecordNo.

Record no. (0 ...) RecordNo.

Previous record no. (0 ...)

5.2 Start task Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

5.3 Task running Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

Byte 3 Record number Byte 3 Record number

RecordNo.

Record no. (0 ...) RecordNo.

Current record no. (0 ...)

5.4 Task finished Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 5...8 Reserved Byte 5...8 Position

– Reserved Act.pos.

Actual position(positioning units)


Tab. 1/9: Control and status bytes for “Positioning with record selection”



Description of 5. Positioning with record selection:

(steps 5.1 ... 5.4 conditional sequence)

When the readiness to operate is created and homing hasbeen carried out, a positioning task can be started.

5.1 Preselect record number: Byte 3 of the output data0 = Homing1 ... = Programmable positioning records

5.2 With CPOS.B1 (START, Start positioning task) thepreselected positioning task will be started. The startis confirmed with SPOS.B1 (Acknowledge start) as longas 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:} Fault handling: see example 3, Tab. 1/7.



6. Positioning with direct mode(requires status 1.3/2.3 and possibly 4.3)



6.1 Preselect positionand speed(bytes 4 and 5...8)

Byte 4 Velocity Byte 4 Velocity

Veloc-ity

Speed preselect (0...100 %) Veloc-ity

Speed feedback (0...100 %)

Byte 5...8 Position Byte 5...8 Position

Set-pointpos.

Setpoint position(positioning units)

Act.pos.

Actual position(positioning units)

6.2 Start task Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS

CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S

6.3. Task running Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

6.4 Task finished Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

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”



Description of positioning with direct mode:

(step 6.1 ... 6.4 conditional sequence)

When the readiness to operate is created and homing hasbeen carried out, a setpoint position must be preselected.

6.1 The setpoint position is transferred in positioning unitsin 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) thepreselected positioning task is started. The start isconfirmed with SPOS.B1 (Acknowledge start) as long as 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:} Fault handling: see example 3, Tab. 1/7.

Drive functions


Chapter 2

Drive functions

2. Drive functions


Contents

2.1 Reference system for electric drives 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Calculation rules for the reference system 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Homing 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Homing for electric drives 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Homing methods 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Jog mode 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Teaching via fieldbus 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Carry out record (Record selection) 2-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Record selection sequence charts 2-18. . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Record structure 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Conditional record chaining (PNU 402) 2-23. . . . . . . . . . . . . . . . . . . . . .

2.7 Direct mode 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Sequence for discrete setpoint value 2-29. . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Sequence for Profile Torque mode (torque and current control) 2-30. .

2.7.3 Sequence for Profile Velocity mode 2-32. . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Standstill control 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9 On-the-fly measurement (position sampling) 2-36. . . . . . . . . . . . . . . . . . . . . . . . .

2. Drive functions


2.1 Reference system for electric drives

Reference system for electric linear drives

1

REF AZ

a b c

PZ

d e

TP/AP USELSE

2

Positions increasing in size, “positive” travel

LES HES

REF Homing point (reference point) a Axis zero point offset

AZ Axis zero point b Project zero point offset

PZ Project zero point c Target/actual positionoffset

LSE Lower software end position d, e Software end positionoffsets

USE Upper software end position 1 Effective stroke

LES Lower end switch (lower limit switch) 2 Nominal stroke

HES Higher end switch (higher limit switch)

TP, AP Target/actual position

Tab. 2/1: Reference system for electric drives

2. Drive functions


Reference system for electric rotary drives

Rotation axis: example with negativereference switch homing method REF

AZ

ab

e

PZ

d

1

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 posi-tions in the positioning record table.

a Axis zero point offset: distance of axis zero point AZ from reference point REF

b Project zero point offset: distance from AZ

d, e Software end position offsets: limit the permitted positioning range (usable stroke).Optional: endless positioning possible

1 Effective stroke: permitted positioning range

Tab. 2/2: Reference system for electric rotary drives

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

Lower software end position LSE = AZ + d = REF + a + d

Upper software end position USE = AZ + e = REF + a + e

Target/actual position TP, AP = PZ + c = AZ + b + c = REF + a + b + c

Tab. 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 isswitched on.This is defined drive-specifically with the parameter “Homingrequired” (PNU 1014).

Various homing modes are permitted, depending on thecontroller and drive.An overview is shown in Tab. 2/4.

For a description of the homing modes, see section 2.3.2.

2. Drive functions


Homing mode Controller

Hex Dec Description CMMP-AS CMMS-AS/CMMD-AS

CMMS-ST

01h 1 Negative limit switch with index pulse x x x 1)

02h 2 Positive limit switch with index pulse x x x 1)

07h 7 Reference switch in positive direction withindex pulse

x – –

0Bh 11 Reference switch in negative direction withindex pulse

x – –

11h 17 Negative limit switch x x x

12h 18 Positive limit switch x x x

17h 23 Reference switch in positive direction x – –

1Bh 27 Reference switch in negative direction x – –

21h 33 Index pulse in negative direction x x x 1)

22h 34 Index pulse in positive direction x x x 1)

23h 35 Current position x x x

FFh -1 Negative stop with index pulse x x x 1)

FEh -2 Positive stop with index pulse x x x 1)

EFh -17 Negative stop x x x 1)

EEh -18 Positive stop x x x 1)

E9h -23 Reference switch in positive direction withtravel to stop or limit switch

x – –

E5h -27 Reference switch in negative direction withtravel to stop or limit switch

x – –

1) Only possible for motors with an encoder

Tab. 2/4: Permissible homing modes, as of August 2007

2. Drive functions


2.3.1 Homing for electric drives

The drive homes against a stop, a limit switch or a referenceswitch. An increase in the motor current indicates that a stophas been reached. As the drive must not continuously refer-ence against the stop, it must move at least one millimetreback into the stroke range.

Sequence:

1. Search for the reference point in accordance with theconfigured method.

2. Travel the distance of the “axis zero point offset” relativeto 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 startSPOS.B7 = Axis is referenced

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”There must not be any command for jogging

Tab. 2/5: Parameters involved in homing

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 suchcases, methods involving homing to an index pulse (= zeropulse) might not cause homing to be carried out; rather thedrive will move directly to the axis zero point (if it has beenentered in the parameters).

Homing methods

Hex Dec Description

01h 1 Negative limit switch with index pulse 1)

1. If the negative limit switch is inactive:run at search speed in negative direction tonegative limit switch.

2. Run at crawl speed in positive direction untilthe limit switch becomes inactive, then on tofirst index pulse. This position is saved as thereference point.

3. If this has been entered in the parameters: runat travel speed to axis zero point.

Index pulse

Negative limit switch

02h 2 Positive limit switch with index pulse 1)

1. If the positive limit switch is inactive:run at search speed in positive direction topositive limit switch.

2. Run at crawl speed in negative direction untilthe limit switch becomes inactive, then on tofirst index pulse. This position is saved as thereference point.


Index pulse

Positive limit switch

1) Only possible for motors with an encoder.

2. Drive functions


Homing methods

Hex DescriptionDec

07h 7 Reference switch in positive direction with indexpulse 1)

1. If reference switch is inactive:run at search speed in positive direction toreference switch.If the stop or limit switch is reached in the pro-cess: run at search speed in negative directionto reference switch.

2. Run at crawl speed in positive direction untilthe reference switch becomes inactive, then onto first index pulse. This position is saved asthe reference point.


Index pulse

Reference switch

0B 11 Reference switch in negative direction withindex pulse 1)

1. If reference switch is inactive:run at search speed in negative direction toreference switch.If the stop or limit switch is reached in the pro-cess: run at search speed in positive directionto reference switch.

2. Run at crawl speed in positive direction untilthe reference switch becomes inactive, then onto first index pulse. This position is saved asthe reference point.


Index pulse

Reference switch

11h 17 Negative limit switch1. If the negative limit switch is inactive:

run at search speed in negative direction tonegative limit switch.

2. Run at crawl speed in positive direction untillimit switch becomes inactive. This position issaved as the reference point.


Negative limit switch


2. Drive functions


Homing methods

Hex DescriptionDec

12h 18 Positive limit switch1. If the positive limit switch is inactive:

run at search speed in positive direction topositive limit switch.

2. Run at crawl speed in negative direction untillimit switch becomes inactive. This position issaved as the reference point.


Positive limit switch

17h 23 Reference switch in positive direction1. If reference switch is inactive:

run at search speed in positive direction toreference switch.If the stop or limit switch is reached in the pro-cess: run at search speed in negative directionto reference switch.

2. Run at crawl speed in negative direction untilreference switch becomes inactive. This posi-tion is saved as the reference point.


Reference switch

1Bh 27 Reference switch in negative direction1. If reference switch is inactive:

run at search speed in negative direction toreference switch.If the stop or limit switch is reached in the pro-cess: run at search speed in positive directionto reference switch.

2. Run at crawl speed in positive direction untilreference switch becomes inactive. This posi-tion is saved as the reference point.


Reference switch


2. Drive functions


Homing methods

Hex DescriptionDec

21h 33 Index pulse in negative direction 1)

1. Run at crawl speed in negative direction toindex pulse. This position is saved as thereference point.


Index pulse

22h 34 Index pulse in positive direction 1)

1. Run at crawl speed in positive direction toindex pulse. This position is saved as thereference point.


Index pulse

23h 35 Current position1. The current position is saved as the reference

point.2. If this has been entered in the parameters: run

at travel speed to axis zero point.Note: if the reference system is shifted, runs to alimit switch or fixed stop are possible.This is therefore generally used for axes of rota-tion.

FFh -1 Negative stop with index pulse 1) 2)

1. Run at search speed in negative direction tostop.

2. Run at crawl speed in positive direction to nextindex pulse. This position is saved as thereference point.


Index pulse

FEh -2 Positive stop with index pulse 1) 2)

1. Run at search speed in positive direction tostop.

2. Run at crawl speed in negative direction tonext index pulse. This position is saved as thereference point.


Index pulse

1) Only possible for motors with an encoder.2) Limit switches are ignored during the run to the stop.

2. Drive functions


Homing methods

Hex DescriptionDec

EFh -17 Negative stop 1) 2) 3)

1. Run at search speed in negative direction tostop. This position is saved as the referencepoint.


EEh -18 Positive stop 1) 2) 3)

1. Run at search speed in positive direction tostop. This position is saved as the referencepoint.


E9h -23 Reference switch in positive direction with travelto stop or limit switch.1. Run at search speed in positive direction to

stop or limit switch.2. run at search speed in negative direction to

reference switch.3. Run at crawl speed in negative direction until

reference switch becomes inactive. This posi-tion is saved as the reference point.


Reference switch

E5h -27 Reference switch in negative direction withtravel to stop or limit switch.1. Run at search speed in negative direction to

stop or limit switch.2. Run at search speed in positive direction to

reference switch.3. Run at crawl speed in positive direction until

reference switch becomes active. This positionis saved as the reference point.


Reference switch

1) Only possible for motors with an encoder.2) Limit switches are ignored during the run to the stop.3) 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. Drive functions


2.4 Jog mode

In the “Operation enabled” state, the drive can be moved byjogging in the positive/negative directions. This function isusually 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 (manuallyoperated feed).

Procedure

1. When one of the signals “Jog positive / Jog negative” isset, the drive starts to move slowly. Due to the slowspeed, 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 confi-gured maximum velocity is reached. In this way largestrokes can be traversed quickly.

3. If the signal changes to 0, the drive is braked with thepre-set maximum deceleration.

4. Only if the drive is referenced:If the drive reaches a software end position, it will stopautomatically. The software end position is not exceeded,the path for stopping depends on the ramp set. The jogmode can be exited here with Jog = 0.

2. Drive functions


1 Low speed, phase 1(slow travel)

2 Maximum speed forphase 2

3 Acceleration

4 Deceleration

5 Phase 1 timeCPOS.B3 orCPOS.B4 (Jogpositive/negative)

Velocity v(t)

t [s]

1

0

1

2

34

5

Fig. 2/1: Sequence chart for jog mode

Overview of parameters involved (see section 4.4.9)


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 movingSPOS.B2 = 0: (Motion Complete)

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”

Tab. 2/7: Parameters involved in jog mode

2. Drive functions


2.5 Teaching via fieldbus

Position values can be taught via the fieldbus. Previouslytaught position values will then be overwritten.

Procedure

1. The drive is moved to the desired position by jog mode ormanually. This can be accomplished in jog mode by posi-tioning (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 isselected. For this, the parameter “Teach target” and, ifapplicable, the correct record address must be entered.

Teach target (PNU 520) Is taught

= 1 (default) Setpoint position in the positioningrecord.– Record selection:

Positioning record according tocontrol byte 3

– Direct mode:Positioning record according toPNU=400

= 2 Axis zero point

= 3 Project zero point

= 4 Lower software end position

= 5 Upper software end position

Tab. 2/8: Overview of teach targets

3. Teaching takes place via the handshake of the bits in thecontrol and status bytes CPOS/SPOS:

2. Drive functions


1 PLC:Prepare teaching

2 Controller:Ready for teaching

3 PLC:Teach now

4 Controller:Value transferred

1

0

Acknowl-edgementSPOS.B3

Teach actualvalueCPOS.B5

1 2

1

0

3 4

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 millimetreseven at a speed of only 100 mm/s.

Overview of parameters involved (see sections 4.4.8 and 4.4.9)


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


Tab. 2/9: Parameters involved in teach mode

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 (recipechange)

Procedure

1. Set the required record number in the PLC’s output data.Until the start, the controller replies with the number ofthe record last processed.

2. With a rising edge at CPOS.B1 (START) the controlleraccepts the record number and starts the positioningtask.

3. The controller signals with the rising edge at “Acknowledgestart” that the PLC output data has been accepted and thatthe positioning task is now active. The positioning commandcontinues to be executed, even if CPOS.B1 (START) is resetto 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 cannotbe reached.

– Invalid record number.

– Record not initialised.

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 themovement, the remaining path to the target position must belarge enough to reach a standstill with the braking ramp thatwas set.



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: StartJogging and homing have priority.

Feedback (FHPP) SPOS.B2 = 0: Motion CompleteSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”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 chartsfor starting and stopping a record.

2. Drive functions


Start/stop record

Target recordnumberOutput data

StopCCON.B1 (STOP)

Acknowledge startSPOS.B1 (ACK)

Motion CompleteSPOS.B2 (MC)

Actual recordnumberInput data

N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

2

3

4

6

1

0

1

0

Axis is movingSPOS.B4 (MOV)

StartCPOS.B1 (START)

N + 1

5

1 Prerequisite:“Acknowledge start” = 0

2 Rising edge at “Start” causes the newrecord number N to be accepted and“Acknowledge start” to be set

3 As soon as “Acknowledge start” isrecognised by the PLC, “Start” may beset to 0 again

4 The controller reacts with a fallingedge at “Acknowledge start”

5 As soon as “Acknowledge start” isrecognised by the PLC, the next recordnumber may be started

6 A currently running positioning taskcan be stopped with “Stop”

Fig. 2/3: Sequence chart for Start/Stop record

2. Drive functions


Stop record with Halt and continue





N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

0


HaltCPOS.B0 (HALT)

1

0


1

0

Confirm HaltSPOS.B0 (HALT)

1

2

1 Record is stopped with “Halt”, actualrecord number N is retained, “MotionComplete” remains reset

2 Rising edge at “Start” starts record Nagain, “Confirm Halt” is set

Fig. 2/4: Sequence chart for Stop record with Halt and Continue

2. Drive functions


Stop record with Halt and Clear remaining position





N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

0


HaltCPOS.B0 (HALT)

N + 1

1

0


Clear remainingpositionCPOS.B6 (CLEAR)

1

0

1

0

Confirm HaltSPOS.B0 (HALT)

1

2

1 Stop record 2 Clear remaining position

Fig. 2/5: Sequence chart for Stop record with Halt and Clear remaining position

2. Drive functions


2.6.2 Record structure

A positioning task in record selection mode is described bya record made up of setpoint values. Every setpoint value isaddressed by its own PNU. A record consists of the setpointvalues with the same subindex.

PNU Name Description

401 Record control byte 1 Setting for positioning task:absolute/relative, position/torque control, ...

402 Record control byte 2 Record control:Settings for conditional record 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 profiledefines the PNUs 405, 406, 407, 408, 413 for all the assigned re-cords, along with other shared settings; see section 4.4.8.

415 Reserved – (not supported by CMM...)

416 Record following posi-tion/record control

Record number to which record chaining jumps when the stepenabling 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 distancemessage

CMMP only: distance in front of the target position where a displaycan be triggered via a digital output to show it has been reached.

421 Record control byte 3 CMMP only: settings for specific behaviour of the record.

Tab. 2/11: Record parameters

2. Drive functions


2.6.3 Conditional record chaining (PNU 402)

Record selection mode allows multiple positioning tasks to belinked. This means that, starting at CPOS.B1, various recordsare automatically executed one after the other. This allows apositioning profile to be defined, e.g. switching to anotherspeed after a position is reached.

To do this, the user sets a (decimal) condition in RCB2 to de-fine that the following record is automatically executed afterthe current record.

It is only possible to set all of the parameters for the recordchaining (“route program”) (e.g. the following record) usingthe FCT.

If a condition was defined, it is possible to prohibit automaticcontinuation to the following record by setting the B7 bit. Thisfunction should be used for debugging using FCT and not fornormal 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. Drive functions


Step enabling conditions

Value Condition Description

0 – No automatic continuation

1 1) MC The preselection value isinterpreted as a delay inmilliseconds. The chaincontinues to the next re-cord once the target set-point value is reached,i.e. once the MC condi-tion is fulfilled (MC=1)and a delay time has ex-pired as well.Note:Thus the axis is at astandstill for a momentduring positioning. Notnecessarily the case withtorque control (ProfileTorque mode).

2 1) Position The preselection value isinterpreted as the posi-tion value2.The chain continues tothe next record as soonas the current actualposition exceeds thepreselection value in thedirection of travel1.As there is no need tostop, the drive reachesits target positionquicker.

3 1) Torque The preselection value is interpreted as the torque. The chain continues tothe next record once the current actual torque exceeds the preselectionvalue in the direction of travel. It is not absolutely necessary for a torquecommand to be specified here. It is also possible to position to the endpoint. When a specific actual torque is reached, torque control is activated.

1) Not supported by CMM...

2. Drive functions



Value DescriptionCondition

4 Standstill The chain continues to the next record once the drive comes to a standstilland then the time T1 specified as the preselection value has expired. (Travelto end point)

5 2) Time The preselection value is interpreted as time in milliseconds. The chain con-tinues to the next record once this time has expired (after the start).

6 InputPos. edge

The chain continues to the next record if a rising edge is identified at thelocal input. The preselection value includes the input’s bit address.

Preselection value = 1: NEXT1Preselection value = 2: NEXT2

7 InputNeg. edge

The chain continues to the next record if a falling edge is identified at thelocal input. The preselection value includes the input’s bit address.

Preselection value = 1: NEXT1Preselection value = 2: NEXT2

8 1) Velocity pro-file

The setpoint generatorcalculates the trajectoryso that the record’s set-point speed is active inthe target position. Thefinal speed is thereforenot 0.The preselection value isignored.Note: in type 1, the useronly defines the chainingposition; the user has noinfluence over the speed.

9 InputPos. edgewaiting

The chain continues to the next record after the current record ends if arising edge is identified at the local input. The preselection value includesthe input’s number:Preselection value = 1: NEXT1Preselection value = 2: NEXT2

10 InputNeg. edgewaiting

The chain continues to the next record after the current record ends if afalling edge is identified at the local input. The preselection value includesthe input’s number:Preselection value = 1: NEXT1Preselection value = 2: NEXT2

1) Not supported by CMM...2) Not supported by CMMP

2. Drive functions



Value DescriptionCondition

11 2) Position(relative)

This chaining is the sameas type 2 except that thespecified position is notspecified absolutely butrelative to the last set-point position2 .The chain continues tothe next record as soonas the current actualposition exceeds thepreselection value in thedirection of travel1.Important: For the chain-ing position to be repro-ducible, the specificationmust be calculated rela-tive to the last targetposition; in other words,not relative to the actualposition.

12 Internal MCcondition

Like condition 1, butwithout an external MCsignal between the indi-vidual records. An exter-nal MC signal (SPOS.B2)is only set after the lastrecord in the chain.

2) Not supported by CMMS/CMMD

Tab. 2/13: Step enabling conditions

2. Drive functions


2.7 Direct mode

In the status “Drive enabled” (Direct mode) a task is formu-lated directly in the I/O data that is transmitted via the field-bus. Some of the setpoint values for the position are reservedin 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 orchange frequently (e.g. several different workpiece posi-tions).

– 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 implementa positioning profile by chaining records externally throughthe PLC.

Causes of errors in application


– Target position cannot be reached or lies outside thesoftware end positions.

– Load torque is too large.

2. Drive functions




Position specifications Base velocity value 1) 540

Direct mode acceleration 541

Direct mode deceleration 542

Jerk-free filter time 546

Torque specifications(for CMMP only) 2)

Base torque ramp 1) 550

Torque target window 552

Damping time 553

Permissible speed during torque control 554

Velocity specifications Base acceleration ramp 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: StartCDIR.B0 = Absolute/Relative setpoint positionCDIR.B1/B2 = Control mode (see section 1.5.3)

Feedback (FHPP) SPOS.B2 = 0: Motion CompleteSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving


1) The PLC transfers a percentage value in the control bytes, which is multiplied by the base value inorder to get the final setpoint value.

2) For supported functions, see 1.4

Tab. 2/14: Parameters involved in direct mode

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 ac-cepts the setpoint values and starts the positioning task.

After the start, a new setpoint value can be started at anytime. 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 positionOutput data

StartCPOS.B1

Acknowledge startSPOS.B1

Motion CompleteSPOS.B2

N - 1 N N + 1

1

0

1

0

1

0

1

0

N + 2

Fig. 2/6: Starting the positioning task

The sequence of the remaining control and status bits as wellas the functions Halt and Stop are the same as for the Recordselection function, see Fig. 2/3, Fig. 2/4 and Fig. 2/5.

2. Drive functions


2.7.2 Sequence for Profile Torque mode (torque and current control)

Profile Torque mode is prepared by switching over the controlmode with the bits CDIR - COM1/2. The drive remains at astandstill 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 setpointvalue’s prefix (+ or -) and the active Profile Torque mode isdisplayed via the bits SDIR - COM1/2.

For CMMP:The speed is limited to the value in the parameter “Maximumspeed”. Once this speed has been reached, the bit “Speedlimit reached” is set in the status byte SDIR.

Once the setpoint value has been reached, taking into ac-count the target window and the time window, the “MC”signal is set. Torque/moment continue to be controlled.

Causes of errors in application


2. Drive functions


Setpoint specification / actual value query in direct mode inProfile Torque mode:

CCON.B6 (OPM1) = 1, CCON.B7 (OPM2) = 0CDIR.B1 (COM1) = 1, CDIR.B2 (COM2) = 0

Direct mode


Outputdata

CCON CPOS CDIR Setpointvalue 1(reserved)

Setpoint value 2(torque)

Inputdata

SCON SPOS SDIR Actualvalue 1(actualtorque)

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. 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” (comparesection 2.7.1) is supported.

Speed adjustment is requested by switching the closed-loopcontrol mode. The drive remains in the operating mode thatwas set previously. After the setpoints are specified, the startsignal (start bit) switches the system to Profile Velocity modeand the velocity setpoint value comes into effect.The torque is limited here to the value set in the “Torquelimit” parameter (PNU 565).

The signal “MC” (Motion Complete) is used in this controlmode to mean “target velocity reached”.

Motion Complete / standstill notification

The same comparator type is used to determine “velocityreached” and “velocity 0” and it behaves as per Fig. 2/7, seeTab. 2/15.

Setpoint value Specifications for reaching MC (Motion Complete)

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

= 0 Target velocity: Setpoint value as per input dataTolerance: Standstill target window (PNU 563)Response time: Damping time for standstill target window (PNU 564)

Tab. 2/15: Motion Complete / standstill notification specifications

2. Drive functions


Target rpm + tolerance

Damping time

Motion Complete (SPOS.B2)orStandstill control (SPOS.B6)

Timer

1

0

Velocity (rpm)

Target rpm

Target rpm - tolerance

Fig. 2/7: Motion Complete / standstill notification

2. Drive functions


2.8 Standstill control

Standstill control makes it possible to detect the drive exitingthe 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 signalledin 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 adefined time due to external forces or other influences, the bitSPOS.B6 will be set.

As soon as the drive is in the standstill position window againfor 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(SPOS.B2)

5 Standstill positionwindow

6 Target positionwindow

7 Monitoring time(position windowtime)

8 Standstill timeout

1

0

1

0

1

2

3

4

5 6

7

88

Fig. 2/8: Standstill control

2. Drive functions


Standstill control cannot be switched on or off explicitly. Itbecomes inactive when the standstill position window is setto “0”.



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


Tab. 2/16: Parameters involved in standstill control

2. Drive functions


2.9 On-the-fly measurement (position sampling)

To find out whether this function is supported by the con-troller you are using and its firmware version, see the help forthe associated FCT plug-in.

The local digital inputs can be used as quick sampling inputs:with every rising and falling edge at the configured sampleinput (only possible using the FCT), the current position valueis written into a register of the controller and can afterwardsbe read out (PNU 350:01/02) by the higher-level controlsystem (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

Fault reaction and diagnosis


Chapter 3

Fault reaction and diagnosis

3. Fault reaction and diagnosis


Contents

3.1 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostic memory (faults) 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Warning memory (CMMP only) 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 CMMP fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 CMMS/CMMD fault numbers 3-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Diagnosis using FHPP status bytes 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



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 separatelyfor each controller. The basis for this classification is the wayin which each controller has to behave for each fault.

The controllers indicate faults by appropriate error messagesor warnings. These can be evaluated via the following:

– Display

– Status bytes (see section 1.4)

– Bus-specific diagnosis (see description of the fieldbus forthe controller in question)

– Diagnostic memory (see section 3.2)

– FCT (see FCT help)



3.1.1 Warnings

A warning provides the user with information that does nothave any effect on the drive’s 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 taskmay be possible.

– The SCON.B2 (WARN) bit is set.

– If the cause of the warning disappears, the SCON.B2 bit isautomatically cleared again.

– CMMP only:The warning numbers are logged in the warning register(PNU 211).

Causes of warnings

– Parameters cannot be written or read (not permitted inthe operating mode, invalid PNU, ...)

– Following (drag) error, drive has exceeded the toleranceafter Motion Complete, and similar minor control errors.



3.1.2 Fault type 1

In the event of a fault, the service that was requested cannotbe 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 newpositioning task can be carried out.

– The SCON.B3 (FAULT) bit is set.

– The “Fault” status can be exited by switching off, with apositive 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).



3.1.3 Fault type 2

In the event of a fault, the service that was requested cannotbe 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 newpositioning task can be carried out.

– The SCON.B3 (FAULT) bit is set.

– The “Fault” status can be exited by switching off, with apositive 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 beenimplemented)

– Hardware fault:

– 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 thelast fault messages that occurred. The diagnostic memoryis protected against power failure. If the diagnostic memoryis 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


... 2) ...


1) See section 4.4.5

Tab. 3/2: Structure of diagnostic memory in CMMP



3.3 Warning memory (CMMP only)

Some controllers have a separate diagnostic memory forwarnings.The warning memory contains the codes of the last warningsthat occurred. It functions in the same way as the diagnosticmemory for faults.

Structure of the warning memory

Parameter 1) 210 211 212

Format uint8 uint16 uint32

Meaning Warning event Warningnumber

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



3.4 Fault numbers

The error messages of the controller are displayed andrecorded as fault numbers. Sections 3.4.1 and 3.4.2 containthe error messages from the latest firmware versions at thetime of printing of this document.

For a complete, up-to-date list of error messages, seethe hardware description for the controller in question,type P.BE-CMM...-HW-...

3.4.1 CMMP fault numbers

Error messages CMMP

Mainindex

Sub-index

Message Causes Measures

0 0 Invalid error Information: an invalid errorentry (corrupted) was found inthe diagnostic memory markedwith this error number.The system time entry is setto “0”.

–

1 Invalid error de-tected and cor-rected

Information: an invalid errorentry (corrupted) was foundin the diagnostic memory andcorrected. The additional in-formation contains the originalerror number.The system time entry containsthe address of the corruptederror number.

–

2 Error cleared Information: active errors werereset.

–



Error messages CMMP

Mainindex

MeasuresCausesMessageSub-index

1 0 Stack overflow Incorrect firmware?Sporadic high processor loaddue to cycle time being tooshort and specific processor-intensive processes (save para-meter set etc.).

• Load a new firmware release.• Reduce the processor load.• Contact Technical Support.

2 0 Intermediate circuitundervoltage

Intermediate circuit voltage isfalling below the parametrisedthreshold.Error priority set too high?

• Quick discharge due to mainssupply 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 machineLower 16 bits: intermediate circuit voltage in internal scaling

(approx. 17.1 digital increments/V).

3 0 Analogue motorovertemperature

Motor overloaded, temperaturetoo high.Suitable sensor or sensor char-acteristics parametrised?Sensor defective?

If there is overloading:• Check parameters (current

regulator, current limits).• Check the parametrisation of

the sensor or the sensorcharacteristics.

If the error remains even whenthe sensor is jumpered out: de-vice defective.

1 Digital motor over-temperature



Error messages CMMP

Mainindex


... 3 2 Analogue motorovertemperature:Broken wire

The measured resistance valueis above the threshold for wirebreak detection.

• Check the connecting cablesof the temperature sensor forwire breaks.

• Check the parametrisation(threshold value) for wirebreak detection.

3 Analogue motorovertemperature:Short circuit

The measured resistance valueis below the threshold for shortcircuit detection.

• Check the connecting cablesof the temperature sensor forwire breaks.

• Check the parametrisation(threshold value) for short cir-cuit detection (Subindex 3).

4 0 Power section over-temperature

Device is overheated; is dis-played temperature plausible?Device fan defective?Device overloaded?

• Check installation conditions;are the control cabinet fanfilters dirty?

• Check the drive layout (due topossible overloading in con-tinuous duty).

1 Intermediate circuitovertemperature

5 0 Failure of internalvoltage 1

The monitoring of the internalpower supply reported under-voltage. Either an internal defector overload/short circuit fromconnected peripheral devices.

• Disconnect the device from allperipherals and checkwhether the error is still thereafter resetting. If yes, thenthere is an internal defect andrepair by the manufacturer isnecessary.

1 Failure of internalvoltage 2

2 Failure of driversupply

3 Undervoltage ofdigital I/O

Defective peripheral device? • Check connected peripheralsfor short circuit / rated loads.

• Check connection of thebrake (connectedincorrectly?).

4 Overcurrent ofdigital I/O



Error messages CMMP

Mainindex


6 0 Short circuit of out-put stage

Faulty motor, e.g. interturn shortcircuit due to motor overheatingor short to earth inside motor.Short circuit in the cable or theconnecting plugs, i.e. short cir-cuit between motor phases or tothe screen/earth.Output stage defective (shortcircuit).Incorrect parametrisation of thecurrent regulator.

Dependent on the state of thesystem; cases a) to f):

a) Fault only with active brakechopper:Check external braking resis-tor for short circuit or insuffi-cient resistance value. Checkthe circuitry of the brakechopper output on the motorcontroller (jumpering etc.).

b) Error message as soon as the power supply is switched on: in-ternal short circuit in the output stage (short circuit of a com-plete half-bridge). The motor controller can no longer be con-nected 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 closed-loop 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 themotor and cable for short circuits, e.g. with a multimeter.

f ) Check parametrisation of the current regulator. Oscillations in anincorrectly parametrised current regulator can generate currentsup to the short circuit threshold, usually clearly audible as ahigh-frequency whistling. Verify if necessary with the oscillo-scope function (actual active current value).

1 Brake chopperovercurrent

Overload current at the brakechopper output.

• Check external braking resis-tor for short circuit or insuffi-cient resistance value.

• Check the circuitry of thebrake chopper output on themotor controller (jumperingetc.).



Error messages CMMP

Mainindex


7 0 Overvoltage in in-termediate circuit

Braking resistor is overloaded;too much braking energy whichcannot be dissipated quicklyenough.Resistor capacity is incorrect?Resistor not parametrised?Resistor not connected cor-rectly?

Check the design of the brakingresistor; resistance value may betoo great.Check parametrisation.Check the connection to thebraking resistor (internal/exter-nal).

8 0 Resolver angle en-coder error

Resolver signal amplitude isfaulty

Step-by-step procedureaccording to a) to c):

a) If possible, test with a different (error-free) resolver (replace theconnecting cable too). If the error still occurs, there is a fault inthe motor controller. Repair by the manufacturer is necessary.

b) If the error occurs only with a specially designed resolver and itsconnecting cable: check the resolver signals (carrier and SIN/COS signals); see specifications. If the signals do not complywith the signal specifications, replace the resolver.

c) If the error recurs sporadically, check the screen bonding orcheck whether the resolver simply has an insufficient trans-mission ratio (standard resolver: A = 0.5).

1 Sense of rotationof the serial and in-cremental positionevaluation is notidentical

Only encoders with serial posi-tion transmission combined withan analogue SIN/COS signaltrack: the directions of rotationfor position determination in theencoder and for incrementalevaluation of the analogue tracksystem in the motor controllerare the wrong way round.

Swap the following signals onthe X2B angle encoder interface(the wires in the connecting plugmust be changed around), ob-serving the technical data forthe angle encoder where appli-cable:– Swap SIN/COS track.– Swap the SIN+/SIN- or

COS+/COS- signals, asapplicable.

The encoder counts positively in e.g. clockwise direction while theincremental evaluation counts in negative direction with the samemechanical rotation. The mix-up of rotational direction is detectedmechanically at the first movement of over 30° and the error istriggered.



Error messages CMMP

Mainindex


... 8 2 Incremental en-coder Z0 track sig-nals error

Signal amplitude of the Z0 trackon X2B is faulty.Angle encoder connected?Angle encoder cable defective?Angle encoder defective?

Check configuration of the angleencoder interface.Proceed according to a) to c)a) Z0 evaluation activated but no

track signals are connected orpresent (e.g. EnDat 2.2 orEnDat 2.1 without analoguetrack). Heidenhain encoder:order codes EnDat 22 andEnDat 21. With these encod-ers there are no incrementalsignals, even when the cablesare connected.

b) Encoder signals faulty? 1)

c) Test with another encoder. 2)

3 Incremental en-coder Z0 track sig-nals error

Signal amplitude of the Z1 trackon X2B is faulty.Angle encoder connected?Angle encoder cable defective?Angle encoder defective?

Check configuration of the angleencoder interface.Proceed according to a) to c):a) Z1 evaluation activated but

not connected.b) Encoder signals faulty? 1)


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 (connectunused 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 (re-place the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repairby the manufacturer is necessary.



Error messages CMMP

Mainindex


... 8 4 Digital incrementalencoder track sig-nals error (X2B)

Faulty A, B, or N track signals onX2B.Angle encoder connected?Angle encoder cable defective?Angle encoder defective?

Check configuration of the angleencoder interface. Proceed ac-cording to a) and b):a) Encoder signals faulty? 1)

b) Test with another encoder. 2)

5 Incremental en-coder Hall gener-ator signals error

Faulty Hall sensor signals from adigital incr. encoder on X2B.Angle encoder connected?Angle encoder cable defective?Angle encoder defective?



6 Angle encodercommunicationfault

Communication to serial angleencoders is disrupted (EnDat en-coders, HIPERFACE encoders,BiSS encoders).Angle encoder connected?Angle encoder cable defective?Angle encoder defective?

Check configuration of the angleencoder interface:proceed according to a) to c):a) Serial encoder parametrised

but not connected?Incorrect serial protocol se-lected?

b) Encoder signals faulty? 1)


7 Signal amplitude ofincremental trackserroneous (X10)

Faulty A, B, or N track signals onX10.Angle encoder connected?Angle encoder cable defective?Angle encoder defective?



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 theremight 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 (connectunused 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 (re-place the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repairby the manufacturer is necessary.



Error messages CMMP

Mainindex


... 8 8 Internal angle en-coder error

Internal monitoring of the angleencoder (X2B) has detected afault and forwarded it via serialcommunication.Angle encoder defective?

Possible causes:Encoder-specific or manufac-turer-specific, e.g. diminishingillumination intensity in opticalencoders or excessive rpm.If the error is ongoing, test witha different (error-free) encoder(replace the connecting cable aswell). Encoder is probably per-manently faulty.

9 Angle encoder atX2B not supported

Angle encoder type read at X2Bwhich is not supported or can-not be used in the desired oper-ating mode.Incorrect or inappropriate proto-col type selected?Firmware does not support theconnected encoder model?

Depending on the additional in-formation 1) for the error mess-age:• Load appropriate firmware.• Check/correct the configur-

ation for encoder evaluation.• Connect an appropriate en-

coder 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 con-

nected encoder says that it does not support track signals. -> change encoder or switch offZ0 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 tracksignal evaluation.



Error messages CMMP

Mainindex


9 0 Old angle encoderparameter record

Warning:An encoder parameter record inan old format was found in theEEPROM of the connected en-coder. This has been convertedand saved in the new format.

No action necessary at thispoint. The warning should notre-appear when the 24V supplyis switched back on.

1 Angle encoderparameter recordcannot be decoded

Data in the EEPROM of theangle encoder could not be readcompletely, or access to it waspartly refused.

The EEPROM of the encodercontains data (communicationobjects) which is not supportedby the loaded firmware. Thedata in question is then dis-carded.The parameter record can beadapted to the current firmwareby writing the encoder data tothe encoder. Alternatively, ap-propriate (more recent) firmwaremust be loaded.

2 Unknown version ofangle encoderparameter record

The data saved in EEPROM isnot compatible with the currentversion. A data structure wasfound which is unable to decodethe loaded firmware.

Save the encoder parametersagain in order to delete theparameter record in the encoderand replace it with a readablerecord (this will, however, deletethe data in the encoder irreversi-bly). Alternatively, appropriate(more recent) firmware must beloaded.

3 Defective datastructure in angleencoder parameterrecord

Data in EEPROM do not matchthe stored data structure. Thedata structure was identified asvalid but may be corrupted.

Save the encoder parametersagain in order to delete theparameter record in the encoderand replace it with a readablerecord. If the error still occursafter that, the encoder may befaulty.Replace the encoder as a test.



Error messages CMMP

Mainindex


... 9 4 EEPROM data:Faulty user-specificconfiguration

Only with specialised motors:The plausibility check returns anerror, e.g. because the motorwas repaired or replaced.

If motor was repaired: carry outhoming again and save in theangle encoder, after that (!) savein the motor controller.If motor replaced: parametrisethe controller again, then carryout homing again and save inthe angle encoder, after that (!)save in the motor controller.

7 Write-protectedangle encoderEEPROM

Data cannot be saved in theEEPROM of the angle encoder.Occurs with Hiperface encoders.

A data field in the encoderEEPROM is write-protected(e.g. after operation on a motorcontroller from another manu-facturer). No solution possible,encoder memory must be un-locked with an appropriateparametrisation tool (frommanufacturer).

9 Angle encoderEEPROM too small

It is not possible to save all thedata in the EEPROM of the angleencoder.

Reduce the number of data re-cords to be saved. Please readthe documentation or contactTechnical Support.

10 0 Overspeed (spin-ning protection)

Motor racing (“spinning”)because the commutation angleoffset is incorrect.Motor is parametrised correctlybut the limit for spinning protec-tion is set too low.

Check the commutation angleoffset. Check the limit value set-ting in the parameters.



Error messages CMMP

Mainindex


11 0 Error whenhoming is started

Controller enable missing. Homing can only be startedwhen closed-loop controller en-able is active. Check the condi-tion or sequence.

1 Error duringhoming

Homing was interrupted,e.g. by:– Withdrawal of controller

enable.– Reference switch is beyond

the limit switch.– External stop signal

(a phase was abortedduring homing).

• Check the homing sequence.• Check the arrangement of the

switches.• If applicable, lock the stop

input during homing if it is notdesired.

2 Homing: No validindex pulse

Reserved for later extensions(required index pulse missing).

–

3 Homing: Timeout The parametrised maximumtime for the homing run was ex-ceeded before the homing runwas completed.

Check the time setting in theparameters.

4 Homing: Incorrect/invalid limit switch

Relevant limit switch not con-nected.Limit switches swapped?No reference switch found be-tween the two limit switches.Reference switch is at the limitswitch.“Index pulse/index pulse”method: active limit switch inthe area of the index pulse (notpermitted).Both limit switches active at thesame time.

Check whether the limitswitches are connected in thecorrect direction of travel orwhether the limit switches acton the intended inputs.Reference switch connected?Check the arrangement of thereference switch.Move the limit switch so that itis not in the area of the indexpulse.



Error messages CMMP

Mainindex


... 11 5 Homing: I�t /following error

Acceleration ramps not suitablyparametrised.Reversing due to prematuretriggering of following (drag)error; check parametrisation offollowing error (drag error).No reference switch reached be-tween the end stops.Index pulse method: end stopreached (not permitted here).

Parametrise the accelerationramps so they are flatter.Check connection of a referenceswitch.Method appropriate for the ap-plication?

6 Homing: End ofsearch path

The maximum permissible pathfor the homing run has been tra-velled without reaching the ref-erence point or the homing runtarget.

Fault in switch detection.Switch for homing is defective?

12 0 CAN: Double nodenumber

Node number assigned twice. Check the configuration of theCAN bus stations

1 CAN: Communica-tion error, bus OFF

The CAN chip has switched offcommunication due to com-munication errors (BUS OFF).

Check wiring:cable specifications adhered to;broken cable; maximum cablelength exceeded; terminating re-sistors correct; cable screeningearthed; all signals connected?It may be helpful to try replacingthe device as a test. If adifferent device works withouterrors with the same cabling,send the device to the manufac-turer for checking.



Error messages CMMP

Mainindex


... 12 2 CAN: Communica-tion error duringtransmission

The signals are interrupted whenmessages are sent.Device boot up is so fast that noother nodes on the bus has yetbeen detected when theboot-up message is sent.

Check wiring:cable specifications adhered to;broken cable; maximum cablelength exceeded; terminating re-sistors correct; cable screeningearthed; all signals connected?It may be helpful to try replacingthe device as a test. If a differentdevice works without errors withthe same cabling, send the de-vice to the manufacturer forchecking.Check the start sequence of theapplication.

3 CAN: Communica-tion error during re-ception

The signals are interrupted whenmessages are received.

Check wiring:cable specifications adhered to;broken cable; maximum cablelength exceeded; terminating re-sistors correct; cable screeningearthed; all signals connected?It may be helpful to try replacingthe device as a test. If a differentdevice works without errors withthe same cabling, send the de-vice to the manufacturer forchecking.

4 CAN: NodeGuarding

Node Guarding telegram not re-ceived within the parametrisedtime.Faulty signals?

Compare the cycle time of theremote frames with that of thecontrol system, or control sys-tem failure.

5 CAN: RPDO tooshort

A received RPDO does not con-tain the parametrised number ofbytes.

The number of parametrisedbytes does not match thenumber of bytes received.Check the parametrisation andcorrect.

9 CAN: Protocol error Faulty bus protocol. Check the parametrisation of theselected CAN bus protocol.



Error messages CMMP

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13 0 CAN bus timeout Error message from manufac-turer-specific protocol.

Check the CAN parametrisation

14 0 Insufficient powersupply for identifi-cation

Current regulator parameterscannot be determined (becauseof insufficient supply).

The available intermediate cir-cuit voltage is too low formeasurement.

1 Current controlleridentification:Measurement cycleinsufficient

Too few or too many measure-ment cycles required for theconnected motor.

Automatic determination ofparameters has supplied a timeconstant outside the parametris-able value range. The parametermust be manually optimised.

2 Output stage en-able could not beissued

The output stage has not beenenabled.

Check the connection of DIN4.

3 Output stage wasprematurelyswitched off

Output stage enable wasswitched off during identifica-tion.

Check the sequence control.

4 Identification doesnot support theconfigured devicetype

Reserved for later extensions:Identification cannot be carriedout with the parametrised angleencoder settings.

–

5 Index pulse notfound

The index pulse was not foundafter the maximum permissiblenumber of electrical rotations.

Check the index pulse signal.Angle encoder parametrised cor-rectly?

6 Hall signals invalid Hall signals faulty or invalid.The pulse train or segmenting ofthe Hall signals is inappropriate.

Check connection.Refer to the technical data tocheck whether the encodershows three Hall signals with120° or 60° segments; ifnecessary, contactTechnical Support.



Error messages CMMP

Mainindex


... 14 7 Identification notpossible

Angle encoder at a standstill. Ensure there is sufficient inter-mediate circuit voltage.Encoder cable connected to thecorrect motor?Is motor blocked, e.g. holdingbrake will not release?

8 Invalid number ofpairs of poles

The calculated number of polepairs lies outside the parame-trisable range.

Compare result with the techni-cal data specifications for themotor.Check the parametrised numberof lines.

15 0 Division by 0 Internal firmware error.Division by 0 when using themath library.

Load the default parameter re-cord. Check the firmware tomake sure that released firm-ware has been loaded.

1 Range exceeded Internal firmware error.Overflow when using the mathlibrary.

2 Counter underrun Internal firmware error.Internal correction factors couldnot be calculated.

Check the setting of the factorgroup for extreme values andchange if necessary.

16 0 Error in programexecution

Internal firmware error.Error during program execution.Illegal CPU command found inthe program sequence.

If error is repeated, load firm-ware again. If the error appearsagain, the hardware is faulty.

1 Illegal interrupt Error during program execution.An unused IRQ vector was usedby the CPU.

2 Initialisation error Internal firmware error.

3 Unexpected state Error during periphery accesswithin the CPU or error in theprogram sequence (illegalbranching in case structures).



Error messages CMMP

Mainindex


17 0 Following error limitexceeded

The threshold of comparison tothe following (drag) error limitwas exceeded.

Enlarge error window.Acceleration parameter toolarge.Motor overloaded (currentlimitation from i�t monitoring isactive?).

1 Encoder differencemonitoring

Deviation between the actualposition value and commutationposition is too great.External angle encoder not con-nected or faulty?

Deviation fluctuates, e.g. due togear backlash; cut-off thresholdmay need to be increased.Check connection of the actualvalue encoder.

18 0 Analogue motortemperature

Motor temperature (analogue)greater than 5° below T_max.

Check parametrisation of currentregulator and/or speed regula-tor.Motor permanently overloaded?

21 0 Error 1 currentmeasurement U

Offset for current measurement1 phase U is too great. Theclosed-loop controller carriesout offset compensation of thecurrent measurement every timeits controller enable is issued.Tolerances which are too highlead to an error.

If the error appears again, thehardware is faulty.

1 Error 1 currentmeasurement V

Offset for current measurement1 phase V is too great.

2 Error 2 currentmeasurement U

Offset for current measurement2 phase U is too great.

3 Error 2 currentmeasurement V

Offset for current measurement2 phase V is too great.

22 0 PROFIBUS: Faultyinitialisation

Faulty initialisation of the Profi-bus technology module. Tech-nology module defective?

Replace the technology module.Repair by the manufacturer maybe an option.

2 PROFIBUS com-munication error

Faults in communication. Check the slave address set.Check bus termination.Check wiring.



Error messages CMMP

Mainindex


... 22 3 PROFIBUS: Invalidslave address

Communication was started withslave address 126.

Select a different slave address.

4 PROFIBUS: Valuerange error

During conversion with the fac-tor group, the value range wasexceeded.Mathematical error when con-verting physical units.

Value range of the data and thephysical units do not match.Check and correct.

25 0 Invalid device type Device coding not recognised orinvalid.

Fault cannot be rectified inde-pendently. Send the motorcontroller to the manufacturer.

1 Device type notsupported

Device coding valid, but not sup-ported by the loaded firmware.

Load up-to-date firmware. Ifnewer firmware is not available,the problem may be a hardwaredefect. Send the motor con-troller to the manufacturer.

2 Hardware versionnot supported

The controller’s hardware ver-sion is not supported by theloaded firmware.

Check the firmware version; up-date the firmware to a more re-cent version if necessary.

3 Device functionalitylimited!

Device is not unlocked for thisfunction

Device is not unlocked for thedesired functionality and mayneed to be unlocked by themanufacturer. The device mustbe sent to the manufacturer forthis.

26 0 Missing user para-meter set

No valid user parameter recordin the flash memory

Load factory settings. If the errorpersists, the hardware may befaulty.

1 Checksum error Checksum error in a parameterrecord

Load factory settings. If the errorpersists, the hardware may befaulty.



Error messages CMMP

Mainindex


... 26 2 Flash: Write error Error when writing to internal orexternal flash memory

Repeat the last operation. If theerror appears again, the hard-ware may be faulty.

3 Flash: Delete error Error when clearing internal orexternal flash memory

Repeat the last operation. If theerror appears again, the hard-ware may be faulty.

4 Flash: Internal flasherror

The default parameter record iscorrupted / data error in theFLASH range where the defaultparameter record is located.

Load firmware again. If the errorappears again, the hardwaremay be faulty.

5 Missing calibrationdata

Factory-set calibration para-meters incomplete/corrupted.

Fault cannot be rectified inde-pendently.

6 Missing userposition data sets

Position data records incom-plete or corrupt.

Load the factory settings or savethe current parameters again sothat the position data is writtenagain.

7 Faulty data tables(CAM)

Data for the cam disk is cor-rupted.

Load the factory settings; ifnecessary, reload the parameterrecord. If the error persists, con-tact Technical Support.

27 0 Following errorwarning threshold

Motor overloaded? Check motorcapacity.Acceleration or braking rampsare set too steep.Motor blocked? Commutationangle correct?

Check the parametrisation of themotor data.Check parametrisation of follow-ing error (drag error).



Error messages CMMP

Mainindex


28 0 Missing operatinghour meter

No record for an hours-runmeter could be found in theparameter block. A new hours-run meter was created. Occursduring initial start-up or a pro-cessor change.

Warning only, no further actionnecessary.

1 Operating hourmeter: Write error

The data block in which thehours-run meter is stored couldnot be written to. Cause un-known; possibly problems withthe hardware.

Warning only, no further actionnecessary.If the error occurs again, thehardware may be faulty.

2 Operating hourmeter corrected

The hours-run meter has abackup copy. If the controller’s24V power supply fails preciselywhen the hours-run meter isbeing updated, the written re-cord may be corrupted. In suchcases, the controller restoresthe hours-run meter from the in-tact backup copy when itswitches back on.


3 Operating hourmeter converted

Firmware was loaded in whichthe hours-run meter has a differ-ent data format. The next timethe controller is switched on, theold hours-run meter record isconverted to the new format.


30 0 Internal conversionerror

Range exceeded for internalscaling factors which are de-pendent on the parametrisedcontroller cycle times.

Check whether extremely shortor extremely long cycle timeswere set in the parameters.



Error messages CMMP

Mainindex


31 0 Motor I�t Motor blocked?Motor under-sized?

Check power dimensioning ofdrive package.

1 Servo controller I�t The I�t monitoring is respondingfrequently.Motor controller does not havethe required capacity?Mechanical system is sluggish?

Check the design characteristicsof the motor controller; use amore powerful type if necessary.Check the mechanical system.

2 PFC I�t PFC power rating exceeded. Parametrise operation withoutPFC (using FCT).

3 Braking resistor I�t Overloading of the internal brak-ing resistor.External braking resistor con-nected but not activated?

Use an external braking resistorand activate it.Check parametrisation of theexternal load resistance (FCT).

32 0 Intermediate circuitcharging timeexceeded

The intermediate circuit couldnot be charged after the mainsvoltage was applied. A fuse maybe faulty, or an internal brakingresistor may be faulty, or, in thecase of operation with an exter-nal resistor, that resistor is notconnected.

Check interface to the externalbraking resistor. Alternatively,check whether the jumper forthe internal braking resistor is inplace. If the interface is correct,the internal braking resistor orthe built-in fuse is probablyfaulty. On-site repair is notpossible.

1 Undervoltage foractive PFC

The PFC cannot be activated atall until an intermediate circuitvoltage of about 130 VDC isreached.

Check the power supply.



Error messages CMMP

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... 32 5 Brake chopperoverload. Inter-mediate circuitcould not be dis-charged.

The utilisation of the brakechopper when quick dischargebegan was already in the rangeabove 100%. Quick dischargetook the brake chopper to themaximum load limit and wasprevented/aborted.

No measures required

6 Intermediate circuitdischarge time ex-ceeded

Intermediate circuit could not bequickly discharged. The internalbraking resistor may be faulty or,in the case of operation with anexternal resistor, that resistor isnot connected.

Check interface to the externalbraking resistor. Alternatively,check whether the jumper forthe internal braking resistor is inplace. If the internal resistor hasbeen activated and the jumperhas been positioned correctly,the internal braking resistor isprobably faulty. On-site repair isnot possible.

7 Power supplymissing for con-troller enable

Controller enable was issuedwhen the intermediate circuitwas still in its charging phaseafter mains voltage was appliedand the mains relay was not yetactivated. The drive cannot beenabled in this phase, becausethe drive is not yet firmly con-nected to the mains (throughthe mains relay).

In the application, checkwhether the mains supply andcontroller enable signals weresent one quickly after the other.

8 Power supply fail-ure during con-troller enable

Interruptions/failure in thepower supply while the con-troller enable was activated.


9 Phase failure Failure of one or more phases(only in the case of three-phasesupply).




Error messages CMMP

Mainindex


33 0 Encoder emulationfollowing error

The critical frequency for en-coder emulation was exceeded(see manual) and the emulatedangle at X11 was no longer ableto follow. Can occur when veryhigh numbers of lines are pro-grammed at X11 and the drivereaches high velocities.

Check whether the parametrisednumber of lines may be too highfor the velocity being repre-sented. Reduce the number oflines if necessary.

34 0 No synchronisationvia Fieldbus

When activating the interpolatedposition mode, the controllercould not be synchronised to thefieldbus. The synchronisationmessages from master mayhave failed. Or the IPO interval isnot correctly set to the synchro-nisation interval of the fieldbus.

Check the settings for the con-troller cycle times.

1 Fieldbus synchro-nisation error

Synchronisation via fieldbusmessages during ongoing oper-ation (interpolated positionmode) has failed.Synchronisation messages frommaster failed?Synchronisation interval (IPO in-terval) set too small/too large?

Check the settings for the con-troller cycle times.



Error messages CMMP

Mainindex


35 0 Linear motor spin-ning protection

Encoder signals are faulty. Themotor may be racing (“spin-ning”) because the commutationposition has been shifted by thefaulty encoder signals.

Check that installation complieswith EMC recommendations.In the case of linear motors withinductive/optical encoders withseparately mounted measuringtape and measuring head: checkthe mechanical clearance. In thecase of linear motors with induc-tive encoders, make sure thatthe magnetic field of themagnets or the motor windingdoes not leak into the measur-ing head (this effect usually oc-curs when high accelerations =high motor current).

5 Error during the de-termination of thecommutation posi-tion

The rotor position could not beidentified clearly. The selectedmethod may be inappropriate.The selected motor current forthe identification may not be setappropriately.

Check the method for determin-ing the commutation position. 1)

1) Notes on determining the commutation position:a) The alignment method is inappropriate for locked or sluggish drives or drives capable of low-fre-

quency 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 movedelastically to some extent. Due to the high excitation frequency, however, the method is very suscep-tible to oscillations in the case of poorly damped drives. In such cases, you can attempt to reduce theexcitation current (%).

c) The saturation method uses local occurrences of saturation in the iron of the motor. Recommendedfor locked drives. Air-core drives are by definition not suitable for this method. If the (iron-core) drivemoves too much when locating the commutation position, the measurement result may be adulter-ated. If this is the case, reduce the excitation current. In the opposite case, if the drive does notmove, the excitation current may not be strong enough, causing the saturation to be insufficient.



Error messages CMMP

Mainindex


36 0 Parameter waslimited

An attempt was made to write avalue which was outside thepermitted limits, so the valuewas limited.

Check the user parameter re-cord.

1 Parameter was notaccepted

An attempt was made to writeto an object which is “read only”or is not write-capable in thecurrent state (e.g. with controllerenable active).

37 0 SERCOS: Receiveddata disrupted

The signal on the Sercos bus isfaulty. The cause in this casecould be poor plug connectorsor screw fittings which have notbeen tightened. This problemcan also occur when the lightoutput is set too high (overload-ing).

Check all connections andcables (broken cable or con-nector not tightened).Check the settings for light out-put in the ring (too high/toolow).

1 SERCOS: Fibre-optic ring inter-rupted

The Sercos ring is not closed.The cause could be a brokencable.

Check that all cables are con-nected and none are broken.

2 SERCOS: 2-foldMST failure

Two successive master synctelegrams from the master aremissing. This error usually oc-curs together with “Ring notclosed” or “Massive distortion”.Either the ring was interruptedduring operation, or the masteris no longer sending sync tele-grams.

Check the Sercos ring (andcheck for interruptions).Check that the master is stilloperating correctly.

3 SERCOS: Invalidphase specificationin MST info

The master specifies an invalidphase shift (e.g. a phase is to beskipped). The cause lies in themaster software.

Check the program in theSERCOS master.



Error messages CMMP

Mainindex


... 37 4 SERCOS: 2-foldMDT failure

Two successive master datatelegrams from the master aremissing. This error usually oc-curs together with “Ring notclosed” or “Massive distortion”.Either the ring was interruptedduring operation, or the masteris no longer sending data tele-grams.

Check the Sercos ring and checkfor interruptions.Check that the master is stilloperating correctly.

5 SERCOS: Shift tounknown operatingmode

The master wants to go into anoperating mode which is notsupported by the drive.

Check the settings for the oper-ating modes in IDNs S-0-0032 toS-0-0035.

6 SERCOS: T3 invalid The master specifies an invalidtime for taking on the setpointvalues (T3). This lies within thetransmission time of ATs orMDTs on the bus. The T3 time isdetermined by the master duringphase run-up. The cause couldbe either invalid timing by themaster or the transmission oftoo much cyclic data for thecycle time used.

Increase the baud rate toshorten the transmission time ofthe telegrams on the bus.Increase the cycle time.Move T3 time manually (can bedone by manually entering anoffset for T3 on the Beckhoffcontrol systems, for example).

38 0 SERCOS: SERCONstatus event

SERCOS prog.: error during in-itialisation of the SERCON chipon the SERCOS technology mod-ule.

If possible, replace the technol-ogy module and send it to themanufacturer for checking.

1 SERCOS: No mod-ule present

When the Sercos bus was acti-vated, no valid module was de-tected.

Check that a Sercos module isplugged into TECH2.Replace the technology moduleif possible.



Error messages CMMP

Mainindex


... 38 2 SERCOS: Defectivemodule

The hardware test of the module(the memory test) failed whenthe Sercos bus was activated.

Replace the technology moduleand send it to the manufacturerfor checking.If the error still occurs with a re-placement technology module,the motor controller must besent to the manufacturer forchecking.

3 SERCOS: S-0-0127:Invalid data inS-0-0021

In the command “Phase transi-tion CP2 -> CP3” it was foundthat some of the configurationdata transmitted in CP2 is faulty.The following settings arechecked here by the master:– Configuration of the cycli-

cally transmittedparameters in AT and MDT.

– Timing information.

Configuration of the cyclic datafor MDT and AT (in some circum-stances, parameters not sup-ported there might be confi-gured).Time slot calculation by themaster?

4 SERCOS: S-0-0127:Invalid IDNs in ATor MDT

Unknown/invalid IDNs wereconfigured for the parameters tobe transmitted cyclically in MDTand AT.

Check the configuration of thedata to be transmitted cyclically.

5 SERCOS: S-0-0128:Invalid data inS-0-0022

In the command “Phase transi-tion CP3 -> CP4” it was foundthat some of the configurationdata in CP3 is faulty. The follow-ing settings are checked:– Weighting settings.– Operating mode settings.

Check the weighting settings.Check the operating mode set-tings (also for internal/externalangle encoder).

6 SERCOS: S-0-0128:Weightingparameters faulty

Invalid weighting settings werefound in the command “Phasetransition CP3 -> CP4”.

Check the weighting settings.



Error messages CMMP

Mainindex


... 38 6 SERCOS: S-0-0128:Weighting para-meters faulty

SERCOS phase run-up: error incommand S-0-0128 - error in thesetting of the weighting para-meters.

Please contact TechnicalSupport if necessary.

7 SERCOS: InvalidIDN in S-0-0026 /S-0-0027

Invalid IDNs were configured forthe Sercos “signal status word”or the “Sercos signal controlword”.

Check the configuration in signalstatus and control words in theIDN lists S-0-0026 andS-0-0027.

8 SERCOS: Error dur-ing conversion

An internal conversion error hasoccurred (when converting frombus into internal basic units, orvice versa). The weighting set-tings must be checked here.Overflow, underflow or someother internal mathematicalerror has occurred.

Check the use of an alternativeweighting.

9 SERCOS: SERCON410b mode active

SERCOS activation: SERCON 816is being operated in SERCON410b compatibility mode.

Replace the technology moduleand send it to the manufacturerfor checking.

39 0 SERCOS: ListS-0-0370: MDTdata container con-figuration error

Reserved:SERCOS: error in configurationlist S-0-0370 for MDT data con-tainer.

–

1 SERCOS: ListS-0-0371: AT datacontainer configur-ation error

Reserved:SERCOS: error in configurationlist S-0-0371 for AT data con-tainer.

2 SERCOS: Error inMDT cyclic channel

Reserved:SERCOS: error in MDT cyclicchannel.

3 SERCOS: Error inAT cyclic channel

Reserved:SERCOS: error in AT cyclicchannel.



Error messages CMMP

Mainindex


... 39 4 SERCOS: Error inMDT cyclic datacontainer

Reserved:SERCOS: error in MDT cyclicdata container.

–

5 SERCOS: Error inAT cyclic data con-tainer

Reserved:SERCOS: error in AT cyclic datacontainer.

40 0 Negative softwarelimit switchreached

The position setpoint has re-ached or exceeded the respect-ive software limit switch.

Check the target data.Check the positioning range.

1 Positive softwarelimit switchreached

2 Target positionbehind the nega-tive software limitswitch

Start of a positioning task wassuppressed because the targetlies behind the respective soft-ware limit switch.

3 Target positionbehind the positivesoftware limitswitch

41 0 Record chaining:Synchronisationerror

Start of synchronisation withoutprior sampling pulse

Check the derivative action set-tings in the parameters.

42 0 Positioning:Missing subse-quent positioning:Stop

The positioning target cannotbe reached due to the optionsfor positioning or ancillaryparameters.

Check parameters of the posi-tion records in question.

1 Positioning: Rota-tion reversal is notallowed: Stop

2 Positioning: Rota-tion reversal afterstop is not allowed



Error messages CMMP

Mainindex


... 42 3 Start positioningrejected: Wrongmode of operation

Switching of the operating modeby the positioning record wasnot possible.

Check parameters of theposition records in question.

4 Start positioningrejected: Pleaseenforce homingrun!

A normal positioning record wasstarted, but the drive needs avalid reference position beforestarting.

Reset optional “Homingrequired” parameter.Carry out homing again afterresetting an angle encoder error.

5 Rotary axis: Direc-tion of rotation isnot allowed

The positioning target cannotbe reached due to the optionsfor positioning or ancillaryparameters.The calculated direction ofrotation is not permitted forthe rotary axis in the set mode.

Check the selected mode.

9 Error when startingthe positioning task

Acceleration limit exceeded orpositioning record disabled.

Check parametrisation andsequence control and correct ifnecessary.

43 0 Limit switch: Nega-tive setpoint locked

Negative hardware limit switchreached.

Check parameters, wiring, andlimit switches.

1 Limit switch: Posi-tive setpoint locked

Positive hardware limit switchreached.

2 Limit switch: Posi-tioning suppressed

The drive has left the intendedrange of motion.Technical defect in the system?

Check the intended range ofmotion.



Error messages CMMP

Mainindex


44 0 Fault in the camdisk tables

Cam disk to be started notavailable.

Check transmitted cam disknumber. Correct parametrisationor programming

1 Cam disk: generalfault in referencing

Starting a cam disk when hom-ing is required but the drive isnot yet referenced.

Carry out homing.

Start homing with active camdisk

Deactivate cam disk. Thenrestart cam disk if necessary

45 0 Driver supply can-not be switched off

During activation of “Safe stand-still” the driver supply was notswitched off within an adequatetime.

The internal logic may be beingdisrupted by high-frequencyswitching operations at theinput 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 possibilitieshave been ruled out, the motorcontroller hardware is faulty.

1 Driver supply can-not be activated

During deactivation of “Safestandstill” the driver supply wasnot switched on within an ad-equate time.

2 Driver supply wasactivated

The internal driver supply wasre-applied even though safestandstill had been activated.

If the error appears repeatedlywhen safe standstill is activated,the motor controller hardware isfaulty.

47 0 Thread mode error:Timeout expired

The speed required for set-ting-up was not reduced enoughin the time allotted.

Check the processing of the con-trol-side requirements.



Error messages CMMP

Mainindex


49 2 DCO file: Data fault – Formatting error in the DCOfile.

– Faulty parameters in theDCO file (invalid value).

– Error during KO access(read or write).

Note: error 49-2 is not triggeredin the case of the SD card. In-stead error 29-2 is triggered(due to compatibility withCMMS-ST)

–

50 0 Too many syn-chronous PDOs

More PDOs have been activatedthan can be processed in theunderlying SYNC interval.This message also appears ifonly one PDO is to be trans-mitted synchronously, but a highnumber of other PDOs with adifferent transmission type havebeen activated.

Check the activation of PDOs.If the configuration is appropri-ate, the warning can be sup-pressed using error manage-ment.Extend the synchronisation inter-val.

1 SDO errors haveoccurred

An SDO transfer has caused anSDO abort, for example due todata exceeding the value rangeor accessing of an object whichdoes not exist.

Check the command sent.



Error messages CMMP

Mainindex


51 0 No/unknown FSMmodule

Unknownmodule type (readingof EEPROM).

–

1 FSM: Driver supplyis faulty

Signal RM_5V_OS or RM_5V_USis not present (FSM blind).

–

2 Unequal moduletype

Unequal module type (readingEEPROM and comparing withdata in the parameter FLASHmemory).

–

3 Unequal moduleversion

Unequal version number for anotherwise equal module type(reading EEPROM and compar-ing with data in the parameterFLASH memory).

–

60 0 Ethernet user-spe-cific (1)

Reserved. –

61 0 Ethernet user-spe-cific (2)

Reserved. –



Error messages CMMP

Mainindex


62 0 EtherCAT: generalbus error

No EtherCAT bus present. Switch on the EtherCAT master.Check cabling.

1 EtherCAT: Initialisa-tion fault

Error in the hardware. Replace the technology moduleand send it to the manufacturerfor checking.

2 EtherCAT: Protocolerror

CAN over EtherCAT is not in use. Incorrect protocol. EtherCAT buscabling fault.

3 EtherCAT: InvalidRPDO length

Sync manager 2 buffer size istoo large.

Check the RPDO configuration ofthe motor controller and thehigher-level control system.

4 EtherCAT: InvalidTPDO length

Sync manager 3 buffer size istoo large.

Check the TPDO configuration ofthe motor controller and thehigher-level control system.

5 EtherCAT: Cyclicdata transmissionerror

Emergency shut-down due tofailure of cyclic data trans-mission.

Check the configuration of themaster. Synchronous trans-mission is unstable.

63 0 EtherCAT: Defectivemodule

Error in the hardware. Replace the technology moduleand send it to the manufacturerfor checking.

1 EtherCAT: Invaliddata

Faulty telegram type. Check the cabling.

2 EtherCAT: TPDOdata not read

The buffer for sending the datais full.

The data was sent faster thanthe motor controller could pro-cess it. Reduce the cycle time onthe EtherCAT bus.



Error messages CMMP

Mainindex


... 63 3 EtherCAT: Nodistributed clocksactive

Warning: firmware is synchronis-ing with the telegram, not withthe distributed clocks system.When the EtherCAT was started,no hardware SYNC (distributedclocks) was found. The firmwarenow synchronises with theEtherCAT frame.

If necessary, check whether themaster supports the distributedclocks feature.If not: ensure that the EtherCATframes are not disrupted byother frames if the interpolatedposition mode is to be used.

4 A SYNC message ismissing in the IPOcycle

Telegrams are not being sent inthe time slot pattern of the IPO.

Check the station responsiblefor distributed clocks.

64 0 DeviceNet:Duplicate MAC ID

The duplicate MAC ID check hasfound two nodes with the sameMAC ID.

Change the MAC ID of one of thenodes to a value which is not al-ready used.

1 DeviceNet: Busvoltage missing

The DeviceNet module is notsupplied with 24 V DC.

In addition to the motor con-troller the DeviceNet modulemust also be connected to24 V DC.

2 DeviceNet: Receivebuffer overflow

Too many messages receivedwithin a short period.

Reduce the scan rate.

3 DeviceNet: Sendbuffer overflow

Not sufficient free space on theCAN bus for sending messages.

Increase the baud rate, reducethe number of nodes or reducethe scan rate.

4 DeviceNet: IOmessage not sent

Error in sending I/O data. Check that the network is con-nected correctly and has nofaults.

5 DeviceNet: Bus Off The CAN controller is BUS OFF. Check that the network is con-nected correctly and has nofaults.

6 DeviceNet: CANcontroller reportsoverrun

The CAN controller has an over-run.

Increase the baud rate, reducethe number of customer nodesor reduce the scan rate.



Error messages CMMP

Mainindex


65 0 DeviceNet acti-vated, but nomodule

The DeviceNet communication isactivated in the parameter re-cord of the motor controller, butno module is available.

Deactivate the DeviceNet com-munication or connect a module.

1 IO connection time-out

Interruption of an I/O connec-tion.

No I/O message received withinthe expected time.

70 1 FHPP:Mathematical error

Overrun/underrun or division byzero during calculation of cyclicdata.

Check the cyclic data and/orcheck the factor group.

2 FHPP: Factor groupinvalid

Calculation of the factor groupleads to invalid values.

Check the factor group.

3 FHPP: Invalid oper-ating mode change

Changing from the current to thedesired operating mode is notpermitted.

Check your application. It maybe that not every change is per-mitted.

71 1 FHPP: Invalid re-ceive telegram

Too little data is being trans-mitted by the control system(data length too short).

Check the data length parame-trised in the control system forthe controller’s received tele-gram and/or check the confi-gured data length in the FHPP+Editor in the FCT.

2 FHPP: Invalid re-sponse telegram

Too much data is set to betransmitted from the CMMP-ASto the control system (datalength too great).

80 0 Overflow currentcontroller IRQ

The process data could not becalculated in the set current/vel-ocity/position interpolator cycle.

Please contact TechnicalSupport.

1 Overflow speedcontroller IRQ

2 Overflow positioncontroller IRQ

3 Overflow interpola-tor IRQ

81 4 Overflow low-levelIRQ

5 Overflow MDC IRQ



Error messages CMMP

Mainindex


82 0 Sequencing control IRQ4 overflow (10 ms low-levelIRQ).

Internal sequence control: pro-cess interrupted.Only for information - nomeasures required.

83 0 Invalid technologymodule

The technology module pluggedin could not be detected or theloaded firmware was unknown.A supported technology modulemight be plugged into the wrongslot (e.g. SERCOS 2, EtherCAT).

Check the firmware to find outwhether the technology moduleis supported. If yes, then checkthat the technology module is inthe right place and is plugged incorrectly. If necessary, replacetechnology module and/or firm-ware.

1 Technology modulenot supported

The technology module pluggedin could be detected, but is notsupported by the loaded firm-ware.

Check the firmware to find outwhether the technology moduleis supported. If necessary, re-place the firmware.

2 Technology mod-ule: Hardware ver-sion not supported

The technology module pluggedin could be detected and is alsousually supported, however inthis case the current hardwareversion is not supported (be-cause it is too old).Examples include the ProfiBuspiggy-back and the EA88 piggy-back, which were produced inan initial 5V version (Version 1.0)but which cannot run on the cur-rent motor controller.

The technology module must bereplaced. If necessary, contactTechnical Support. With theProfiBus or EA88 module, usehardware version 2.0 or greater.

3 Service module:Write error

Data access to the service mod-ule (FLASH technology module)is being disrupted. There weresectors which could not bewritten or cleared.

Switch on the device again(24V). If the error appears again,the hardware of the FLASHmodule is faulty. In that case re-place the module. If that is notsuccessful, the hardware of themotor controller is defective andon-site repair is not possible.

... 83 4 MC2000 Watchdog Reserved. –



Error messages CMMP

Mainindex


85 ...89

0 Reserved. – –

90 0 Missing hardwarecomponent (SRAM)

External SRAM not detected /not sufficient.

Hardware error (SRAM compo-nent or board is defective).

1 Missing hardwarecomponent(FLASH)

External FLASH not detected /not sufficient.

Hardware error (FLASH compo-nent or board is defective).

2 Error at FPGAboot-up

The FPGA cannot be booted. TheFPGA is booted serially when thedevice is started, but in this caseit could not be loaded with dataor it reported a checksum error.

Switch on the device again(24V). If the error appears again,the hardware is faulty.

3 Error at SD-ADUstart

SD-ADUs cannot be started. Oneor more SD-ADUs are not sup-plying any serial data.


4 SD-ADU synchro-nisation error afterstart

SD-ADU not synchronous afterstarting. During operation, theSD-ADUs for the resolver signalscontinue running with strict syn-chronisation once they havebeen initially started synchron-ously. The SD-ADUs could not bestarted at the same time duringthat initial start phase.




Error messages CMMP

Mainindex


... 90 5 SD-ADU not syn-chronous

SD-ADU not synchronous afterstarting. During operation, theSD-ADUs for the resolver signalscontinue running with strict syn-chronisation once they havebeen initially started synchron-ously. This is checked continuallyduring operation and an errormay be triggered.

Severe EMC interference couldtheoretically also cause this ef-fect. Switch on the device again(24V). If the error appears again,the hardware is faulty (almostcertainly one of the threeSD-ADUs).

6 IRQ0 (current con-troller): Triggererror

The output stage is not trigger-ing the software IRQ which thenoperates the current regulator.Very likely to be a hardwareerror on the board or in the pro-cessor.


7 No CAN controllerpresent

CAN controller chip could not befound or is defective.

In the case of a firmware error,an update must be loaded.In the case of a hardware error(CAN chip or board defective),the hardware is faulty.

8 Device parameterschecksum error

The device parameter record,which includes description ofthe output stage data, is incon-sistent. Since it is itself part ofthe firmware, this error can onlyoccur with beta versions.

Check the firmware version,and update the firmware ifnecessary.

9 DEBUG firmwareloaded

A beta version compiled for thedebugger was loaded as normal.


91 0 Internal initialisa-tion error

Internal SRAM too small for thecompiled firmware. Can onlyoccur with beta versions.




3.4.2 CMMS/CMMD fault numbers

Error messages CMMS/CMMD

Mainindex

Sub-index

Faultcode

Meaning of errormessage

Measures

01 0 6180 Stack overflow Incorrect firmware?Reload standard firmware if necessary.Contact Technical Support.

02 0 3220 Undervoltage inintermediate cir-cuit

Undervoltage monitoring is configured using the FCT.Measure intermediate circuit voltage.Check configuration.

03 0 4310 Motor tempera-ture 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 1 4310 Motor tempera-ture monitoring

Fault in digital motor temperature sensor.

04 0 4210 Over-/under-tem-perature in powerelectronics

Temperature display plausible?Check installation conditions (cooling: via the hous-ing surface, the integrated heat sink and back wall)

05 0 5114 5V supply fault Fault cannot be rectified independently.Send the motor controller to the manufacturer.

1 5115 24V supply fault(out of range)

16V < U24V < 32V = OK, otherwise NOK

2 5116 12V electronicssupply fault

11V < U12V < 13V = OK, otherwise NOK

8000 Driver supplyfault

Fault in the plausibility check of the driver supply(safe standstill)




Mainindex

MeasuresMeaning of errormessage

Faultcode

Sub-index

06 0 2320 Overcurrent ofthe intermediatecircuit/powerstage

Motor defective?Short circuit in the cable?Output stage defective?

07 0 3210 Overvoltage in in-termediate circuit

Check the connection to the braking resistor.Check design (application).

08 2 7380 Encoder supplyfault

4V < U_encoder < 6V = OK, otherwise NOK

6 7386 CMMS-AS/CMMD-AS only:SINCOS-RS485communicationerror

Angle encoder cable connected?

8 7388 CMMS-AS/CMMD-AS only:Internal angle en-coder error

Alarm bit set in the EnDat encoder.

11 1 8A81 Error during hom-ing

Homing was interrupted, e.g. by withdrawal of con-troller enable or by a limit switch.Check whether the limit switches are connected in thecorrect direction of travel or whether the limit switcheshave 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 2 8181 CAN communica-tion error

Common error:1. Error when sending a message (e.g. no bus con-nected)2. Timeout when receiving the SYNC messages ininterpolated position mode

14 9 6197 Motor identifica-tion fault

Error when automatically determining the motorparameters.

16 2 6187 Initialisation fault Error initialising the default parameters.

16 3 6183 Unexpectedstatus/program-ming error

The software went into an unexpected state,e.g. unknown state in the FHPP state machine.




Mainindex


Faultcode

Sub-index

17 0 8611 Following errorlimit exceeded

Enlarge error window.Acceleration parameter too large.

18 0 4380 Motor tempera-ture 5°C belowmaximum

The motor temperature is less than 5°C below theparametrised maximum temperature

1 4280 Output stagetemperature 5°Cbelow maximum

CMMS-ST: the output stage temperature is greaterthan 80°CCMMS-AS/CMMD-AS: the output stage temperatureis greater than 90°C

19 0 2380 I�T at 80% Common error:80% of the maximum I�T utilisation has been re-ached by the closed-loop controller or by the motor.

21 0 5210 Fault in offsetcurrent measure-ment

Fault cannot be rectified independently.Send the motor controller to the manufacturer.

22 0 7500 PROFIBUS:faulty initialisa-tion

Extension module defective?Please contact Technical Support.

2 7500 Communicationfault PROFIBUS

Check the set slave address.Check bus terminationCheck wiring

25 1 6081 Hardware error Motor controller and firmware are not compatible.Update the firmware.

26 1 5581 Checksum error Fault cannot be rectified independently.Please contact Technical Support.

29 0 7680 No SD Tried to access missing SD card.

1 7681 SD initialisationerror

Error on initialisation / communication not possible.

2 7682 SD parameterrecord error

Checksum incorrect / file missing / incorrect file for-mat / error when saving the parameter file to the SDcard




Mainindex


Faultcode

Sub-index

31 0 2312 I�t fault on motor(I�t at 100%)

I�t monitoring of the motor has responded; motor/mechanical system blocked or sluggish?

1 2311 I�t fault on con-troller (I�t at100%)

I�t monitoring of the controller has responded.Check power dimensioning of drive package.

32 0 3280 CMMS-AS/CMMD-AS only:Intermediate cir-cuit pre-chargingfault

Intermediate circuit could not be charged (UIC <150V)

8 3285 CMMS-AS/CMMD-AS only:Fault: controllerenable withoutintermediate cir-cuit

Power failure after controller enable is issued

35 1 6199 Timeout for quickstop

The parametrised time for quick stop was exceeded

40 0 8612 Fault: SW limitswitch reached

Negative software limit switch reached.

1 8612 Fault: SW limitswitch reached

Positive software limit switch reached.


Target position is behind the negative software limitswitch


Target position is behind the positive software limitswitch

41 8 6193 Fault: recordchaining, un-known command

Unknown command found during record chaining

9 6192 Route programjump target error

Jump to a positioning record outside the permittedrange




Mainindex


Faultcode

Sub-index

42 1 8681 Positioning: Errorin pre-calculation

The positioning target cannot be reached due to theoptions for positioning or ancillary parameters.Check parameters of the position records in ques-tion.

4 8488 Homing required No positioning possible without homing. Homingmust be carried out.

9 6191 Position data re-cord error

Common error:1. An attempt is being made to start an unknown ordeactivated position record.2. The set acceleration is too small for the maximumvelocity permitted. (Risk of computational overrun intrajectory calculation)

43 0 8612 Fault in limitswitch

Negative hardware limit switch reached. Checkparameters, wiring, and limit switches.

1 8612 Fault in limitswitch

Positive hardware limit switch reached. Checkparameters, wiring, and limit switches.

9 8612 Fault in limitswitch

Both limit switches active at the same time. Checkparameters, wiring, and limit switches.

45 0 8000 Driver supplyfault

The driver supply is still active despite request of the'Safe Halt'. 1)

1 8000 Driver supplyfault

The driver supply is activated again, even though the"Safe Halt" has been requested. 1)

2 8000 Driver supplyfault

The driver supply has not been reactivated, eventhough the 'Safe Halt' is no longer requested. 1)

3 8087 DIN4 plausibilityerror

Error during plausibility check of output stage en-able.

1) The internal logic might malfunction due to high-frequency switching operations at the input forthe 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.




Mainindex


Faultcode

Sub-index

64 1 7584 DeviceNetgeneral error

The 24V bus voltage is missing

2 7582 DeviceNet com-munication error

Receive buffer overflow


Send buffer overflow


IO message could not be sent


Bus Off


Overrun in the CAN controller

65 0 7584 DeviceNetgeneral error

Common error:Communication has been activated even thoughthere is no piggy-back module plugged in.The DeviceNet piggy-back is attempting to read anunknown KO.Unknown DeviceNet error.

1 7583 DeviceNet initia-lisation error

DeviceNet piggy-back initialisation error:Node number exists twice

7582 DeviceNet com-munication error

IO connection timeout

70 2 6195 General arithme-tic error

The FHPP factor group cannot be calculated cor-rectly.

3 6380 Operating modeerror

Prohibited change of operating mode.E.g. Profile Torque mode (torque control) on CMMS-ST in open-loop-controlled operation or parametrisa-tion mode in FHPP; change in operating mode whenoutput stage is released.




Mainindex


Faultcode

Sub-index

76 0 8100 CMMD-AS only:SSIO communica-tion error (master- slave)

Common error:1. Checksum error during transmission of SSIOprotocol2. Timeout during transmission

1 8100 CMMD-AS only:SSIO communica-tion error(partner)

SSIO partner has error 760.

79 0 7510 RS232 communi-cation error

Overrun when receiving RS232 commands.

3.5 Diagnosis using FHPP status bytes

The controller supports the following diagnosis options usingFHPP 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 Para-meter Channel� Section 5.1) or FHPP+ (� Appendix B.1).

Parameters


Chapter 4

Parameters

4. Parameters


Contents

4.1 FHPP general parameter structure 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Access protection 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Access via PLC and FCT 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Overview of FHPP parameters 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Descriptions of FHPP parameters 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Representation of the parameter entries 4-13. . . . . . . . . . . . . . . . . . . . .

4.4.2 PNUs for the telegram entries for FHPP+ 4-14. . . . . . . . . . . . . . . . . . . . .

4.4.3 Device data – Standard parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 Device data – Extended parameters 4-17. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5 Diagnostics 4-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.6 Process data 4-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.7 On-the-fly measurement 4-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.8 Record list 4-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.9 Project data – General project data 4-42. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.10 Project data – Teaching 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.11 Project data – Jog mode 4-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.12 Project data – Direct mode, Profile Position mode 4-45. . . . . . . . . . . . .

4.4.13 Project data – Direct mode, Profile Torque mode 4-46. . . . . . . . . . . . . .

4.4.14 Project data – Direct mode, Profile Velocity mode 4-47. . . . . . . . . . . . .

4.4.15 Function data – Camming function 4-48. . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.16 Function data – Position triggers and rotor position triggers 4-50. . . . .

4.4.17 Axis parameters for electric drives 1 – Mechanical parameters 4-53. . .

4.4.18 Axis parameters for electric drives 1 – Homing parameters 4-56. . . . . .

4.4.19 Axis parameters for electric drives 1 – Closed-loop controllerparameters 4-58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.20 Axis parameters for electric drives 1 – Electronic rating plate 4-61. . . .

4.4.21 Axis parameters for electric drives 1 – Standstill control 4-62. . . . . . . .

4.4.22 Axis parameters for electric drives 1 – Drag error monitoring 4-63. . . .

4.4.23 Axis parameters for electric drives 1 – Other parameters 4-63. . . . . . . .

4.4.24 Function parameters for digital I/Os 4-64. . . . . . . . . . . . . . . . . . . . . . . .

4. Parameters


4.1 FHPP general parameter structure

A controller contains a parameter record for each axis withthe following structure.

Group Indices Description

Administrative and con-figuration data

1 ... 99 Special objects, e.g. for FHPP+

Device data 100 ... 199 Device identification and device-specific settings, versionnumbers, 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, statusdata etc.

Record list 400 ... 499 A record contains all the setpoint value parametersrequired for a positioning procedure.

Project data 500 ... 599 Basic project settings. Maximum speed and acceleration,project zero point offset etc. --> parameters are the basisfor the record list.

Function data 700 ... 799 Parameters for special functions, e.g. for the cammingfunction.

Axis data for electricdrives 1

1000 ... 1099 All axis-specific parameters for electric drives: gear ratio,feed constant, reference parameters, etc.

Function parametersfor digital I/Os

1200 ... 1239 Specific parameters for control and evaluation of thedigital I/Os.

Tab. 4/1: Parameter structure

4. Parameters


4.2 Access protection

4.2.1 Access via PLC and FCT

The user can prevent the drive from being operated simulta-neously by PLC and FCT. The CCON.B5 bit (FCT access locked)and the SCON.B5 bit (FCT control sovereignty) are used forthis.

Preventing FCT operation: CCON.B5 (LOCK)

By setting the CCON.B5 control bit, the PLC prevents the FCTfrom taking over control sovereignty. So if the LOCK is set, FCTcannot write parameters or control the drive, execute homingetc.

The PLC is programmed not to enable this until the usercarries out the relevant action. This generally exits automaticoperation. This means that the PLC programmer can ensurethat 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 whodoes 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 FCTand that the PLC no longer has any control over the drive. Thisbit does not need to be evaluated. The PLC can react byswitching to stop or manual operation.

4. Parameters


4.3 Overview of FHPP parameters

The following overview (Tab. 4/2) shows the FHPP’sparameters.

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 mayvary from product to product while the functionality remainsthe same (e.g. in FCT). Examples: velocity and speed, ortorque 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 1 uint32

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

CMMP 43 1 uint32

Device data

Device data – Standard parameters (see section 4.4.3)

Manufacturer Hardware Version All 100 1 uint16

Manufacturer Firmware Version All 101 1 uint16

Version FHPP All 102 1 uint16

Project Identifier All 113 1 uint32

Controller Serial Number CMMP 114 1 uint32

CMMS/CMMD 114 1 ... 12 uint8

4. Parameters


Name FHPPControllerName

TypeSubind.PNU

Controller

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 1 uint8

Data Memory Control All 127 1 ... 6 uint8

Diagnosis (see section 4.4.5)

Diagnostic Event CMMP 200 1 ... 32 uint8

Fault Number CMMP 201 1 ... 32 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 5 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

Process data (see section 4.4.6)

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 3 uint32

Velocity Values All 310 1 ... 3 int32

State Signal Outputs All 311 1, 2 uint32

4. Parameters



TypeSubind.PNU

Controller

On-the-fly measurement (see section 4.4.7)

Position Value Storage All 350 1, 2 int32

Record list (see section 4.4.8)

Record Status All 400 1 ... 3 uint8

Record Control Byte 1 CMMP 401 1 ... 250 uint8




Record Setpoint Value CMMP 404 1 ... 250 int32

CMMS/CMMD 404 1 ... 63 int32

Record Preselection Value CMMP 405 1 ... 250 int32

CMMS/CMMD 405 1 ... 63 int32

Record Velocity CMMP 406 1 ... 250 uint32


Record Acceleration CMMP 407 1 ... 250 uint32


Record Deceleration CMMP 408 1 ... 250 uint32


Record Velocity Limit CMMP 412 1 ... 250 uint32

Record Jerkfree Filter Time CMMP 413 1 ... 250 uint32


Record Profile CMMS/CMMD 414 1 ... 63 uint8

Record Following Position CMMP 416 1 ... 250 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


4. Parameters



TypeSubind.PNU

Controller

Project data

Project data – General project data (see section 4.4.9)

Project Zero Point All 500 1 int32

Software End Positions All 501 1, 2 int32

Max. Speed All 502 1 uint32

Max. Acceleration All 503 1 uint32

Max. Jerkfree Filter Time All 505 1 uint32

Project data – Teaching (see section 4.4.10)

Teach Target All 520 1 uint8

Project data – Jog mode (see section 4.4.11)

Jog Mode Velocity Slow – Phase 1 All 530 1 int32

Jog Mode Velocity Fast – Phase 2 All 531 1 int32

Jog Mode Acceleration All 532 1 uint32

Jog Mode Deceleration All 533 1 uint32

Jog Mode Time Phase 1 All 534 1 uint32

Project data – Direct mode, Profile Position mode (see section 4.4.12)

Direct Mode Position Base Velocity All 540 1 int32

Direct Mode Position Acceleration All 541 1 uint32

Direct Mode Position Deceleration All 542 1 uint32

Direct Mode Jerkfree Filter Time All 546 1 uint32

Project data – Direct mode, Profile Torque mode (see section 4.4.13)

Direct Mode Torque Base Torque Ramp CMMP 550 1 uint32

Direct Mode Torque Target Torque Window CMMP 552 1 uint16

Direct Mode Torque Time Window CMMP 553 1 uint16

Direct Mode Torque Speed Limit CMMP 554 1 uint32

4. Parameters



TypeSubind.PNU

Controller

Project data – Direct mode, Profile Velocity mode (see section 4.4.14)

Direct Mode Velocity Base Velocity Ramp All 560 1 uint32

Direct Mode Velocity Target Window CMMP 561 1 uint16

Direct Mode Velocity Window Time(damping time for velocity target window in directmode)

CMMP 562 1 uint16

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

CMMP 563 1 uint16

Direct Mode Velocity Threshold Time(damping time for standstill in direct mode)

CMMP 564 1 uint16

Direct Mode Velocity Torque Limit CMMP 565 1 uint32

Function data

Function data – Camming function (see section 4.4.15)

CAM ID(cam disk number)

CMMP 700 1 uint8

Master Start Position Direct Mode(master start position in direct mode)

CMMP 701 1 int32

Input Config Sync.(input configuration for synchronisation)

CMMP 710 1 uint32

Gear Sync.(synchronisation gear ratio)

CMMP 711 1, 2 uint32

Output Config Encoder Emulation(output configuration for encoder emulation)

CMMP 720 1 uint32

Function data – Position triggers and rotor position triggers (see section 4.4.16)

Position Trigger Control CMMP 730 1 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. Parameters



TypeSubind.PNU

Controller

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 1 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 1 uint8

Axis parameters for electric drives 1 – Homing parameters (see section 4.4.18)

Offset Axis Zero Point All 1010 1 int32

Homing Method All 1011 1 int8

Homing Velocities All 1012 1, 2 uint32

Homing Acceleration All 1013 1 uint32

Homing Required All 1014 1 uint8

Homing Max. Torque CMMP 1015 1 uint8

Axis parameters for electric drives 1 – Closed-loop controller parameters (see section 4.4.19)

Halt Option Code All 1020 1 uint16

Position Window All 1022 1 uint32

Position Window Time(adjustment time for position)

All 1023 1 uint16

Control Parameter Set(controller’s 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. Parameters



TypeSubind.PNU

Controller

Axis parameters for electric drives 1 – Electronic rating plate (see section 4.4.20)

Max. Current All 1034 1 uint16

Motor Rated Current All 1035 1 uint32

Motor Rated Torque All 1036 1 uint32

Torque Constant All 1037 1 uint32

Axis parameters for electric drives 1 – Standstill control (see section 4.4.21)

Position Demand Value(setpoint position)

All 1040 1 int32

Position Actual Value(current position)

All 1041 1 int32

Standstill Position Window All 1042 1 uint32

Standstill Timeout All 1043 1 uint16

Axis parameters for electric drives 1 – Drag error monitoring (see section 4.4.22)

Following Error Window(drag error window)

CMMP 1044 1 int32

Following Error Time(drag error timeout)

CMMP 1045 1 uint16

Axis parameters for electric drives 1 – Other parameters (see section 4.4.23)

Torque Feed Forward Control CMMP 1080 1 int32

Setup Velocity CMMP 1081 1 uint8

Velocity Override CMMP 1082 1 uint8

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

Remaining Distance for Remaining Distance Message All 1) 1230 1 uint32

1) With CMMP-AS: in Direct mode only

Tab. 4/2: Overview of FHPP parameters

4. Parameters


4.4 Descriptions of FHPP parameters

4.4.1 Representation of the parameter entries

Encoder Resolution

FHPP (all) 1001 1 ... 2 uint32 rw

Description Encoder resolution in increments per revolutionThe encoder resolution is fixed and cannot be modified by the user. Thecalculated value is derived from the fraction (encoder increments/motorrevolution).

Encoder Increments 1001 1 uint32 rw

Value range: 0x00000000 ... 0xFFFFFFFF (0 ... 232-1)

Motor Revolutions 1001 2 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

1 2 3 4 5

6

7

8

4. Parameters


4.4.2 PNUs for the telegram entries for FHPP+

FHPP Receive Telegram (FHPP telegram received by controller)

FHPP (CMMP) 40 1 ... 10 Array uint32 ro

Description This array defines the contents of the received telegrams (the output data ofthe 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 withplaceholder PNUs, as are unused subindices.For the format, see Tab. 4/3.

1st PNU 40 1 uint32 ro

1st transmitted PNU: always PNU 1:1

2nd PNU 40 2 uint32 ro

2nd transmitted PNU: with FPC: always PNU 2:1without FPC: any PNU

3rd PNU 40 3 uint32 ro

3rd transmitted PNU: any PNU

... PNU 40 4 ... 10 uint32 ro

...

FHPP Response Telegram (FHPP telegram sent by controller)

FHPP (CMMP) 41 1 ... 10 Array uint32 ro

Description This array defines the contents of the response telegrams (the input data of thehigher-level control system) in the cyclic process data; see PNU 40.For the format, see Tab. 4/3.

1st PNU 41 1 uint32 ro

1st transmitted PNU: always PNU 1:1

2nd PNU 41 2 uint32 ro

2nd transmitted PNU: with FPC: always PNU 2:1without FPC: any PNU

3. PNU 41 3 uint32 ro

3rd transmitted PNU: any PNU

... PNU 41 4 ... 10 uint32 ro

...

4. Parameters


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

Byte 0 1 2 3

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 1 Var uint32 rw

Description Type of error in the telegram editor. Entry and the error location:Bit MeaningBits 0 ... 15 Error location, bit-serial, one bit per telegram entry.Bits 16 ... 23ReservedBits 24 ... 31Error 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 exceededBit 27 = 1: PNU cannot be mapped in a telegramBit 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 ... 31Reserved.If the transmitted telegram is correct, all bits = 0.

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

FHPP (CMMP) 43 1 Var uint32 rw

Description Type of error in the telegram editor. Entry and the error location:Bit MeaningBits 0 ... 15 Error location, bit-serial, one bit per telegram entry.Bits 16 ... 23ReservedBits 24 ... 31Error 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 exceededBit 27 = 1: PNU cannot be mapped in a telegramBit 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 ... 31Reserved.If the transmitted telegram is correct, all bits = 0.

4. Parameters


4.4.3 Device data – Standard parameters

Manufacturer Hardware Version

FHPP (all) 100 1 uint16 ro

Description Coding of the hardware version, specification in BCD: xxyy(xx = main version, yy = secondary version)

Manufacturer Firmware Version


Description Coding of the firmware version, specification in BCD: xxyy(xx = main version, yy = secondary version)

Version FHPP (FHPP version)


Description Version number of the FHPP, specification in BCD: xxyy(xx = main version, yy = secondary version)

Project Identifier

FHPP (all) 113 1 uint32 rw

Description 32 bit value that can be used together with the FCT plug-in to identify theproject.Value range: 0x00000001 ... 0xFFFFFFFF (1 ... 232-1)

Controller Serial Number


Description Serial number for uniquely identifying the controller.

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 User’s designation of the controller (ASCII, 7 bit).Unused characters are filled with zero (00h=’\0’).

Drive Manufacturer


Description Name of the drive’s manufacturer (ASCII, 7-bit) Fixed: “Festo AG & Co. KG”

HTTP Drive Catalog Address (HTTP address of manufacturer)


Description Manufacturer’s Internet address (ASCII, 7-bit) Fixed: “www.festo.com”

Festo Order Number


Description Festo order number / order code (ASCII, 7-bit).

4. Parameters


Device Control


Description Specifies which interface currently has control sovereignty over the drive, inother 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) andclosed-loop controller enable (DIN5) also have to be set in addition to the inter-face in question (logical AND operation).Value Meaning SCON.B5 (LOCK)0x00 (0) Software has control sovereignty (+ DIN) 10x01 (1) Fieldbus has control sovereignty (+ DIN) 00x02 (2) Only DIN has control sovereignty 1Default after power on: 0x01 (1) – Fieldbus has control sovereignty (+ DIN)

4. Parameters


Data Memory Control

FHPP (all) 127 1 ... 6 uint8 wo

Description Commands for EEPROM (non-volatile memory)

Delete EEPROM 127 1 uint8 wo

Once the object has been written, and after switching power off/on, the data inthe 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 (fac-tory settings). With CMMP this also includes the fieldbus address.• After deleting, always carry out the steps for commissioning the device.

Save Data 127 2 uint8 wo

By writing the object, the data in EEPROMwill be overwritten with the currentuser-specific settings.Fixed 0x01 (1): save user-specific data in EEPROM

Reset Device 127 3 uint8 wo

By writing the object, the data is read from EEPROM and adopted as the currentsettings (EEPROM is not deleted or cleared; it is in the same state as afterswitching off and on).Values: 0x10 (16): reset device

0x20 (32): auto reset upon incorrect bus cycle (deviating fromthe configured bus cycle; with CMMP only)

Encoder DataMemory Control

127 6 uint8 wo

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 encoder0x02 (2): Saving of the parameters in the encoder without zero offset0x03 (3): Saving of the parameters in the encoder with zero offset

4. Parameters


4.4.5 Diagnostics

For a description of how the diagnostic memory functions,see section 3.2.

Diagnostic Event

FHPP (CMMP) 200 1 ... 32 uint8 ro

Description Type of fault or diagnostic information saved in the diagnostic memory. Displayswhether an incoming or outgoing fault is saved.Value Type of diagnostic event0x00 (0) No fault (or fault message deleted)0x01 (1) Incoming fault0x02 (2) Reserved (outgoing fault)0x03 (3) Reserved0x04 (4) Reserved (Overrun time stamp)

Event 1 200 1 uint8 ro

Type of latest/current diagnostic message


Type of second saved diagnostic message

Event ... 200 ... uint8 ro

...

Fault Number


FHPP (CMMS/CMMD) 201 1 ... 4 uint16 ro

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.


Latest/current diagnostic message


2nd saved diagnostic message


...

4. Parameters


Fault Time Stamp


Description Time of the diagnostic event in seconds after switch-on. In case of overrun,the time stamp jumps from 0xFFFFFFFF to 0.


Time of the latest/current diagnostic message


Time of the second saved diagnostic message


...

Fault Additional Information (additional information for fault)


Description Additional information for service staff.


Additional information for the latest/current diagnostic message


Additional information for the second saved diagnostic message


...

Diagnosis Memory Parameter (parameters for diagnostic memory)

FHPP (CMMP) 204 1, 2, 4 uint8 ro

Description Configuration of the diagnostic memory.

Fault Type 204 1 uint8 ro

Incoming and outgoing faults.Fix 0x02 (2): Record only incoming faults

Resolution 204 2 uint8 ro

Time stamp resolution.Fix 0x03 (3): 1 Second

Number of Entries 204 4 uint8 ro

Read out the number of valid entries in the diagnostic memory.Value range: 0 … 32

4. Parameters


Fieldbus Diagnosis

FHPP (CMMP) 206 5 uint8 ro

Description Readout of fieldbus diagnostic data.

CANopen Diagnosis 206 5 uint8 ro

Selected profile (protocol type):Values: 0 = DS 402 (not available via FHPP)

1 = FHPP

Device Warnings


Description Type of warning or diagnostic information saved in the warning memory. Indica-tion of whether an incoming or outgoing warning was saved.Value Type of diagnostic event0x00 (0) No warning (or warning message deleted)0x01 (1) Incoming warning0x02 (2) Reserved (outgoing warning)0x03 (3) Power Down (with valid time stamp)0x04 (4) Reserved (overrun time stamp)


Type of latest/current warning message


Type of second saved warning message


...

Warning Number


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).


Most recent/current warning message


2nd saved warning message


...

4. Parameters


Warning Time Stamp


Description Time of the warning event in seconds after switch-on. In case of overrun,the time stamp jumps from 0xFFFFFFFF to 0.


Time of the latest/current warning message


Time of the second saved warning message


...

Warning Additional Information (additional information for warning)


Description Additional information for service staff.


Time of the latest/current diagnostic message


Time of the second saved diagnostic message


...

Warning Memory Parameter (parameters for warning memory)

FHPP (CMMP) 214 1, 2, 4 uint8 rw/ro

Description Configuration of the warning memory.

Warning Type 214 1 uint8 ro

Incoming and outgoing warnings.Fix 0x02 (2): Record only incoming warnings

Resolution 214 2 uint8 ro

Time stamp resolution.Fix 0x03 (3): 1 Second

Number of Entries 214 4 uint8 ro

Read number of valid entries in the warning memory.Value range: 0 … 16

4. Parameters


4.4.6 Process data

Position Values

FHPP (all) 300 1 ... 3 int32 ro

Description Current values of the position controller, stated in the positioning unit(see PNU 1004).

Actual Position 300 1 int32 ro

Current actual position of the controller.

Nominal Position(setpoint position)

300 2 int32 ro

Current setpoint position of the controller.

Actual Deviation 300 3 int32 ro

Current deviation.

Torque Values

FHPP (all) 301 1 ... 3 int32 ro

Description Current values of the torque controller, stated in mNm.

Actual Force 301 1 int32 ro

Current actual value of the controller.

Nominal Force(setpoint force)

301 2 int32 ro

Current setpoint value of the controller.


Current deviation.

4. Parameters


Local Digital Inputs

FHPP (all) 303 1, 2, 4 uint8 ro

Description The controller’s local digital inputs.

Input DIN 0 ... 7 303 1 uint8 ro

Digital inputs: standard DIN (DIN 0 ... DIN 7)

Input DIN 8 ... 13 303 2 uint8 ro

Digital inputs: standard DIN (DIN 8 ... DIN 13)

Input CAMC DIN 0... 7

303 4 uint8 ro

Digital inputs: CAMC-D-8E8A (DIN 0 ... DIN 7)

PNU 303 allocation

Subindex 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

DIN 7:right-handlimitswitch

DIN 6:left-handlimitswitch

DIN 5:con-trollerenable

DIN 4:outputstageenable

DIN 3 DIN 2 DIN 1 DIN 0


Reserved (= 0) DIN A13 DIN A12 DIN 11 DIN 10 DIN 9 DIN 8


DIN 7 DIN 6 DIN 5 DIN 4 DIN 3 DIN 2 DIN 1 DIN 0

4. Parameters


Local Digital Outputs

FHPP (all) 304 1, 3 uint8 rw

Description The controller’s local digital outputs.

Output DOUT 0 ... 3 304 1 uint8 rw

Digital outputs: standard DOUT (DOUT 0 ... DOUT 3)

Output CAMCDOUT 0 ... 7

304 3 uint8 rw

Digital outputs: CAMC-D-8E8A (DOUT 0 ... DOUT 7)

PNU 304 allocation


Reserved (= 0) DOUT:READYLED

DOUT:CAN LED

DOUT 3 DOUT 2 DOUT 1 DOUT 0:con-trollerready foroper-ation


DOUT 7 DOUT 6 DOUT 5 DOUT 4 DOUT 3 DOUT 2 DOUT 1 DOUT 0

4. Parameters


Maintenance Parameter


Description Information about the controller’s or the driver’s running performance.

Operating Hours 305 3 uint32 ro

Hours-run meter in s.

Velocity Values

FHPP (all) 310 1 ... 3 int32 ro

Description Current values of the speed regulator.

Actual Revolutions(actual speed)

310 1 int32 ro

Current actual value of the controller.

NominalRevolutions

(setpoint speed)

310 2 int32 ro

Current setpoint value of the controller.


Speed deviation.

4. Parameters


State Signal Outputs (status of signal outputs)

FHPP (CMMP) 311 1,2 uint32 ro

Description Parameters for displaying the status of the signal outputs.

Outputs Part 1 311 1 uint32 ro

Bit Value Meaning0 Reserved (0)1 0x0000 0002 I¹t monitoring of motor is active2 0x0000 0004 Comparison speed reached3 0x0000 0008 Position Xsetpoint = Xtarget4 0x0000 0010 Position Xactual = Xtarget5 0x0000 0020 Remaining positioning distance6 0x0000 0040 Homing is active7 0x0000 0080 Reference position is valid8 0x0000 0100 Undervoltage in intermediate circuit9 0x0000 0200 Drag error10 0x0000 0400 Output stage is active11 0x0000 0800 Locking brake bled12 0x0000 1000 Linear motor identified13 0x0000 2000 Negative setpoint lock is active14 0x0000 4000 Positive setpoint lock is active15 0x0000 8000 Alternative target reached16 0x0001 0000 Velocity 017..32 Reserved (0)

Outputs Part 2 311 2 uint32 ro

Bit Value Meaning0 0x0000 0001 Cam controller 11 0x0000 0002 Cam controller 22 0x0000 0004 Cam controller 33 0x0000 0008 Cam controller 44 ... 7 Reserved for cam controller 5 ... 88 0x0000 0100 Position trigger 19 0x0000 0200 Position trigger 210 0x0000 0400 Position trigger 311 0x0000 0800 Position trigger 412 ... 15 Reserved for position triggers 5 ... 816 0x0001 0000 Rotor position trigger 117 0x0002 0000 Rotor position trigger 218 0x0004 0000 Rotor position trigger 319 0x0008 0000 Rotor position trigger 420 ... 23 Reserved for rotor position triggers 5 ... 824 0x0100 0000 General action bits 125 0x0200 0000 General action bits 226 0x0400 0000 General action bits 327 0x0800 0000 General action bits 428 ... 31 Reserved for general action bits 5 ... 8

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 1, 2 int32 ro

Description Sampled positions.

Sample ValueRising Edge

350 1 int32 ro

Last sampled position with a rising edge, stated in positioning unit (seePNU 1004).

Sample ValueFalling Edge

350 2 int32 ro

Last sampled position with a falling edge, stated in positioning unit (seePNU 1004).

4. Parameters


4.4.8 Record list

PNU

400 401 402 404 405 406 407 408 412 413 ...

Record

status

(record

no.)

RCB1

RCB2

Setpoint

value

Preselection

value

Velocity

Acceler-

ation

Deceler-

ation

Velocity

limit

Jerk-free

filtertime

...

uint8 uint8 uint8 int32 int32 uint32 uint32 uint32 uint32 int32 ...

1 ... ... ... ... ... ... ... ... ... ...

2 ... ... ... ... ... ... ... ... ... ...

... 1) ... ... ... ... ... ... ... ... ... ...

1) Number of positioning records: For CMMP ... : 1 ... 250For CMMS/CMMD ... : 1 ... 63

Tab. 4/4: Structure of FHPP record list

With FHPP, record selection for reading and writing is madevia the subindex of the PNUs 401 ... . The active record forpositioning or teaching is selected with PNU 400.

Controller/drive

PNU

401 402 404 405 406 407 408 412 413 414 416 418 ... 421

CMMP-AS x x x x x x x x x – x x

CMMS-AS/CMMD-AS

x x x x x x x – x x x –

CMMS-ST x x x x x x x – x x x –

Tab. 4/5: Supported elements in the record list

4. Parameters


With the CMMS/CMMD controllers, the “dynamic” para-meters of a record are defined as a group via the record pro-file (PNU 414).When these parameters (PNU 405, 406, 407, 408, 413) arewritten in a record, the profile parameters assigned to therecord are overwritten. This causes the modified parametersto become effective for all records assigned to that profile;see Fig. 4/2.

Memory structure of positioning record list andrecord profiles for CMMS/CMMD

Record list

Pointers to profile memoryRecord profiles

Reco

rdNo.

Reco

rdstatus

RCB1

RCB2

Presel.val.

Velocity

Acceler.

Deceler.

Jerk

limit

ProfileNo.

Setpoint

Presel.val.

Velocity

Acceler.

Deceler.

Jerk

limit

ProfileNo.

Fig. 4/2: Positioning record list and record profiles

4. Parameters


Record Status

FHPP (all) 400 1 ... 3 uint8 rw/ro

Description Record status.

Demand RecordNumber

400 1 uint8 rw

Nominal record number. The value can be changed using FHPP.In Record selection mode, the nominal record number is always copied from themaster’s output data with a rising edge at START.Value range:CMMP: 0x00 ... 0xFA (0 ... 250)CMMS/CMMD: 0x00 ... 0x3F (0 ... 63)

Actual RecordNumber

400 2 uint8 ro

Current record number.

Record Status Byte 400 3 uint8 ro

The record status byte (RSB) contains a feedback code that is transmittedin 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 fordynamic states and not absolute/relative, for example. This makes it possibleto provide feedback about record chaining, for example.

RSB allocation

Bit Meaning

Bit 0RC1

= 0: A step enabling condition was not configured/achieved.= 1: The first step enabling condition was achieved.

Bit 1RCC

Valid as soon as MC applies.= 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. Parameters


Record Control Byte 1

FHPP (CMMP) 401 1 ... 250 uint8 rw

FHPP (CMMS/CMMD) 401 1 ... 63 uint8 rw

Description The record control byte 1 (RCB1) controls the most important settings for thepositioning task in Record selection mode.The record control byte is bit-orientated. For allocation, see Tab. 4/7

Record 1 401 1 uint8 rw

Record control byte 1 for positioning record 1.



Record ... 401 ... uint8 rw

Record control byte 1 for positioning record ...

Bit Description

B0ABS

Absolute/Relative= 0: Setpoint value is absolute= 1: Setpoint value is relative to last setpoint valueFHPP does not provide access to other modes, e.g. relative to actual value, analogueinput, etc.

B1, B2COM1/2

Bit 2 1 Control mode feedback0 0 Profile Position mode0 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, B4FNUM1/2

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 2 1 Function number *)0 0 0 Reserved1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming function3 1 1 Synchronisation with a virtual master with camming function

B5, B6FGRP1/2

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 2 1 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B7FUNC

= 0: Normal task= 1: Execute camming function, as per bits 3 ... 6 (only with CMMP)

Tab. 4/7: RCB1 allocation

4. Parameters





Description Record control byte 2 (RCB2) controls conditional record chaining.If a condition was defined, it is possible to prohibit automatic continuation tothe following record by setting the B7 bit. This function is intended for debug-ging and not for normal control purposes.Bit MeaningBit 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 Setpoint Value

FHPP (CMMP) 404 1 ... 250 int32 rw

FHPP (CMMS/CMMD) 404 1 ... 63 int32 rw

Description Target position of the positioning record table. Setpoint position as perPNU 401/RCB1, absolute or relative, stated in positioning unit (see PNU 1004).

Record 1 404 1 int32 rw

Setpoint position for positioning record 1.


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 mm1/1000 inch1/100 °

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. Parameters


Record Preselection Value

FHPP (CMMP) 405 1 ... 250 int32 rw

Description Following position (record number of the following position with NEXT1).


Following position for record 1.


Following position for record 2.


Following position for record ...

Record Preselection Value

FHPP (CMMS/CMMD) 405 1 ... 63 int32 rw

Description Preselection value for conditional record chaining of the record profile in ms,as per step enabling condition from PNU 402 (RCB2); see section 2.6.3Tab. 2/13. Value range: 0 ms ... 100,000 ms = 100 sWhen written, the value becomes effective for the record profile; see Fig. 4/2.


Preselection value for record 1.


Preselection value for record 2.


Preselection value for record ...

Record Velocity


Description Velocity setpoint value in unit of velocity (see PNU 1006).


Velocity setpoint value for positioning record 1


Velocity setpoint value for positioning record 2


Velocity setpoint value for positioning record ...

4. Parameters


Record Velocity


Description Velocity setpoint value of the record profile as per PNU 414, stated in the unitof velocity (see PNU 1006).When written, the value becomes effective for the record profile; see Fig. 4/2.


Velocity setpoint value of the record profile of positioning record 1.


Velocity setpoint value of the record profile of positioning record 2.


Velocity setpoint value of the record profile of positioning record ...

Record Acceleration


Description Acceleration setpoint value for start-up, stated in unit of acceleration(see PNU 1007).


Acceleration setpoint value for positioning record 1.


Acceleration setpoint value for positioning record 2.


Acceleration setpoint value for positioning record ...

Record Acceleration


Description Acceleration setpoint value for the record profile as per PNU 414 for start-up,stated in the unit of acceleration (see PNU 1007).When written, the value becomes effective for the record profile; see Fig. 4/2.


Acceleration setpoint value of the record profile of positioning record 1.


Acceleration setpoint value of the record profile of positioning record 2.


Acceleration setpoint value of the record profile of positioning record ...

4. Parameters


Record Deceleration


Description Deceleration setpoint value for braking, stated in unit of acceleration(see PNU 1007).


Deceleration setpoint value for positioning record 1


Deceleration setpoint value for positioning record 2


Deceleration setpoint value for positioning record ...

Record Deceleration


Description Deceleration setpoint value for the record profile as per PNU 414 for braking,stated in the unit of acceleration (see PNU 1007).When written, the value becomes effective for the record profile; see Fig. 4/2.


Deceleration setpoint value of the record profile of positioning record 1.


Deceleration setpoint value of the record profile of positioning record 2.


Deceleration setpoint value of the record profile of positioning record ...

Record Velocity Limit


Description Velocity limit for Profile Torque mode, stated in the unit of velocity (seePNU 1006).


Velocity limit for positioning record 1.


Velocity limit for positioning record 2.


Velocity limit for positioning record ...

4. Parameters


Record Jerkfree Filter Time


Description Jerk-free filter time in ms.Specifies the filter time constant for the output filter that is used to smooththe linear movement profiles. Completely jerk-free movement is achieved if thefilter time is the same as the acceleration time.


Jerk-free filter time for positioning record 1.


Jerk-free filter time for positioning record 2.


Jerk-free filter time for positioning record ...

Record Jerkfree Filter Time


Description 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 smooththe linear movement profiles. Completely jerk-free movement is achieved if thefilter time is the same as the acceleration time.When written, the value becomes effective for the record profile; see Fig. 4/2.


Jerk-free filter time of the record profile of positioning record 1.


Jerk-free filter time of the record profile of positioning record 2.


Jerk-free filter time of the record profile of positioning record ...

4. Parameters


Record Profile


Description Specifies affiliation to a record profile. The positioning records are assigned tothe 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 assignedrecords; see Fig. 4/2.Value range: 0 ... 7 (equates to the assigned record profile)


Record profile for positioning record 1.


Record profile for positioning record 2.


Record profile for positioning record ...

1) Cannot be parametrised with FHPP, access via FCT only

Record Following Position (for record chaining)



Description Record number to which record chaining jumps when the step enabling condi-tion is met.Value range: 0x01 ... 0x7F (1 ... 250)


Following position for positioning record 1.


Following position for positioning record 2.


Following position for positioning record ...

4. Parameters


Record Torque Limitation


Description Torque/current current limitation in Profile Position mode in mNm.


Torque limitation for positioning record 1.


Torque limitation for positioning record 2.


Torque limitation for positioning record ...

Record CAM ID (cam disk number for record)


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)


Cam disk number for positioning record 1.


Cam disk number for positioning record 2.


Cam disk number for positioning record ...

Record Remaining Distance Message

FHPP (CMMP) 420 1 ... 250 int32 rw

Description Message reporting the remaining positioning distance in the record list, statedin positioning units (see PNU 1004).


Remaining distance message for positioning record 1.


Remaining distance message for positioning record 2.


Remaining distance message for positioning record ...

4. Parameters




Description Record control byte 3 (RCB3) controls the specific behaviour of the record whenparticular events occur.The record control byte is bit-orientated. For allocation, see Tab. 4/9







Bit Description

B0, B1 Start command during active positioning:Bit 1 0 Description

0 0 Ignore0 1 Interrupt active1 0 Append to active positioning (wait)1 1 Reserved

B2 ... B9 Reserved (= 0 !)

Tab. 4/9: RCB3 allocation

4. Parameters


4.4.9 Project data – General project data

Project Zero Point (project zero point offset)

FHPP (all) 500 1 int32 rw

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).

Software End Positions

FHPP (all) 501 1, 2 int32 rw

Description Software end positions in positioning unit (see PNU 1004)A setpoint specification (position) outside the end positions is not permittedand will lead to a fault. The offset to the axis zero point is entered.Plausibility rule: min. limit ≤ max. limit

Lower Limit 501 1 int32 rw

Lower software end position

Upper Limit 501 2 int32 rw

Upper software end position

Max. Speed


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


Description Max. permissible acceleration in unit of acceleration (see PNU 1007).

Max. Jerkfree Filter Time


Description Max. permissible jerk-free filter time in ms.Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)

CMMS/CMMD: 0x00000000 ... 0x00000033 (0 ... 51)

4. Parameters


4.4.10 Project data – Teaching

Teach Target


Description The parameter defined is the one written with the actual position by the nextTeach 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. Parameters


4.4.11 Project data – Jog mode

Jog Mode Velocity Slow – Phase 1


Description Maximum velocity for phase 1 in unit of velocity (see PNU 1006).

Jog Mode Velocity Fast – Phase 2


Description Maximum velocity for phase 2 in unit of velocity (see PNU 1006).

Jog Mode Acceleration


Description Acceleration during jogging in unit of acceleration (see PNU 1007).

Jog Mode Deceleration


Description Deceleration during jogging in unit of acceleration (see PNU 1007).

Jog Mode Time Phase 1


Description Time duration of phase 1 (T1) in ms.

4. Parameters


4.4.12 Project data – Direct mode, Profile Position mode

Direct Mode Position Base Velocity


Description Base velocity during direct Profile Position mode in unit of velocity(see PNU 1006).

Direct Mode Position Acceleration


Description Acceleration during direct Profile Position mode in unit of acceleration(see PNU 1007).

Direct Mode Position Deceleration


Description Deceleration during direct Profile Position mode in unit of acceleration(see PNU 1007).

Direct Mode Position Jerkfree Filter Time


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. Parameters


4.4.13 Project data – Direct mode, Profile Torque mode

Direct Mode Torque Base Torque Ramp

FHPP (CMMP) 550 1 uint32 rw

Description Base value for torque ramp in direct Profile Torque mode in mNm/s.

Direct Mode Torque Target Torque Window


Description Torque in mNm, being the amount by which the actual torque is permitted todiffer from the setpoint torque in order to be interpreted as still being in thetarget window. The width of the window is twice the value transmitted, withthe target torque in the centre of the window.

Direct Mode Torque Time Window


Description Damping time for the torque target window during direct Profile Torque mode inms.

Direct Mode Torque Speed Limit


Description When Profile Torque mode is active, the velocity is limited to this value, statedin unit of velocity (PNU 1007).Note: PNU 514 allows an absolute speed limit to be specified, which triggers afault if it is reached. If both functions (limitation and monitoring) are to be ac-tive at the same time, PNU 554 must be significantly less than PNU 514.

4. Parameters


4.4.14 Project data – Direct mode, Profile Velocity mode

Direct Mode Velocity Base Velocity Ramp


Description Base acceleration value (velocity ramp) during direct Profile Velocity mode inunit of acceleration (see PNU 1007).

Direct Mode Velocity Target Window


Description Velocity target window during direct Profile Velocity mode in unit of velocity(see PNU 1006).

Direct Mode Velocity Window Time (damping time for velocity target window in directmode)


Description Damping time for velocity target window during direct Profile Velocity modein ms.

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


Description Standstill target window during direct Profile Velocity mode in unit of velocity(see PNU 1006).

Direct Mode Velocity Threshold Time (damping time for standstill in direct mode)


Description Damping time for standstill target window during direct Profile Velocity mode inms.

Direct Mode Velocity Torque Limit


Description Torque limitation during direct Profile Velocity mode in unit of torque (mNm).

4. Parameters


4.4.15 Function data – Camming function

Selecting cam disk

CAM ID (cam disk number)

FHPP 700 1 uint8 rw

Description This parameter is used to select the number of the cam disk in Direct mode.Value range 1 ... 16

Master Start Position Direct Mode (master start position in direct mode)

FHPP 701 1 int32 rw

Description Defines the start position of the master for the camming function.

Synchronisation (input, X10)

Input Config Sync. (input configuration for synchronisation)

FHPP 710 1 uint32 rw

Description Configuration of the encoder input for synchronisation (physical master on X10,slave operation).Bit Name Description0 Ignore index pulse Bit 0 = 1: without index pulse

Bit 0 = 0: with index pulse1 – Reserved = 02 Switch off A/B track Bit 2 = 1: without A/B track

Bit 2 = 0: with A/B track3 ... 31 – ... Reserved = 0

4. Parameters


Gear Sync. (synchronisation gear ratio)

FHPP 711 1, 2 uint32 rw

Description Gear ratio for synchronisation with an external input (physical master on X10,slave operation).


Motor revolutions (drive input).

Shaft revolutions 711 2 uint32 rw

Shaft rotations (output).

Encoder emulation (output, X11)

Output Config Encoder Emulation (output configuration for encoder emulation)


Description Configuration of the encoder for encoder emulation (virtual master).Bit Name Description0 Switch off A/B track Bit 0 = 1: without A/B track

Bit 0 = 0: with A/B track1 Suppress index pulse Bit 1 = 1: without index pulse

Bit 1 = 0: with index pulse2 Reversal of direction of rotation Bit 2 = 1: with reversal of direction

of rotationBit 2 = 0: without reversal of directionof rotation

3 ... 31 – ... Reserved = 0

4. Parameters


4.4.16 Function data – Position triggers and rotor position triggers

Position Trigger Control


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) Description0 (0x0000 0001) Position trigger (actual position) 01 (0x0000 0002) Position trigger (actual position) 12 (0x0000 0004) Position trigger (actual position) 23 (0x0000 0008) Position trigger (actual position) 34 ... 15: Reserved16 (0x0001 0000) Rotor position trigger 017 (0x0002 0000) Rotor position trigger 118 (0x0004 0000) Rotor position trigger 219 (0x0008 0000) Rotor position trigger 319 ... 31 Reserved

Position Trigger Low

FHPP 731 1 ... 4 int32 rw

Description Position values for the low position trigger, stated in the positioning unit (seePNU 1004).

Position Trigger 1 731 1 int32 rw

Position values of the first low position trigger.


Position values of the second low position trigger.


Position values of the third low position trigger.


Position values of the fourth low position trigger.

4. Parameters


Position Trigger High

FHPP 732 1 ... 4 int32 rw

Description Position values for the high position trigger, stated in the positioning unit (seePNU 1004).


Position values of the first high position trigger.


Position values of the second high position trigger.


Position values of the third high position trigger.


Position values of the fourth high position trigger.

Rotor Position Trigger Low

FHPP 733 1 ... 4 int32 rw

Description Angle for the low rotor position trigger, stated in °.Value range: -180 ... 180

Rotor PositionTrigger 1

733 1 int32 rw

Angle of the first low rotor position trigger.


733 2 int32 rw

Angle of the second low rotor position trigger.


733 3 int32 rw

Angle of the third low rotor position trigger.


733 4 int32 rw

Angle of the fourth low rotor position trigger.

4. Parameters


Rotor Position Trigger High

FHPP 734 1 ... 4 int32 rw

Description Angle for the high rotor position trigger, stated in °.Value range: -180 ... 180


734 1 int32 rw

Angle of the first high rotor position trigger.


734 2 int32 rw

Angle of the second high rotor position trigger.


734 3 int32 rw

Angle of the third high rotor position trigger.


734 4 int32 rw

Angle of the fourth high rotor position trigger.

4. Parameters


4.4.17 Axis parameters for electric drives 1 – Mechanical parameters

Polarity (reversal of direction)


Description Direction of the position values.Values: Position value (vector)0x00 (0): normal (default)0x80 (128): inverted (multiplied by -1)

Encoder Resolution


Description Encoder resolution in encoder increments / motor revolutions.Specified internal conversion factor.The calculated value is derived from the fraction “encoder increments/motorrevolution”.

Encoder Increments 1001 1 uint32 rw

Fixed: 0x00010000 (65536)


Fixed: 0x00000001 (1)

Gear Ratio


Description Ratio of motor revolutions to gearing shaft revolutions (drive outputrevolutions), see appendix A.1.Gear ratio = motor revolutions / shaft revolutions


Gear ratio – numerator.Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(231-1))

Shaft Revolutions 1002 2 uint32 rw

Gear ratio – denominator.Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(231-1))

4. Parameters


Feed Constant


Description The feed constant specifies the pitch of the drive’s shaft per revolution,see appendix A.1.Feed constant = feed / shaft revolution

Feed 1003 1 uint32 rw

Feed constant – numerator.Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(231-1))

Shaft Revolutions 1003 2 uint32 rw

Feed constant - denominator.Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(231-1))

Position Factor


Description Conversion factor for all positioning units (for converting the user-defined unitsinto internal controller units). See appendix A.1 for the calculation.

Position Factor =

Encoder Resolution * Gear RatioFeed Constant

Numerator 1004 1 uint32 rw

Position factor - numerator.

Denominator 1004 2 uint32 rw

Position factor – denominator.

Axis Parameter (axis parameters)

FHPP (all) 1005 2, 3 int32 rw

Description Specify and read out axis parameters.

Gear Numerator 1005 2 int32 rw

Gear ratio – axis gear numeratorValue range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))

Gear Denominator 1005 3 int32 rw

Gear ratio – axis gear denominatorValue range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))

4. Parameters


Velocity Factor


Description Conversion factor for all units of velocity (for converting the user-defined unitsinto internal controller units). See appendix A.1 for the calculation.

Velocity Factor =

Encoder Resolution * Time Factor_vFeed Constant


Velocity factor – numerator.


Velocity factor – denominator.

Acceleration Factor


Description Conversion factor for all units of acceleration (for converting the user-definedunits into internal controller units). See appendix A.1 for the calculation.

Acceleration Factor =

Encoder Resolution * Time Factor_aFeed Constant


Acceleration factor – numerator.


Acceleration factor – denominator.

Polarity Slave (reversal of direction for slave)


Description This parameter can be used to reverse the position specification for signals onX10 (slave operation)This applies to the functions “Synchronisation” (including electronic gearunits), “Flying saw”, “Cam disks”.Value Description0x00 Position value vector normal (default)0x80 Position value vector inverted

4. Parameters


4.4.18 Axis parameters for electric drives 1 – Homing parameters

Offset Axis Zero Point


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> andfor the software end positions. All positioning operations refer to the projectzero point (PNU 500).The axis zero point (AZ) is calculated from: AZ = REF + axis zero point offset

Homing Method


Description Defines the method which the drive uses to carry out the homing.(see section 2.3, Tab. 2/4).

Homing Velocities


Description Speeds during homing in unit of velocity (see PNU 1006).

Search for Switch 1012 1 uint32 rw

Speed when searching for the reference point REF or a stop or switch.Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))

Running for Zero 1012 2 uint32 rw

Speed of travel to the axis zero point AZ.Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))

Homing Acceleration


Description Acceleration during homing in unit of acceleration(see PNU 1007).Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(231-1))

4. Parameters


Homing Required


Description Defines whether or not homing must be carried out after switching on in orderto carry out positioning tasks.Drives with the multi-turn absolute displacement encoder only need one hom-ing run after being installed.Values:0x00 (0): Reserved0x01 (1): Homing must be carried outFixed: 0x01 (1)

Homing Max. Torque


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 thisvalue is reached, the drive identifies the stop (REF) and travels to the axiszero point.

4. Parameters


4.4.19 Axis parameters for electric drives 1 – Closed-loop controllerparameters

Halt Option Code


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 ramp0x02 (2): Reserved (brake with emergency stop ramp)

Position Window


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 positionin the centre of the window.

Position Window Time (adjustment time for position)


Description Adjustment time in milliseconds.If the actual position has been in the target position window this amount oftime, the bit “Target reached” will be set in the status word.

4. Parameters


Control Parameter Set (controller’s parameters)

FHPP (all) 1024 18 ... 22, 32 uint16 rw

Description Control parameters as well as parameters for “quasi-absolute positionregistering”.

Gain Position 1024 18 uint16 rw

Gain of closed-loop position controller.Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Gain Velocity 1024 19 uint16 rw

Gain of closed-loop velocity controller.Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Time Velocity(velocity time

constant)

1024 20 uint16 rw

Time constant for the closed-loop velocity controller.Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Gain Current 1024 21 uint16 rw

Gain of current regulator.Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Time Current(current time

constant)

1024 22 uint16 rw

Time constant for the current regulator.Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Save Position 1024 32 uint16 rw

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 1, 3 uint32/uint16 ro/rw

Description Motor-specific data.

Serial Number 1025 1 uint32 ro

Festo serial number and motor’s serial number.

Time Max. Current 1025 3 uint16 rw

I2t time in ms.When the I2t time elapses, the current is limited automatically to the motorrated current in order to protect the motor (Motor Rated Current, PNU 1035).

4. Parameters


Drive Data

FHPP (CMMP) 1026 1 ... 4, 7 uint32 ro/rw

FHPP (CMMS/CMMD) 1026 1, 3, 4, 7 uint32 ro/rw

Description General motor data.

Power Temp.(output stage

temp.)

1026 1 uint32 ro

Temperature of the output stage in ° C.

Power StageMax. Temp.

(output stage max.temp.)

1026 2 uint32 ro

CMMP only:Maximum temperature of the output stage in ° C.

Motor RatedCurrent

1026 3 uint32 rw

Rated motor current in mA, identical to PNU 1035.

Current Limit(max. motor

current)

1026 4 uint32 rw

Maximummotor current, identical to PNU 1034.

Controller SerialNumber

1026 7 uint32 ro

Controller’s internal serial number.

4. Parameters


4.4.20 Axis parameters for electric drives 1– Electronic rating plate

Max. Current


Description Servo motors may normally be overloaded for a certain time period. Thehighest permissible motor current is set with PNU 1034 (identical toPNU 1026). It refers to the motor rated current (PNU 1035) and is set inthousandths.The value range is limited upward by the maximum controller current (see tech-nical data, depending on the controller cycle time and the final stage fre-quency).PNU 1034 may only be written when PNU 1035 was previously validly written.Note: please note that the current limitation also limits the maximum possiblevelocity and that (higher) setpoint velocities may therefore not be achieved.

Motor Rated Current


Description The motor’s rated current in mA, identical to PNU 1026/3.

Motor Rated Torque


Description The motor’s rated torque in 0.001 Nm.

Torque Constant


Description Ratio between the current and torque in the motor usedin mNm/A.

4. Parameters


4.4.21 Axis parameters for electric drives 1 – Standstill control

Position Demand Value (setpoint position)

FHPP (all) 1040 1 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 1 int32 ro

Description Current position of the drive, stated in the positioning unit (see PNU 1004).

Standstill Position Window


Description Standstill position window in positioning unit (see PNU 1004).Amount by which the drive may move after MC, until standstill controlresponds.

Standstill Timeout

FHPP (all) 1043 – uint16 rw

Description Standstill control timeout in ms.Time during which the drive must be outside the standstill position windowbefore standstill control responds.

4. Parameters


4.4.22 Axis parameters for electric drives 1 – Drag error monitoring

Following Error Window (drag error window)


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)


Description Define or read a timeout time for drag error monitoring in ms.Value range: 1 ... 60000

4.4.23 Axis parameters for electric drives 1 – Other parameters

Torque Feed Forward Control

FHPP (CMMP) 1080 1 int32 rw

Description Torque feed forward control in mNm (only effective for direct mode withposition control).

Setup Velocity


Description Setup velocity as % of whatever velocity is specified.Value range: 0 ... 100

Velocity Override


Description Velocity override as % of whatever velocity is specified.Value range: 0 ... 255

4. Parameters


4.4.24 Function parameters for digital I/Os

Remaining Distance for Remaining Distance Message


Description The remaining positioning distance is the trigger condition for the remainingdistance message, which can be issued on a digital output.With CMMP-AS: effective in Direct mode only.

4. Parameters


Parametrisation with FPC


Chapter 5

Parametrisation with FPC

5. Parametrisation with FPC


Contents

5.1 Parametrisation with FHPP 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 5-3. . . . . . . .

5.1.2 Task identifiers, response identifiers and error numbers 5-5. . . . . . . .

5.1.3 Rules for task-response processing 5-7. . . . . . . . . . . . . . . . . . . . . . . . .



5.1 Parametrisation with FHPP

5.1.1 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 para-meter number (PNU).The parameter number serves for identifying or addressing the individualparameter. The task or response identifier (ReqID/ResID) describes thetask/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 numberwill be transmitted in the response telegram instead of the value. Theerror number describes the cause of the error.

Tab. 5/1: Components of the parameter channel (FPC)

The parameter channel consists of 8 octets. The followingtable shows the structure of the parameter channel in relationto the size or type of the parameter value:

FPC


Output data 0 IND ParID Value

Input data 0 IND ParID Value

IND Subindex - for addressing an array elementParID Parameter identifier - consists of ReqID or ResID and PNUValue Parameter value:

– With double word: bytes 5...8– With word: bytes 7, 8– With byte: byte 8

Tab. 5/2: Structure of parameter channel



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) Octet 1 (byte 3)

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Task ReqID Rsvd Parameter number (PNU)

Response ResID Rsvd Parameter number (PNU)

ReqID Request identifier – task identifier (read, write, ...)ResID Response identifier (transmit value, fault, ...)Value (PNU) Parameter number – serves for identifying or addressing the relevant

parameter (see section 5.1). The task/response identifier identifiesthe type of task or response (see section 5.1.2).

Tab. 5/3: Structure of parameter identifier (ParID)



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

0 No task 0 –

6 Request parameter (array) 5 7

8 Modify parameter value (array, double word) 5 7

13 Request lower limit value 5 7

14 Request upper limit value 5 7

Tab. 5/4: Task identifiers and response identifiers

If the task cannot be carried out, response identifier 7 as wellas the appropriate error number will be transmitted (negativeresponse).

The following table shows the response identifiers:

ResID Description

0 No response

5 Parameter value transmitted (array, double word)

7 Task cannot be carried out (with error number) 1)

1) For error numbers, see following table

Tab. 5/5: Response identifiers



If the task for parameter processing cannot be carried out, anappropriate error number will be transmitted in the responsetelegram (octets 7 and 8 of the FPC range). The order of errorchecking and the possible error numbers are shown in thefollowing table:

No. Checking of Error numbers Description

1 PNU defined 0 0x00 Impermissible PNU. The parameterdoes not exist.

2 If array: IND defined 3 0x03 Faulty subindex

3 ReqID permissible 101 0x65 Festo: ReqID is not supported

4 Access rights (read, write) 1 0x01 Parameter value cannot be changed(read only)

102 0x66 Parameter is write-only (with pass-words)

5 If change: operating status 17 0x11 Task cannot be carried out due tooperating status

6 If change: higher-order 11 0x0B No higher-order

7 If change: password 12 0x0C Incorrect password

8 If change: value permissible 2 0x02 Lower or upper value limit ex-ceeded

Tab. 5/6: Order of error checking and error numbers



5.1.3 Rules for task-response processing

Rules Description

1 If the master transmits the identifier for “No task”, the controller responds with theresponse identifier for “No response”.

2 A task or response telegram always refers to a single parameter.

3 The master must continue to send a task until it has received the appropriate responsefrom the controller.

4 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

5 The controller supplies the response until the master sends a new task.

6 a) A write task, even with cyclic repetition of the same task, will only be carried out onceby the controller.

b) Between two consecutive tasks with the same task identifier (ReqID), parameternumber (PNU) and subindex (IND), the task identifier 0 (no task) must be sent andthe 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



Sequence of parameter processing

CautionObserve the following when modifying parameters:An FHPP control signal which is to refer to a modifiedparameter must not be issued until the response identifier“Parameter value transmitted” is received for the relevantparameter and (if applicable) for the index.

If, e.g. a position value in a position register is to be modifiedand if a movement is then to be made to this position, thepositioning command must not be given until the controllerhas completed and confirmed the modification of the positionregister.

CautionIn order to be sure that an “old” response cannot be inter-preted 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 thesame task identifier (ReqID), parameter number (PNU) andsubindex (IND).

Evaluating errors

In the case of tasks which cannot be carried out, the slaveresponds as follows:

– Output of response identifier = 7

– Output an error number in bytes 7 and 8 of the parameterchannel (FPC).



Example of parametrisation via FPC

The following tables show an example of parametrising apositioning task in the positioning record table via FPC(Festo Parameter Channel).

Step 1 Output status of the 8 bytes of FPC data:


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.



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 sendoutput data with ReqID = 0x0 and wait for input data withResID = 0x0:



Output data 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00




Step 4 Write record number 1 with target position 0x1234 (decimal4660 increments):PNU 404, subindex 2 – Modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00001234.





Step 5 After receiving the input data with ResID 0x8 send output datawith ReqID = 0x0 and wait for input data with ResID = 0x0:





Step 6 Write record number 1 with speed 0x7743 (decimal 30531increments/s):PNU 406, subindex 2 – Modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00007743.





Step 7 After receiving the input data with ResID 0x8 send output datawith ReqID = 0x0 and wait for input data with ResID = 0x0:





Technical appendix

A-1Festo P.BE-CMM-FHPP-SW-EN en 1011b

Appendix A

Technical appendix

A. Technical appendix

A-2 Festo P.BE-CMM-FHPP-SW-EN en 1011b

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.1 Conversion factors (factor group)

A.1.1 Overview

Motor controllers are used in a wide variety of applications: asdirect 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 parametersin the “factor group” (PNU 1001 to 1007, see section 4.4.17)in such a way that variables such as the rotational velocitycan be directly specified or read in the units of measurementrequired.

The motor controller then uses the factor group to convertthe entries into its internal units of measurement. One con-version factor is available for each of the physical parameters:position, velocity and acceleration. These conversion factorsadjust the user’s units of measurement to the application inquestion.Fig. A/1 clarifies the function of the factor group:

Position Factor

Position

Factor groupUser units Internal controller units

Positioning units

Units of velocity

±1

position_polarity_flag

Units of acceleration

±1

Velocity Factor

Velocity

±1

velocity_polarity_flag 1)

±1

Acceleration Factor

Acceleration

Increments (inc)

1 rev

min.

1 rpm

256 sec

1 rev

4096 min

CMMS/CMMD

CMMP

1) Only with CMMP

Fig. A/1: Factor group



All parameters are always saved in the motor controller in itsinternal units of measurement and are only converted (usingthe factor group) when the parameters are written or readout.

For this reason, the factor group should be set first duringparametrisation and should not be changed again duringparametrisation.

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.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.1.3 Calculating the positioning units

The position factor (PNU 1004, see section 4.4.17) is used toconvert all the length values from the user’s positioning unitsinto the internal unit increments (65536 increments areequivalent to one motor revolution). The position factor con-sists of numerators and denominators.

Motor Gear unit

DriveMotor with gear unit

revsIN

revsOUT

x in positioning unit(e. g. “mm”)

x in positioning unit(e. g. “degrees”)

Fig. A/2: Calculating the positioning units

The following parameters are involved in the position factor’scalculation formula:

Gear Ratio Gear ratio between revolutions at the input side (revsIN) andrevolutions at the output side (revsOUT).

Feed Constant Ratio between movement in positioning units at the driveand revolutions at the gear unit’s output (revsOUT).(e. g. 1 rev Z 63.15 mm or 1 rev Z 360° degrees)



The position factor is calculated using the following formula:

Position Factor =

Gear Ratio * Increments�Revolutions

Feed Constant

The position factor must be written to the motor controllerseparated into numerators and denominators. This can makeit necessary to bring the fraction up to whole integers by ex-panding it accordingly.

Example

First, the desired unit (column 1) and the desired number ofdecimal places (dp) have to be specified, along with the ap-plication’s gear ratio and its feed constant (if applicable). Thefeed constant is then displayed in the desired positioningunits (column 2).

In this way, all the values can be entered into the formula andthe fraction can be calculated:

Position factor calculation sequence

Positioning

units 1)

Feed

constant 2)Gear

ratio 3)

Formula 4) Result

shortened

degrees,1 dp

1/10 degree

( °/10 )

1 rOUT

=

3600 °10

1/1

1r

1r* 65536

Inc

r

3600 °10

1 r

=

65536 Inc

3600 °10

num : 4096div : 225

Fig. A/3: Position factor calculation sequence



Examples of calculating the position factor

Positioning

units 1)

Feed

constant 2)Gear

ratio 3)

Formula 4) Result

shortened

increments,0 dp

inc.

1 rOUT

=

65536 Inc 1/1

1r

1r* 65536

Inc

r

65536 Inc

1 r

=1 Inc1 Inc

num : 1div : 1

degrees,1 dp

1/10 degree

( °/10 )

1 rOUT

=

3600 °10

1/1

1r

1r* 65536

Inc

r

3600 °10

1 r

=

65536 Inc

3600 °10

num : 4096div : 225

revs,2 dp

1/100 revs

( revs/100 )

1 rOUT

=

100U100

1/1

1r

1r* 65536

Inc

r

100r

100

1 r

=

65536 Inc

100r

100

num : 16384div : 25

2/32r

3r* 65536

Inc

r

100r

100

1 r

=

131072 Inc

300r

100

num : 32768div : 75

mm,1 dp

1/10 mm( mm/10 )

1 rOUT

=

631.5mm10

4/5

4r

5r* 65536

Inc

r

631.5mm

10

1 r

=

2621440 Inc

31575mm

10

num: 524288div: 6315

1) Desired unit at the output2) Positioning units per revolution (revsOUT).

Drive’s feed constant (PNU 1003) * 10-dp (decimal places taken into consideration)3) revsIN per revsOUT4) Insert values into formula.

Tab. A/4: Examples of calculating the position factor



A.1.4 Calculating the units of velocity

The velocity factor (PNU 1006, see section 4.4.17) is used toconvert all the velocity values from the user’s units of veloc-ity 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 conversionfactor from internal units of length into the user’s positioningunits and a conversion factor from internal units of time intouser-defined units of time (e.g. from seconds to minutes). Thefirst part is equivalent to calculating the position factor; anadditional factor is required to calculate the second part:

Time factor_v Ratio between the internal unit of time and the user-definedunit of time:(e.g. with CMMS 1 min = 1/4096 4096 min)



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 bewritten to the motor controller separated into numerators anddenominators. This can make it necessary to bring the frac-tion up to whole integers by expanding it accordingly.



Example

First, the desired unit (column 1) and the desired number ofdecimal places (dp) have to be specified, along with the ap-plication’s gear ratio and its feed constant (if applicable). Thefeed constant is then displayed in the desired positioningunits (column 2).

Then, the desired unit of time is converted into the motorcontroller’s unit of time (column 3).


Velocity factor calculation sequence

Units ofvelocity 1)

Feed con-stant 2)

Time constant 3) Gear4)

Formula 5) Resultshortened

mm/s,1 dp

1/10 mm/s( mm/10 s )

63.15mmr

⇒

1 rOUT

=

631.5mm10

11s =

60 1min

=

60 * 40961

4096 min

4/5 4 r

5 r*

60 * 40961

4096min

11

s

631.5mm

10

1 r

=

1966080r

4096min

6315mm

10s

num: 131072div: 421

Fig. A/4: Velocity factor calculation sequence (here CMMP-AS)



Examples of calculating the position factor with CMMS/CMMD

Units ofvelocity 1)

Feed con-stant 2)



rpm,0 dp

1/100revs/min

1 rOUT

=

65536 Inc1

1min

=

1 1min

1/1 1 r

1 r*1 r

1 r*

1

min

1

min

1 r

1 r

=

1 r

min

1 r

min

num: 1div: 1

°/s,1 dp

1/10 °/s( °/10 s )

1 rOUT

=

3600 °10

11s =

60 1min

1/1 1 r

1 r*1 r

1 r*

60*1

min

1

s

3600 °10

1 r

=

60r

min

3600 °10 s

num: 1div: 60

rpm,2 dp

1/100revs/min

( revs/100min )

1 rOUT

=

100r

100

11

min=

1 1min

1/1 1 r

1 r*1 r

1 r*

1

min

1

min

100r

100

1 r

=

1 r

min

100 r

100 min

num: 1div: 100

2/3 1 r

1 r*2 r

3 r*

1

min

1

min

100r

100

1 r

=

2 r

min

300 r

100 min

num: 1div: 150

mm/s,1 dp

1/10 mm/s( mm/10 s )

63.15mmr

⇒

1 rOUT

=

631.5mm10

11s =

60 1min

1/1 1 r

1 r*1 r

1 r*

60*1

min

1

s

631.5mm

10

1 r

=

120r

min

1263mm

10 s

num: 40div: 421

4/5 1 r

1 r*4 r

5 r*

60*1

min

1

s

631.5mm

10

1 r

=

96r

min

1263mm

10 s

num: 32div: 421


Drive’s feed constant (PNU 1003) * 10-dp (decimal places taken into consideration)3) Time factor_v: desired unit of time per internal unit of time4) Gear ratio: revsIN per revsOUT5) Insert values into formula.

Tab. A/5: Examples of calculating the position factor with CMMS/CMMD



Examples of calculating the position factor with CMMP-AS

Units ofvelocity 1)

Feed con-stant 2)



rpm,0 dp

( revs/min )

1 rOUT

=

1 rOUT

11

min=

4096 14096 min

1/1 1 r

1 r*

40961

4096min

11

min

1 r

1 r

=

4096 r

4096 min

1 r

min

num: 4096div: 1

rpm,2 dp

1/100revs/min

( revs/100min )

1 rOUT

=

100r

100

11

min=

4096 14096 min

2/3 2 r

3 r*

40961

4096min

11

min

100r

100

1 r

=

8192 r

4096 min

300 r

100 min

num: 2048div: 75

°/s,1 dp

1/10 °/s( °/10 s )

1 rOUT

=

3600 °10

11s =

60 1min

=

60 * 40961

4096 min

1/1 1 r

1 r*

60 * 40961

4096 min

11

s

3600 °10

1 r

=

245760r

4096min

3600 °10 s

num: 1024div: 15

mm/s,1 dp

1/10 mm/s( mm/10 s )

63.15mmr

⇒

1 rOUT

=

631.5mm10

11s =

60 1min

=

60 * 40961

4096 min

4/5 4 r

5 r*

60 * 40961

4096min

11

s

631.5mm

10

1 r

=

1966080r

4096min

6315mm

10 s

num: 131072div: 421


Drive’s feed constant (PNU 1003) * 10-dp (decimal places taken into consideration)3) Time factor_v: desired unit of time per internal unit of time4) Gear ratio: revsIN per revsOUT5) Insert values into formula.

Tab. A/6: Examples of calculating the position factor with CMMP-AS



A.1.5 Calculating the units of acceleration

The acceleration factor (PNU 1007, see section 4.4.17) isused to convert all the acceleration values from the user’sunits of acceleration into the internal unit revolutions perminute per 256 seconds.The acceleration factor consists of numerators and denomina-tors.

The acceleration factor is also calculated in two parts: aconversion factor from internal units of length into the user’spositioning units and a conversion factor from internal unitsof time squared into user-defined units of time squared(e.g. from seconds2 to minutes2). The first part is equivalentto calculating the position factor; an additional factor is re-quired to calculate the second part:

Time factor_a Ratio between the internal unit of time squared and the user-defined unit of time squared(e. g. 1 min2 = 1 min * 1 min = 60 s * 1 min = 60/256 min * s).



The acceleration factor is calculated using the following for-mula:

Acceleration Factor =

Gear Ratio * Time Factor_a

Feed Constant

Like the position and velocity factors, the acceleration factoralso has to be written to the motor controller separated intonumerators and denominators. This can make it necessary tobring the fraction up to whole integers by expanding it ac-cordingly.



Example

First, the desired unit (column 1) and the desired number ofdecimal places (dp) have to be specified, along with the ap-plication’s gear ratio and its feed constant (if applicable).The feed constant is then displayed in the desired positioningunits (column 2).

Then, the desired unit of time2 is converted into the motorcontroller’s unit of time2 (column 3).


Examples of calculating the acceleration factor

Units ofacceler. 1)

Feed con-stant 2)



mm/s2,1 dp

1/10 mm/s2

( mm/10 s2 )

63.15mmr

⇒

1 rAUS

=

631.5mm10

11

s2=

601

min * s=

60 * 256

1

min

256 * s

4/5 4 r

5 r*

60 * 2561

256 min * s

11

s2

631.5mm

10

1 r

=

122880

r

min

256 s

6315mm

10s2

num: 8192div: 421

Fig. A/5: Calculating the acceleration factor



Examples of calculating the acceleration factor

Units ofacceler. 1)

Feed con-stant 2)



rpm/s,0 dp

revs/min s

1 rOUT

=

1 rOUT

11

min * s=

256

1

min

256 * s

1/1 1 r

1 r*

2561

256 min s

11

min * s

1 r

1 r

=

256

r

min

256* s

1

r

min

s

num: 256div: 1

°/s2,1 dp

1/10 °/s2

( °/10 s2 )

1 rOUT

=

3600 °10

11

s2=

601

min * s=

60 * 256

1

min

256 * s

1/1 1 r

1 r*

60 * 2561

256 min * s

11

s2

3600 °10

1 r

=

15360

r

min

256 * s

3600 °

10 s2

num: 64div: 15

rpm2,2 dp

1/100revs/min

2

( revs/100min

2 )

1 rOUT

=

100r

100

11

min2=

160

1

min

s =

25660

1

min

256 * s

2/3 2 r

3 r*

2561

256 min * s

601

min2

100r

100

1 r

=

512

r

min

256 s

18000r

100min2

num: 32div: 1125

mm/s2,1 dp

1/10 mm/s2

( mm/10 s2 )

63.15mmr

⇒

1 rOUT

=

631.5mm10

11

s2=

601

min * s=

60 * 256

1

min

256 * s

4/5 4 r

5 r*

60 * 2561

256 min * s

11

s2

631.5mm

10

1 r

=

122880

r

min

256 s

6315mm

10 s2

num: 8192div: 421


Drive’s feed constant (PNU 1003) * 10-dp (decimal places taken into consideration)3) Time factor_a: desired unit of time2 per internal unit of time24) Gear ratio: revsIN per revsOUT5) Insert values into formula.

Tab. A/7: Examples of calculating the acceleration factor

FHPP+ and cam disk expansions

B-1Festo P.BE-CMM-FHPP-SW-EN en 1011b

Appendix B

FHPP+ and cam disk expansions

B. FHPP+ and cam disk expansions

B-2 Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents

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. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 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 con-troller you are using and its firmware version, see the helpfor the associated FCT plug-in.

The FHPP+ expansion allows additional PNUs configured bythe user to be transmitted via the cyclic telegram, in additionto the control and status bytes and the optional parameterchannel (FPC).

The minimum configuration for each telegram contains thecontrol and status bytes, meaning that 8 bytes are sent andreceived. If the parameter channel is transmitted as well, itdirectly follows the I/O channel.

FHPP+ can be used to attach additional setpoint values to thereceived telegram which are not represented in the controland status bytes or in the FPC. Additional actual values canbe forwarded in the response telegram, such as the inter-mediate circuit voltage or the temperature of the outputstage.

The additional data (FHPP+) must always be transmitted inmultiples of 8 bytes, up to a total length of 32 bytes.

The data transmitted via FHPP+ is configured using theFHPP+ telegram editor in the controller’s FCT plug-in.

NoteNot all PNUs can be configured for the FHPP+ telegram.For example, the PNUs 40 to 43 cannot be transmitted atall; PNUs without write access cannot be configured in theoutput data; etc.



B.1.1 Structure of the FHPP+ telegram

The first entry in the telegram (address 0) is reserved for theI/O channel.

Optionally, if the parameter channel FPC is required by theapplication and it has been defined in the bus configuration,it must be selected as the second entry (address 8). Theparameter channel must only be configured in this position.

From the third entry onwards in the telegram (address 16), orthe second entry if FPC is not used (address 8), all remainingPNUs can be mapped which are required in the application.

With certain control systems (e.g. SIEMENS S7), make surethat PNUs with lengths of 2 or 4 bytes are in suitable ad-dresses. These PNUs should only be inserted in even ad-dresses. Placeholders are defined so that any gaps can befilled. They can be used to ensure that PNUs can be mappedin the addresses desired.

All unused parts of a telegram and especially all unusedentries in the telegram editor are filled with the placeholders.



B.1.2 Examples

Example 1With FPC, maximum 16 bytes for FHPP+

Output data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

CCON, CPOS, ... FPC, PNU, SI ... ... PNU... PNU... PNU... PNU... PNU...

Control bytes Parameter channel FPC FHPP+ (max. 16 bytes)

Input data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

SCON, SPOS, ... FPC, PNU, SI PNU... PNU... PNU... PNU...

Status bytes Parameter channel FPC FHPP+ (max. 16 bytes)

Example 2Without FPC, maximum 24 bytes for FHPP+

Output data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

CCON, CPOS, ... PNU... PNU... PNU... PNU... PNU... PNU... PNU... PNU...

Control bytes FHPP+ (max. 24 bytes)

Input data, bytes 1 ... 31

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

SCON, SPOS, ... PNU... PNU... PNU... PNU... ... ... PNU... PNU...

Status bytes FHPP+ (max. 24 bytes)



B.1.3 Configuration of the fieldbuses with FHPP+

The length and contents of the transmitted data are definedusing the telegram editor.

The data defined in this way must be configured on themaster/scanner specifically for each fieldbus, for example bymeans of the corresponding GSD or EDS files.

Information about configuration can be found in the relevantfieldbus manual.

B.1.4 Telegram editor for FHPP+

The transmitted data is configured solely via the FHPP+ editorprovided 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 thecyclic FHPP telegram uniquely to the PNUs. The specificationsprovide generally for 16 entries per received and sent tele-gram. The current stage of development permits up to 10entries for the CMMP-AS controller. The maximum length of atelegram is restricted to 32 bytes.

The PNUs for telegram mapping settings must not be mappedin the FHPP+ telegram.

B.1.5 Overview of FHPP+ parameters

The special parameters for FHPP+ are described insection 4.4.2.



B.2 CMMP-AS - operation of cam disks

The CMMP-AS has the option of operating 16 cam disks eachwith 4 cam tracks assigned to it.

This function is available with CMMP-AS firmware version3.5.1501.4.1 and higher.

The CMMP-AS provides the following functionality for thispurpose via FHPP:

– Operation in synchronisation with an external input, slavemode.

– Operation in synchronisation with an external input withcam 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. Forinformation about parametrisation, see the help for theCMMP-AS plug-in.

For complete information on the camming function, see thespecial cam disk manual.



B.2.1 Camming function in Direct mode

Synchronisation with an external master controllerwith cam disk (slave operation)

Synchronisation operation allows a slave controller to follow amaster controller via an additional external input in accord-ance with parametrised rules.

This can be purely position synchronisation or it can be donewith 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 functionalitycan be selected in the function group and the functionnumber, CDIR.B6 ... B3 (FGRP, FNUM).

Synchronised operation is then activated with a positive edgeat the bit CPOS.B1 (START). The bit CCON.B1 (STOP) stopssynchronisation operation. The bit CPOS.B0 (HALT) has nointermediate stop function (goes to “ready” with a stopramp). The negative edge of CPOS.B1 (START) also stopssynchronisation operation.



Setpoint and actual values according to the functionnumbers

Function number Allocation of the setpoint/actual values

FNUM= 0: reserved –

FNUM= 1, FNUM= 2:synchronisation operationwithout/with cam disk

Setpoint value 1 Irrelevant as the position setpoint comes via theexternal input.

Setpoint value 2 Irrelevant as the position setpoint comes via theexternal input.

Actual value 1 Actual velocity of the slave as in Profile Positionmode (according to the cam disk)

Actual value 2 Actual position of the slave as in Profile Positionmode (according to the cam disk)

FNUM= 3: virtual master(internal) with cam disk

Setpoint value 1 Setpoint velocity of the master, subject to theoperating mode of the master

Setpoint value 2 Setpoint position of the master, subject to theoperating mode of the master

Actual value 1 Actual velocity of the slave (according to thecam disk)

Actual value 2 Actual position of the slave (according to thecam 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.2.2 Camming function in Record selection mode

With Record selection, the type of record is defined with therecord control byte in the record list. The expansion to cam-ming operation can be activated as for Direct mode with thebit provided for general function expansion, bit 7 (FUNC) inrecord 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 insection 4.4.15.



B.2.4 Extended finite state machine with camming function

T7* always has thehighest priority.

Switched off

S1

Controllerswitched on

S3

Drive enabled

S2

Drive disabled

SA1

Ready

SA5

Jog positive

SA6

Jog negative

SA4

Homing is beingcarried out

SA2

Positioning taskactive

SA3

Intermediate stop

S5

Reaction to fault

S6

Fault

From all states

S4

Operation enabled

T6

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1TA2

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

SA7

Prepare cam diskTA13

TA14

TA19

SA8

Cam disk activeand being run

SA9

Cam diskintermediate stop

TA17TA18

TA15TA16

Fig. B/1: Finite state machine with camming function



TA Description Event with Ancillary condition

Record selection Direct mode

TA13 Prepare cam disk(activate)

“Rising” edge(change) of recordnumber.

– Old record: FUNC = 0New record: FUNC = 1

– Rising edge at FUNC. –

Rising edge at STOP or ENABLE (activation ofcontroller enable).

FUNC = 1

TA14,TA19

De-activate camdisk

“Rising” edge(change) of recordnumber.

– Old record: FUNC = 1New record: FUNC = 0

– Falling edge at FUNC. –

STOP or withdrawal of ENABLE. None, FUNC = any

TA15 Cam disk activeand being run

Rising edge at START. Drive is in TA 13.

TA16 Change cam disk Rising edge at START. – Changed cam disknumber in PNU 419 orPNU 700.FUNC = 1

“Rising” edge(change) of recordnumber and risingedge at START.

– Changed cam disknumber in PNU 419 orPNU 700.FUNC = 1

– Rising edge at START,starts the virtualmaster automatically.

PNU 700 has beenchanged.FUNC = 1

TA17 Intermediate stop HALT = 0 Intermediate stop withvirtual master only.

TA18 End intermediatestop

HALT = 1

Index

C-1Festo P.BE-CMM-FHPP-SW-EN en 1011b

Appendix C

Index

C. Index

C-2 Festo P.BE-CMM-FHPP-SW-EN en 1011b

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 modeDirect mode 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Record selection 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FHPP+ B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


H

HMI (see device control) XIII. . . . . . . . . . . . . . . . . . . . . . . . . .

Homing XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing method XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference point XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

J

Jog mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

Operating mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Profile Position mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . .Profile Torque mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . .Speed adjustment XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Teach mode 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. 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. Index


V

Version XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

W

Warning memory 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Handling and Positioning Profile · 2020-03-14 · Description FHPP Motor controller Type...

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Transcript of Festo Handling and Positioning Profile · 2020-03-14 · Description FHPP Motor controller Type...