Motor controller CMMS-AS--G2 · 2020-03-13 · CMMS-AS-...-G2...

Description

Functions

Firmware design:

from 1.4.0.2.6

8026161

1310NH

Motor controller

CMMS-AS-...-G2

CMMS-AS-...-G2

2 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English

Translation of the original instructions

GDCP-CMMS-AS-G2-FW-EN

Windows®, CiA®, CANopen®, DeviceNET®, PROFIBUS®, Heidenhain®, EnDat®, CANopen® are regis-

tered trademarks of the respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

CMMS-AS-...-G2

Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 3

Table of contents – CMMS-AS-...-G2

1 Safety and requirements for product use 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Safety 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Safety instructions 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Intended use 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Requirements for product use 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Technical prerequisites 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Qualification of the specialists (requirements for the personnel) 14. . . . . . . . . . . .

1.2.3 Range of application and certifications 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Motor controller interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Overview: control section interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.2 Overview: power section interfaces 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Control interfaces – operating modes – functions 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Overview: control interfaces/connection/device profile/operating

mode/function 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Positioning mode 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.3 Speed mode and force/torque mode 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.4 Synchronisation 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.5 Encoder emulation, flying measurement, analogue monitor

and endless positioning 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Control interfaces 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Digital inputs/outputs [X1] 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Select operating mode via mode bits 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Digital inputs (DIN0…13) 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3 Digital outputs (DOUT0…3) 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Analogue inputs/outputs [X1] 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Analogue inputs (AIN0/#AIN0) 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Analogue output (AMON0) 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Encoder inputs/outputs [X1/X10] 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Encoder input (synchronisation) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Encoder output (encoder emulation) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Incremental signal (A/#A/B/#B/N/#N) 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR) 35. . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.5 Forward/reverse signals (CW/#CW/CCW/#CCW) 36. . . . . . . . . . . . . . . . . . . . . . . .

3.4 Fieldbuses [X4/X5/EXT] 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Supported fieldbuses 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Required digital inputs/outputs with a fieldbus activation 38. . . . . . . . . . . . . . . . .

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3.5 Device profiles for fieldbuses 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Festo Handling and Positioning Profile (FHPP) 39. . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 CANopen device profile CiA 402 (for electric drives) 39. . . . . . . . . . . . . . . . . . . . . .

4 Dimension reference system 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Dimension reference system for electric drives 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Dimension reference system for linear drives 40. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Dimension reference system for rotative drives 41. . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Calculation rules for the dimension reference system 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Limit switch (hardware) and software end position 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Limit switch LSN/LSP (hardware) 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Software end position SLN/SLP 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Commissioning and in operation 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Sequence control in operation 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Flow diagram: motor controller 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Flow diagram: motor controller regulation 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Data interfaces (parameter/firmware) 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Festo Configuration Tool (FCT) 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the FCT 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Starting the FCT 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 FCT help 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Download/synchronise FCT project/firmware /parameter data

(data in the motor controller) 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.5 Data backup: upload/synchronise FCT project/parameter data

(data from the motor controller) 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Memory card 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.7 Parameter/firmware files 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.8 Download firmware file (xxx.S) (Memory card >> Motor controller) 50. . . . . . . . . . .

5.3.9 Download parameter file (xxx.DCO) (Memory card >> Motor controller) 51. . . . . . .

5.4 Master control over the motor controller 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 FCT master control over the motor controller 53. . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Switching the motor controller on and off 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Behaviour of the motor controller during switch-on 54. . . . . . . . . . . . . . . . . . . . . .

5.5.2 Behaviour of the motor controller during switch-off 56. . . . . . . . . . . . . . . . . . . . . .

5.6 Interruption of the mains supply 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Behaviour of the motor controller when the mains supply is interrupted 58. . . . . .

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5.7 Fieldbus configuration (via DIP switches) 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 Overview of DIP switches [S1.1…12] 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 Configure fieldbus address/MAC-ID 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.3 Configure data rate 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.4 Configure fieldbus interface 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.5 Configure terminating resistor 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Positioning mode 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Overview: Positioning mode (position control) 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Record selection, positioning record and positioning record profile 64. . . . . . . . . . . . . . . . . .

6.2.1 Function: record selection, positioning record and positioning record profile 64. .

6.2.2 Actuate record selection/positioning record via fieldbus or digital inputs 65. . . . .

6.2.3 Parameterise positioning record 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.4 Parameterise positioning record profiles 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Direct mode 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Function: Direct mode: 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Activating direct mode via fieldbus 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 Connection: digital inputs/outputs 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.4 Parameterise direct mode 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Single position operation 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Function: single position operation 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Actuate individual-record operation via fieldbus or digital inputs 76. . . . . . . . . . .


6.4.4 Timing diagram: start/cancel individual record 78. . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.5 Parameterise individual record operation 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Record linking operation 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.1 Function: record linking operation 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.2 Actuate record-chaining operation via fieldbus/digital inputs 80. . . . . . . . . . . . . .


6.5.4 Timing diagram: start/interrupt/cancel record sequence 82. . . . . . . . . . . . . . . . . .

6.5.5 Parameterise record linking operation 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Interpolated positioning mode 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.1 Function: interpolated positioning mode 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.2 Activate interpolated positioning mode via fieldbus 87. . . . . . . . . . . . . . . . . . . . . .


6.7 Homing mode/homing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.1 Function: homing mode 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.2 Activate homing mode via fieldbus/digital inputs 89. . . . . . . . . . . . . . . . . . . . . . . .


6.7.4 Timing diagram: cancel homing to limit switch/stop/ 91. . . . . . . . . . . . . . . . . . . . .

6.7.5 Homing mode/configure and parameterise homing 95. . . . . . . . . . . . . . . . . . . . . .

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6.8 Jog operation 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8.1 Function: jog operation 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8.2 Activate jog operation via fieldbus/digital inputs 104. . . . . . . . . . . . . . . . . . . . . . . .

6.8.3 Activate jog operation via Festo Configuration Tool (FCT) 105. . . . . . . . . . . . . . . . . .


6.8.5 Timing diagram: creep-speed travel/jog travel/jog+/jog– 107. . . . . . . . . . . . . . . . .

6.8.6 Parameterise jog mode 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9 Teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.1 Function: teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.2 Activate teach mode via fieldbus/digital inputs 111. . . . . . . . . . . . . . . . . . . . . . . . .


6.9.4 Timing diagram: teach 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.5 Parameterise teach mode 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Speed mode and force/torque mode 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Speed mode 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Overview: speed mode (speed adjustment) 115. . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 Function: speed mode 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3 Activate speed mode via fieldbus/analogue input 116. . . . . . . . . . . . . . . . . . . . . . .

7.1.4 Connection: analogue and digital I/O modules 117. . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.5 Parameterise speed mode 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Force/torque mode 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Overview: force/torque mode (current control) 120. . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Function: force/torque mode 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Activate force/torque mode via fieldbus/analogue input 121. . . . . . . . . . . . . . . . . .

7.2.4 Connection: analogue and digital I/O modules 122. . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5 Parameterise force/torque mode 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Synchronisation 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Synchronisation (slave operation) 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1 Function: synchronisation 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.2 Activate synchronisation via encoder signal 126. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3 Connection: digital I/O modules, encoder input, 5 V 127. . . . . . . . . . . . . . . . . . . . . .

8.1.4 Connection: digital I/O modules, encoder input, 24 V 128. . . . . . . . . . . . . . . . . . . .

8.1.5 Timing diagram: start synchronisation via Start Sync signal 129. . . . . . . . . . . . . . . .

8.1.6 Configure/parameterise synchronisation 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CMMS-AS-...-G2


9 Motor controller functions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Encoder emulation (master operation) 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.1 Function: encoder emulation 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.2 Output encoder emulation through encoder output 131. . . . . . . . . . . . . . . . . . . . . .

9.1.3 Connection: encoder output, 5 V 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.4 Configure/parameterise encoder emulation 132. . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Flying measurement 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.1 Function: flying measurement 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.2 Activate flying measurement via digital input 133. . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.3 Connection: digital input 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Analogue monitor 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.1 Function: analogue monitor 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.2 Output analogue monitor through digital output 135. . . . . . . . . . . . . . . . . . . . . . . .

9.3.3 Connection: analogue output 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.4 Configure/parameterise analogue monitor 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Endless positioning 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.1 Function: endless positioning 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.2 Relative positioning records 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10 Service 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Protective and service functions 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.1 Overview 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.2 Overload current and short-circuit monitoring of the motor output 140. . . . . . . . . .

10.1.3 Monitoring of interruption and failure of the mains supply 140. . . . . . . . . . . . . . . . .

10.1.4 Overvoltage and undervoltage monitoring for the intermediate circuit 141. . . . . . .

10.1.5 Output stage temperature monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.6 Monitoring of the motor 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.7 I2t monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Operating mode and error messages 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 LED displays (Ready/CAN) 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.2 Seven-segments display 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.3 Acknowledgement of error messages 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.4 Diagnostic messages 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Diagnostic messages 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Explanations on the diagnostic messages 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Diagnostic messages with instructions for fault clearance 145. . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Error codes via CiA 301/402 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 PROFIBUS diagnostics 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CMMS-AS-...-G2


B Serial interface RS232 (diagnostics/parameterisation interface) 162. . . . . . . . . . . . . . . . . .

B.1 Activate motor controller via the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Master data of the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Basic setting of the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 Connect RS232 interface with a program 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.4 Connection [X5]: pin allocation of the interface RS232 163. . . . . . . . . . . . . . . . . . .

B.2 Commands/syntax of the RS232 interface 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 General commands 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 Control motor controller via CAN-Interpreter (CI) 164. . . . . . . . . . . . . . . . . . . . . . . .

C Serial interface RS485 (control interface) 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Activate motor controller via the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Master data of the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Factory setting of the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Connection [X5]: pin allocation of the interface RS485 168. . . . . . . . . . . . . . . . . . .

C.2 Configure RS485 interface in the Festo Configuration Tool (FCT) 169. . . . . . . . . . . . . . . . . . . .

C.3 Commands/syntax of the RS485 interface 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CMMS-AS-...-G2


Instructions on this description

This documentation is intended to help you safely work with the motor controller CMMS-AS-…-G2 and

describes the functions, commissioning and error messages.

Target group

This documentation is intended exclusively for technicians trained in control and automation techno-

logy, who have experience in installation, commissioning, programming and diagnostics of positioning

systems.

Product identification, versions

This documentation refers to the following versions:

– Motor controller CMMS-AS-C4-3A-G2: from Rev. 04

– Firmware: from Version 1.4.0.2.6

– Software for configuration/parameterisation (Festo Configuration Tool):

FCT plug-in “CMMS-AS”, from Version 2.0.0.x

Note

Before using a newer firmware version, check whether a newer version of the FCT plug-

in or user documentation is available for it

� Support portal: http://www.festo.com/sp.

Service

Please consult your regional Festo contact if you have any technical problems.

Rating plate CMMS-AS-…-G2 Significance

…

CMMS-AS-…-G2

572986

CN98 P0021912

Rev 02

In: 1k(95…250)V AC

(50…60)Hz 4A

Out: 3k(0…Input Voltage)V AC

(0…1000)Hz 4A

Type designation CMMS-AS-…-G2

Part number e.g. 572986

Revision e.g. Rev 02

Serial number e.g. CN98 P0021912

Input voltage (In) 95 … 250 V AC ±10 %

50 … 60 Hz, 4 A

Output voltage (Out) 0 … Input voltage V AC

0 … 1000 Hz, 4 A

Tab. 1 Rating plate CMMS-AS-…-G2 (example)

CMMS-AS-...-G2


Type codes

CMMS –

Interfaces

AS C4 3A G2–––

CMMS Motor controller, standard

Motor technology

AS AC synchronous

Nominal cur-rentC4 4A

Input voltage

3A 230 V AC

Generation

G2 2nd generation

Fig. 1 Type codes

CMMS-AS-...-G2


Documentation

You will find information on the motor controller in the following documentation:

User documentation on the motor controller CMMS-AS-...-G2

Name, type Contents

Description of hardware,

GDCP-CMMS-AS-G2-HW-...

Mounting, installation, pin allocations and error messages

Description of the safety function

STO, GDCP-CMMS-AS-G2-S1-...

Functional safety engineering for the motor controller with the

STO safety function

Description of function,

GDCP-CMMS-AS-G2-FW-...

– Functional description and commissioning with FCT

– Control interfaces and device profiles

Description of device profile FHPP,

P.BE-CMM-FHPP-SW-...

Control and parameterisation of the motor controller via the

device profile FHPP from Festo

Description of device

profile CiA 402,

P.BE-CMMS-FHPP-CO-SW-...

– Description of the CAN interface of the motor controller

– Control and parameterisation of the motor controller via the

device profile CiA 402 (DS 402)

PROFIBUS description,

P.BE-CMM-FHPP-PB-SW-...

Description of the PROFIBUS interface of the motor controller.

DeviceNet description,

P.BE-CMMS-FHPP-DN-SW-...

Description of the DeviceNet interface of the motor controller.

Help on the FCT plug-in CMMS-AS User interface and functions of the CMMS-AS plug-in for the

Festo Configuration Tool.�www.festo.com/sp

Tab. 2 Documentation on the motor controller CMMS-AS-...-G2

1 Safety and requirements for product use



1.1 Safety

1.1.1 Safety instructions

Warning

Danger of electric shock

Touching live parts causes severe injuries and can lead to death:

– when the module or cover plate is not mounted on the card slot [EXT]

– when cables are not mounted to the plugs [X6] and [X9]

– when connecting cables are disconnected when powered.

The product must be installed in a control cabinet and may only be used if all safeguard-

ing has been initiated.

Before touching live parts during maintenance, repair and cleaning work and when there

have been long service interruptions:

1. Switch off power to the electrical equipment via the mains switch and secure it

against being switched on again.

2. After switch-off, wait at least 5 minutes discharge time and check that power is

turned off before accessing the controller.

Caution

Danger of burns from hot surfaces

Dependent on the load of the motor controller, housing temperatures > 80°C are pos-

sible in operation.

• Protect hot surfaces from contact in operation.

• Touch them only in a switched-off, cooled-off status.

Note

Danger from unexpected movement of the motor or axis

• Make sure that the movement does not endanger anyone.

• Perform a risk assessment in accordance with the EC Machinery Directive.

• Based on this risk assessment, design the safety system for the entire machine,

taking into account all integrated components. This also includes the electric drives.

Bypassing of safety equipment is impermissible.



1.1.2 Intended use

The motor controller CMMS-AS-...-G2 is a digital positioning controller for servo motors for

– supply and activation of the motor

– regulation of speed (current), torque and position.

The motor controller supports the following safety function:

– Safe Torque Off (STO)

Category 3 / PL d in accordance with EN ISO 13849-1.

Use exclusively:

– in faultless technical condition

– in original status, without unauthorised modifications

– within the limits of the product defined by the technical data

� Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1.

– in an industrial environment

– as an installed device in a control cabinet.

In the event of damage caused by unauthorised manipulation or other than intended use,

the guarantee is invalidated and the manufacturer is not liable for damages.



1.2 Requirements for product use

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. Also consider the

documentation for the other components and modules.

• Take into consideration the legal regulations applicable for the destination as well as:

– regulations and standards,

– regulations of the testing organizations and insurers,

– national specifications.

1.2.1 Technical prerequisites

For correct and safe use of the product:

• Comply with the connection and ambient conditions of the product specified in the technical data

� Hardware description GDCP-CMMS-AS-G2-HW-..., Appendix A.1, and of all connected compon-

ents. Compliance with the limit values and load limits permits operation of the product in compli-

ance with the relevant safety regulations.

• Observe the instructions and warnings in this documentation.

1.2.2 Qualification of the specialists (requirements for the personnel)

The product may only be placed in operation by a qualified electrotechnician who is familiar with:

– installation and operation of electrical control systems,

– the applicable regulations for operating safety-engineered systems,

– the applicable regulations for accident protection and operational reliability, and

– the documentation for the product.

1.2.3 Range of application and certifications

The motor controller with integrated STO safety function is a safety-related part of the control systems.

The motor controller carries the CE mark, standards and test values

� Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1.

The product-relevant EU directives can be found in the declaration of conformity.

Certificates and the declaration of conformity for this product�www.festo.com/sp

2 Interfaces


2 Interfaces

2.1 Motor controller interfaces

2.1.1 Overview: control section interfaces

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

RS232

Memory card

Encoder emulation

Digital signals

Analogue signals

Control interfaces

Control section

Fieldbus

X1

EXT

X5

DriveBus

DeviceNet

Analogue outputs

X5PC/notebook

M1

X9

Motor temperature sensor

Motor

Supply voltage

X2Encoder

Control section: 24 V DC

Operating modes

Controllers

X1Drives Limit switch

Encoder

Encoder input

ParameterFirmware

Digital inputs/outputs

Data interfaces

Motor

Flying measurement

Analogue monitor

Endless positioning

X1

X6

Functions

Synchronisation

Synchronisation

Shaft encoder motor

X6Holding brake

Analogue input

Trigger output

Encoder output X10

STO “Safe Torque Off ” X3 Safety functionSafety switching device

Fig. 2.1 Overview: control section interfaces

2 Interfaces


2.1.2 Overview: power section interfaces

CMMS-AS-...-G2

X9Load component: 230 V AC

External braking resistor

Motor

Power section

Supply voltage

X6Motor

Braking resistor

Fig. 2.2 Overview: power section interfaces

2 Interfaces


2.2 Control interfaces – operating modes – functions

The motor controller can be operated through a number of interfaces. Various operating modes and

functions are available, dependent on the selected control interface and the device profile (only for

fieldbus). The connection is permanently assigned to the selected control interface. In the “EXT” con-

nection, mounting of the corresponding interface module is required.

You can take the possible combinations from the following overviews.

2.2.1 Overview: control interfaces/connection/device profile/operating mode/function

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

Control interfaces

Connection

EXT

X5

DriveBus

DeviceNet

Synchronisation1)

CiA4025)

FHPP6)

CI7)

Device profile

Functions:– Encoder emulation

– Flying measurement

– Analogue monitor

– Endless positioning

Operating modes:– Positioning mode

– Speed mode

– Force/torque mode

– Synchronisation

X4

EXT

X12)Digital I/O modules

Analogue input/output X13)

Fieldbus

X12)/X104)

Operating mode/function

1) Encoder input

2) HTL signal (high transistor logic) with a max. high level = 24 V

3) Analogue input signal: ±10 V/analogue output signal: +10 V

4) TTL signal (transistor-transistor logic) with a max. high

level = 5 V

5) CANopen device profile CiA 402

6) Festo handling and positioning profile (FHPP)

7) CAN-Interpreter

Fig. 2.3 Overview: control interfaces/connection/device profile/operating mode/function

2 Interfaces


2.2.2 Positioning mode

Control interfaces� page 22

Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]

Analogue input (AIN)[±10 V]

Encoder input Synchronisation [5 V, TTL]

Fieldbus DriveBus (motion control)

CANopen

PROFIBUS DP

DeviceNet

RS485

Connection

Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]

Device profile

F = FHPP (Festo) F F F

C = CiA 402 (CANopen) C C

CI = CAN-Interpreter (CiA 402, SDO) CI

Operating modes

Positioning mode (position control)� page 63

Direct mode� page 73

Direct application F/C F F CI

Individual record operation� page 76

Record selection (positioning

record 1…63)

DIN F F F

Record linking operation� page 80


record 1…7)

DIN


record 1…63)

F F F

Interpolated positioning mode� page 87

Direct application C C

Homing mode/homing� page 89

Direct application C F/C F F CI


record 0)

DIN

Jog operation� page 104

Direct application F F F

Digital inputs DIN

Teach mode� page 111

Direct application F F F


record 1…63)

DIN

Tab. 2.1 Overview: positioning mode

2 Interfaces


2.2.3 Speed mode and force/torque mode




Encoder input Synchronisation [5 V, TTL]


CANopen

PROFIBUS DP

DeviceNet

RS485

Connection


Device profile




Operating modes

Speed mode (speed adjustment)� page 115

Direct mode


Analogue setpoint value

Analogue input AIN

Force/torque mode (current control)� page 120

Direct mode



Analogue input AIN

Tab. 2.2 Overview: speed mode and force/torque mode

2 Interfaces


2.2.4 Synchronisation




Encoder inputs/outputs Synchronisation [5 V, TTL]


CANopen

PROFIBUS DP

DeviceNet

RS485

Connection


Device profile




Synchronisation

Synchronisation (position control)� page 125

Incremental signal (A/#A/B/#B/N/#N)

Incremental inputs IN

Pulse/direction signal (CLK/DIR)


Digital inputs DIN

Forward/reverse signal (CW/CCW)


Digital inputs DIN

Tab. 2.3 Overview: synchronisation

2 Interfaces


2.2.5 Encoder emulation, flying measurement, analogue monitor

and endless positioning




Encoder output Synchronisation [5 V, TTL]


CANopen

PROFIBUS DP

DeviceNet

RS485

Connection


Device profile




Functions

Encoder emulation� page 131

Incremental outputs X X X X

Flying measurement� page 133

Digital input X X X X

Analogue monitor (AMON0) [0…10 V]� page 135

Analogue output X X X X X X X X

Endless positioning� page 138

X X X X X X X X

Tab. 2.4 Overview: encoder emulation, flying measurement, analogue monitor and endless

positioning

3 Control interfaces



3.1 Digital inputs/outputs [X1]

The motor controller CMMS-AS-...-G2 at the connection [X1] has 14 digital inputs (DIN0…DIN13) and 4

digital outputs (DOUT0…3).

The function of the digital inputs/outputs is dependent on the selected control interface and operating

mode (mode).

The following operating modes can be controlled via the digital inputs:

– Individual record operation

– Record linking operation

– Homing mode

– Jog mode

– Teach mode

– Synchronisation mode

3.1.1 Select operating mode via mode bits

The following operating modes can be selected through control of the digital inputs “Mode bit 0” and

“Mode bit 1”.

Operating mode Mode Mode bit 1 (DIN9)1) Mode bit 0 (DIN12)2)

Individual record/homing mode Mode 0 0 0

Jog/teach mode Mode 1 0 1

Record linking operation Mode 2 1 0

Synchronisation mode Mode 3 1 1

1) Multiple assignment of DIN9: This digital input is used as a sample input with flying measurement.

2) Multiple assignment of DIN12: This digital input can be used as an analogue input (AIN0) in speed mode or force/torque mode.

Tab. 3.1 Overview of the operating mode/mode selection



Overview: digital I/O modules dependent on the operating mode and the mode

Designation Pin Mode 0

Individual

record/

Mode 1

Jog/

Teach

Mode 2

Record linking

Mode 3

Synchronisation

24 V DC [X1.18] Supply voltage 24 V DC (output)1)

GND 24 V [X1.6] Load “DIN/DOUT”

DIN 0 [X1.19] Record selection bit 0 –

DIN1 [X1.7] Record selection bit 1 –

DIN2 [X1.20] Record selection bit 2 CLK/CW_24

DIN3 [X1.8] Record selection bit 3 Halt record

sequence

DIR/CCW_24

DIN4 [X1.21] Output stage enable

DIN5 [X1.9] Controller enable

DIN6 [X1.22] Limit switch 0

DIN7 [X1.10] Limit switch 1

DIN8 [X1.23] Start positioning Teach Start record

sequence

Start

synchronisation

DIN9

(Sample)2)[X1.11] Mode bit 1 = 0 Mode bit 1 = 0 Mode bit 1 = 1 Mode bit 1 = 1

DIN10 [X1.3] Record selection

bit 4

Jog+/

Record selection

bit 4

NEXT1 –

DIN11 [X1.16] Record selection

bit 5

Jog–/

Record selection

bit 5

NEXT2 –

DIN12

(AIN0)3)[X1.2] Mode bit 0 = 0 Mode bit 0 = 1 Mode bit 0 = 0 Mode bit 0 = 1

DIN13

(#AIN0)3)[X1.15] Stop

DOUT0 [X1.24] Controller ready for operation

DOUT1 [X1.12] Motion complete4) Rest reached

DOUT2 [X1.25] Start

confirmed4)Teach confirmed Start

confirmed4)Position

synchronous

DOUT3 [X1.13] Common error4)

1) Internally connected with power supply “24 V DC” (input) at the connection [X9.6].

2) Multiple assignment of DIN9: This digital input is used as a sample input with flying measurement.

3) Multiple assignment of DIN12/DIN13: These digital inputs can be used as analogue inputs (AIN0/#AIN0) in speed mode or

force/torque mode.

4) Default setting, freely configurable in the Festo Configuration Tool (FCT).

Tab. 3.2 Overview: digital I/O modules dependent on the operating mode/mode



Timing diagram: shifting of the operating mode via mode bit 0/1

�Mode bit 0(DIN12)[X1.2]


1) Motion complete2) Rest reached

(DOUT1)[X1.12]

Controller ready for operation(DOUT0)[X1.24]

Individual record, mode 0Jog/teach, mode 1

Record linking, mode 2Synchronisation, mode 3

1) Start confirmed2) Position synchronous

(DOUT2)[X1.25]

0 01 2 3 0

t1

t1

t1t1t1

1) Mode 0…2 2) Mode 3 1) …

t1 ≤ 5 ms

Fig. 3.1 Timing diagram: shifting of the operating mode via mode bit 0/1



3.1.2 Digital inputs (DIN0…13)

The function of the digital inputs (DIN0…13) is dependent on the operating mode/mode and control

interface:

Function Description Signal

General operational functions

Output stage enable

(DIN4)[X1.21]

High signal for release of the output stage.

Low signal for blocking of the output stage.

– The residual energy results in uncontrolled

movements in the motor until a state of rest is

reached. (EN 60204-1: Stop category 0)

High

active

Controller enable

(DIN5)[X1.9]

High signal for release of the controller.

Low signal for blocking of the controller.

– The drive is braked with the “Quick stop”

parametrised delay and the output stage is blocked

after the speed has reached “0 rpm”. (EN 60204-1:

Stop category 1)

High

active

Stop

(DIN13)[X1.15]

Low signal for cancellation of the current process.

– The drive is braked with the “Stop” parametrised

delay in a controlled way to speed “0 mm/s” and the

position is maintained. (EN 60204-1: Stop category 2)

Low active

Limit switch

Limit switch 0

(DIN6)[X1.22]

Signal when the reference/end position is reached.

– With the configured edge of the limit switch 0,

reaching of the reference/end position is signaled.

Configur-

able

Limit switch 1

(DIN7)[X1.10]

Signal when the reference/end position is reached.

– With the configured edge of the limit switch 1,

reaching of the reference/end position is signaled.

Configur-

able

Selection of operating mode/mode

Mode bit 0

(DIN12)[X1.2]

Signal for selecting the operating mode (mode). High

active

Mode bit 1

(DIN9)[X1.11]

Signal for selecting the operating mode (mode). High

active



Function SignalDescription

Record selection

Record selection

Bit 0 = 20, (DIN0)[X1.19]

Bit 1 = 21, (DIN1)[X1.7]

Bit 2 = 22, (DIN2)[X1.20]

Bit 3 = 23, (DIN3)[X1.8]

Bit 4 = 24, (DIN10)[X1.3]

Bit 5 = 25, (DIN11)[X1.16]

Signals for selecting (binary code) the positioning record.

(for individual record/record chaining/referencing/teach

mode)

For record chaining mode, only bit 0…2 are active.

High

active

Single position operation (mode 0)

Start positioning

(DIN8)[X1.23]

Signal for starting the individual record.

– With the rising edge, the record selection is evaluated

and the parameters of the active positioning record

are executed by the controller-internal positioning

controller.

High

active

Record linking operation (mode 2)

Start record sequence

(DIN8)[X1.23]

Signal for starting the record sequence

– With the rising edge, the record selection is evaluated

and the parameters of the active record sequence are

executed by the controller-internal positioning

controller/drive.

High

active

Halt record sequence

(DIN3)[X1.8]

Signal for interrupting the record sequence.

– With the low signal, the record sequence is stopped.

– With the high signal, the record sequence is

continued at the stopped position.

Low active

Sequence control

NEXT1

(DIN10)[X1.3]

Signals for control of the sequence control

Through the configured input (NEXT1/2), continuation

can be controlled to the next positioning record. With the

configured edge (rising/falling) the record sequence is

continued.

– Positioning record parameter (FCT) “Command:

NRI/NFI”:

Continuation is executed immediately with the edge.

– Positioning record parameter (FCT) “Command:

NRS/NFS”:

Continuation is executed with the edge and the

output signal “Motion complete = high”.

Configur-

able

NEXT2

(DIN11)[X1.16]

Configur-

able




Homing mode (only for positioning mode)

Start homing

(DIN8)[X1.23]

Starting for starting homing.

– With the rising edge, homing is performed in

accordance with the parametrised homing method.

High

active

Jog operation (mode 1)

Jog+

(DIN10)[X1.3]

Signal for control of the positive jog travel.

– With the rising edge, jog travel (creep/jog speed) is

started.

– With the falling edge, jog travel is ended.

High

active

Jog–

(DIN11)[X1.16]

Signal for control of the negative jog travel.

– With the rising edge, jog travel (creep/jog speed) is

started.

– With the falling edge, jog travel is ended.

High

active

Teach operation (mode 1)

Teach

(DIN8)[X1.23]

Signal for storing the teach/actual position.

– With the rising edge, teaching is started. The current

actual position of the drive and the record selection

(bit 0…5) are evaluated.

– With the falling edge, the current actual position is

temporarily stored in the selected positioning record.

The taught positions are not permanently stored until

there is a falling edge of the controller enable signal

(DIN5)[X1.9].

High

active




Synchronisation (mode 3)

Start synchronisation

(DIN8)[X1.23]

Signal for starting synchronisation.

– With the high signal, synchronisation is started.

– With the low signal, synchronisation is stopped.

High

active

CLK/CW_24

(DIN2)[X1.20]

Encoder signals for synchronising the motor controller.

– CLK: pulse signal

– CW: forward signal

Configur-

able

DIR/CCW_24

(DIN3)[X1.8]

Encoder signals for synchronising the motor controller.

– DIR: direction signal

– CCW: reverse signal

Configur-

able

Flying measurement

Sampling

(DIN9)[X1.11]

Signal for storing the actual position

– With the configured edge of the sample signal, the

current actual position of the drive is taken over into

the sample memory. The higher-order controller can

interrogate the last stored actual position via the

active fieldbus.

Con-

figured

edge

Tab. 3.3 Function overview: digital inputs



3.1.3 Digital outputs (DOUT0…3)

Function Description Signal

Digital output (DOUT0)[X1.24]

Operating status

Controller ready for opera-

tion

The signal is high as long as all of the following

conditions are met:

– The output stage enable signal (DIN4) is high

– The controller enable (DIN5) is high

– The stop signal (DIN13) is high (not with the

“Analogue input” control interface)

– No error message is present

– The intermediate circuit is loaded

– Master control is issued

High

active

Digital outputs (DOUT1/2/3)[X1.12/25/13]

Releases

Output stage active The signal is high as long as the following conditions are

met:

– The output stage enable signal (DIN4) is high

– The controller enable (DIN5) is high

– No error message is present

– The intermediate circuit is loaded

– Master control is issued

High

active

Movement

Start confirmed The signal becomes low with the start of a positioning

record.

Low active

Setpoint speed reached The signal is high as long as the actual speed is within the

parametrised message window (message “Speed

reached”) of the parametrised speed (positioning mode).

High

active

Declared speed reached The signal is high as long as the actual speed is within the

parametrised message window and the parametrised

declared speed (message “Speed reached”).

High

active

Motion complete (MC) The signal becomes high if the actual position is within

the parametrised message window and the parametrised

damping time (message “Target reached”) has expired.

For additional information� page 31

High

active

Setpoint position reached The signal is high as long as the actual position is within

the parametrised message window (message “Target

reached”) related to the current setpoint position of the

positioning curve controller-internal positioning

controller.

High

active




Rest reached The signal is high as long as the actual position is within

the parametrised message window (message “Speed

reached”) of the rest status (0 mm/s).

High

active

Remaining distance mes-

sage

The signal is high as long as the actual position is within

the parametrised message window (message “Remaining

distance”).

High

active

Safe stop active The signal is high as long as the output stage enable

signal (DIN4)[X1.21] and the “Driver supply, impulse

block” (REL)[X3.2] = 0 V DC.

High

active

Homing carried out The signal becomes high if homing was completed

without error.

High

active

Teach

Teach confirmed The signal is low as long as the teach signal is high.

The signal becomes high after the parametrised

debounce time (for jog operation parameters) expires.

Low active

Error/warning

Common error The signal becomes low if at least one error message is

active.

Low active

Collective warning message The signal becomes high if at least one warning message

is active.

High

active

Following error The signal is high as long as the actual position is outside

the parametrised message window and the parametrised

delay time (message “Following error”).

High

active

I2t motor/output stage The signal becomes high as soon as the motor or output

stage workload has exceeded the critical range.

High

active

Permanent signal

Off The signal is permanently low (O V DC). Low

On The signal is permanently high (24 V DC). High

Tab. 3.4 Function overview: digital outputs



Timing diagram: motion complete signal

The timing diagram “Motion complete signal” is depicted here as an example for all messages with

message window and damping time. All other messages behave identically regarding the timing pro-

cess.

Speed

Motion complete(DOUT1)[X1.12]

“Damping time” start

Positioning path

t1

Positioning record parameter“Position”

s+

s–

t1

“Damping time” termination

s+/– Linear axis = … mm

Rotational axis = … R

(FCT: dependent on the parameter “Message

window” in the message “Target reached”)

t1 = … ms (FCT: dependent on the parameter

“Damping time” in the message “Target

reached”)

Fig. 3.2 Timing diagram: motion complete signal



3.2 Analogue inputs/outputs [X1]

The motor controller CMMS-AS-...-G2 at the connection [X1] has a differential analogue input

(AIN0/#AIN0) and an analogue output (AMON0).

Overview: analogue input/output

Designation Pin Description

AIN0

(DIN12)1)2 Analogue input, differential

#AIN0

(DIN13)1)15 Analogue input, differential

+VREF 4 Reference voltage, 10 V DC

AGND 14 Analogue load, reference potential for analogue monitor, reference voltage

and analogue input

SGND 1 “Analogue signal” screening

AMONO 17 Analogue monitor (output)

1) Multiple assignment of AIN0/#AIN0: These analogue inputs are used in the positioning mode/synchronisation as digital inputs for

mode bit 1 (DIN12) and stop signal (DIN13).

Tab. 3.5 Overview: analogue input/output

3.2.1 Analogue inputs (AIN0/#AIN0)

Function Description

Analogue input, positive

(AIN0)[X1.2]

Differential analogue signal for control of the motor controller in the

speed mode or force/torque mode.

– Positive setpoint value signal: max. ±10 V, 12 bit resolution

Analogue input, negative

(#AIN0)[X1.15]

Differential analogue signal for control of the motor controller in the

speed mode or force/torque mode.

– Negative setpoint value signal: max. ±10 V, 12 bit resolution

Tab. 3.6 Function overview: analogue inputs

3.2.2 Analogue output (AMON0)

Function Description

Analogue monitor

(AMON0)[X1.17]

The monitor output provides a configurable monitor signal (0…10 V)

with reference to the analogue load “AGND”.

Tab. 3.7 Function overview: analogue output



3.3 Encoder inputs/outputs [X1/X10]

Max. cycle rate

The encoder signals can be operated with the following cycle rates:

Digital input [X1]: max. 20 kHz

Encoder input [X10]: max. 150 kHz

3.3.1 Encoder input (synchronisation)

The motor controller CMMS-AS-...-G2 has different encoder inputs at the connections [X1/X10]. The

encoder signals are used for synchronising the motor controller.

The following encoder signals are available at the connections:

Encoder input signal Control interfaces

Encoder input [X10]

(Differential signals in

accordance with RS422)

[5 V, TTL]

Digital input [X1]

(Mode 3)

[24 V, HTL]

Incremental signal (A/#A)

(B/#B)

(N/#N)

[X10.1/6]

[X10.2/7]

[X10.3/8]

–

Pulse/direction signal (CLK/#CLK)

(DIR/#DIR)

[X10.1/6]

[X10.2/7]

[X1.20]

[X1.8]

Forward/reverse signal (CW/#CW)

(CCW/#CCW)

Tab. 3.8 Overview: encoder signals and control interfaces

3.3.2 Encoder output (encoder emulation)

The motor controller CMMS-AS-...-G2 at the connection [X10] has an encoder output. The incremental

signals (A/#A/B/#B/N/#N) are generated in the encoder emulation.



3.3.3 Incremental signal (A/#A/B/#B/N/#N)

Signal Description

A/B (positive)

#A/#B (negative)

Differential incremental signals (RS422) to control the rotational

speed/direction.

– The signals “A/#A” and “B/#B” are out of phase. In the basic

setting, without reversing the direction of rotation, the A signals

are 90° ahead of the B signals if the direction of rotation is

positive. If the direction of rotation is negative, the B signals are

90° ahead of the A signals. Through the phase shift and edge

sequence (rising/falling) of the signals “A/#A/B/#B”, the motor

controller can determine the rotational speed/direction. The

square evaluation (fourfold) is used for this.

N (positive)

#N (negative)

Zero pulse signals for identification of a revolution.

– The signals “N/#N” serve as a reference mark for a revolution. In

the “Synchronisation” operating mode, these signals are used for

counting the revolutions. With each zero-pulse passage, counting

of the signals “A/#A/B/#B” is restarted.

Tab. 3.9 Overview: incremental signal (A/#A/B/#B/N/#N)

Timing diagram: incremental signal for direction of rotation to the right (basic setting)

Incremental signal: A

90°

Incremental signal: #A

Incremental signal: B

Incremental signal: #B

Zero pulse signal: N

Zero pulse signal: #N

Signal period

One revolution

Fig. 3.3 Timing diagram: incremental signal for direction of rotation to the right (basic setting)



3.3.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR)

Through these signals, the motor controller can be controlled by a stepper motor control card.

Signal Description

CLK/#CLK Pulse signals for control of the rotations/speed.

DIR/#DIR Direction signals for control of the direction of rotation.

– DIR = high: direction of rotation positive

– DIR = low: direction of rotation negative

Tab. 3.10 Pulse/direction signals (CLK/#CLK/DIR/#DIR)

Timing diagram: pulse/direction signals

Pulse signal: CLK

Pulse signal:#CLK

Direction signal: DIR

Direction signal: #DIR

Pulse period

Direction of rotation “positive” Direction of rotation “negative”

Rotor position

Fig. 3.4 Timing diagram: pulse/direction signals



3.3.5 Forward/reverse signals (CW/#CW/CCW/#CCW)

Only one signal pair may be active for activation of the motor controller.

– Forward signals CW/#CW

– Reverse signals CCW/#CCW

Signal Description

CW/#CW Forward signals for control of the positive direction of rotation.

CCW/#CCW Reverse signals for control of the negative direction of rotation.

Tab. 3.11 Overview: forward/reverse signals (CW/#CW/CCW/#CCW)

Timing diagram: forward/reverse signals

Forward signal: CW

Forward signal: #CW

Reverse signal: CCW

Reverse signal: #CCW

Pulse period

Direction of rotation “positive”

Direction of rotation “negative”

Rotor position

Fig. 3.5 Timing diagram: forward/reverse signals



3.4 Fieldbuses [X4/X5/EXT]

3.4.1 Supported fieldbuses

The motor controller CMMS-AS-...-G2 can be controlled through various fieldbuses. As standard, the

fieldbuses “CANopen” or “DriveBus” can be controlled via the integrated CAN bus connection [X4] or

the fieldbus “RS485” via the integrated RS232/RS485 connection [X5]. Optionally, the fieldbuses

“PROFIBUS DP” or “DeviceNet” can be controlled via the corresponding interface module at the con-

nection [EXT].

Only one fieldbus may be used for activation of the motor controller.

The Festo Profile for Handling and Positioning (FHPP) and the CANopen device profile CiA 402 have

been implemented as the device profile (communication protocol) in the motor controller.

For every fieldbus, a factor group can be used so that application data can be transferred in user-specif-

ic units.

Overview: fieldbus and device profile

The fieldbus documentation is included in the following media:

– CD-ROM of the motor controller CMMS-AS-...-G2 (scope of delivery)

– Support Portal �www.festo.com/sp.

Fieldbus Connection Interface module Device profile Documentation

CANopen [X4] — FHPP1)

CiA 4022)P.BE-CMM-FHPP-SW-…

P.BE-CMMS-FHPP-CO-SW-…

DriveBus [X4] — CiA 4022) P.BE-CMMS-FHPP-CO-SW-…

PROFIBUS DP [Ext] CAMC-PB FHPP1) P.BE-CMM-FHPP-PB-SW-…

DeviceNet [Ext] CAMC-DN FHPP1) P.BE-CMMS-FHPP-DN-SW-…

RS485 [X5] — CI3) � Page 167

1) FHPP: Festo Handling and Positioning Profile � page 39

2) CiA 402: Device profile CiA 402� page 39

3) CI: CAN Interpreter, device profile CiA 402� page 167

Tab. 3.12 Overview: fieldbus and device profile



3.4.2 Required digital inputs/outputs with a fieldbus activation

CMMS-AS-...-G2

9

21

22

10

24 V DC

Controller enable (DIN5)

Output stage enable (DIN4)

Limit switch 0 (DIN6)1)2)


Stop (DIN13)15

X1

X4/X5/EXT

...

6Load “DIN/DOUT” / GND 24 V

Fieldbuses

The connection diagram shows the switch positions in operation.

1) The limit switches are set by default to N/C contact (configuration over FCT)

2) Only required for applications with limited positioning range or homing methods with limit switch.

Fig. 3.6 Connection: required digital inputs/outputs with a fieldbus activation



3.5 Device profiles for fieldbuses

3.5.1 Festo Handling and Positioning Profile (FHPP)

Independent of the fieldbus used, a uniform control concept can be implemented through the device

profile “FHPP”. The user does not have to know the specific functions of the respective fieldbuses or

controllers, but can commission and control the drive in the shortest possible time through a uniform

profile.

FHPP distinguishes between the triggering methods “record selection” and “direct operation”.

With record selection, the positioning records parametrised in the motor controller are used.

In the direct mode, the following operating modes can be used:

– Positioning mode (position control)

– Speed mode (speed adjustment)

– Force/torque mode (current control)

The operating modes can be dynamically switched over in direct operation as needed.

Additional information can be found in the documentation� FHPP manual P.BE−CMM−FHPP−SW−…

3.5.2 CANopen device profile CiA 402 (for electric drives)

Through the device profile “CiA 402”, the following operating modes can be used:

– Positioning mode (CiA 402: Profile position mode)

– Homing mode (CiA 402: Homing mode)

– Interpolating position mode (CiA 402: Interpolated position mode)

– Speed mode (CiA 402: Profile velocity mode)

– Force/torque mode (CiA 402: Profile torque mode)

Communication can take place optionally over SDOs (service data objects) and/or PDOs (process data

objects). Up to 2 PDOs are available for each sending direction (transmit/receive).

Additional information can be found in the documentation� CiA 402 manual

P.BE-CMMS-FHPP-CO-SW-…

4 Dimension reference system



4.1 Dimension reference system for electric drives

4.1.1 Dimension reference system for linear drives

Example: homing method “limit switch”, negative direction

1

REF AZ

a b c

PZ

d e

TP/AP SLPSLN

2

Run positive (+)LSN LSP

Run negative (–)

M

REF Homing point (reference point)

AZ Axis zero point

PZ Project zero point

SLN Negative software end position (SW limit negative)

SLP Positive software end position (SW limit positive)

LSN Limit switch (hardware) negative (Limit switch negative)

LSP Limit switch (hardware) positive (Limit switch positive)

TP Target position

AP Actual position

a Offset “axis zero point (AZ)”

b Offset “project zero point (PZ)”

c Offset “target/actual position (TP/AP)”

d Offset “SW end position negative (SEN)”

e Offset “SW end position positive (SEP)”

1 Effective stroke

2 Working stroke

Tab. 4.1 Dimension reference system for linear drives



4.1.2 Dimension reference system for rotative drives

Example: homing method “current position”

REF

AZ

ab

e

PZ

d

1

2

M

Turn positive (+)Turn negative (–)

c

TP/AP

SLPSLN

LSNLSP

REF Homing point (reference point)

AZ Axis zero point

PZ Project zero point

SLN Negative software end position (SW limit negative)

SLP Positive software end position (SW limit positive)

LSN Limit switch (hardware) negative (Limit switch negative)

LSP Limit switch (hardware) positive (Limit switch positive)

TP Target position

AP Actual position

a Offset “axis zero point (AZ)”

b Offset “project zero point (PZ)”

c Offset “target/actual position (TP/AP)”

d Optional: offset “SW end position negative (SLN)”1)

e Optional: offset “SW end position positive (SLP)”1)

1 Effective positioning range

2 Working positioning range

1) In the motor controller function “Endless positioning”, no limit switch can be parametrised.

Tab. 4.2 Dimension reference system for rotative drives



4.2 Calculation rules for the dimension reference system

Point of reference Calculation rule

Axis zero point AZ = REF + a

Project zero point PZ = AZ + b = REF + a + b

Negative software end

position

SLN = AZ + d = REF + a + d

Positive software end position SLP = AZ + e = REF + a + e

Target position/actual

position

TP/AP = PZ + c = AZ + b + c = REF + a + b + c

Tab. 4.3 Calculation rules for the dimension reference system

4.3 Limit switch (hardware) and software end position

4.3.1 Limit switch LSN/LSP (hardware)

Two limit switches (hardware) are supported in configuration of a limited axis (linear/rotative). These

limit the absolute effective stroke/effective positioning range of the drive. Dependent on the limit

switch type, the switching function “NC contact” or “N/O contact” can be parametrised.

If one of the limit switch positions is reached, movement of the drive is braked in accordance with the

reaction “430/431” parametrised in the FCT error management.

– PS off: power section is switched off immediately. The residual energy results in uncontrolled move-

ments (coasting) in the motor until a state of rest is reached.

– QStop: Quick stop with the parametrised deceleration “Quick Stop”. The power stage is switched

off after the rest state has been reached or after expiration of the parametrised monitoring time

Quick Stop.

– Warn: Deceleration with the parametrised “limit switch” stop deceleration.

After that, the positioning direction of the respective active limit switch is blocked. That is, the drive can

only be run in the positioning direction of the inactive limit switch.

4.3.2 Software end position SLN/SLP

If the axis is restricted, two software end positions for limitation of the working stroke/working posi-

tioning range can also be parametrised relative to the axis zero point between the limit switches (hard-

ware). As with the limit switches (hardware), here, too, the positioning range is blocked when the soft-

ware end position is blocked. In addition, before the software end position is reached, braking with the

stop deceleration “limit switch” is begun so that the position of the software end position is not over-

travelled.

Before the start, a check is made whether the target positions of the positioning records lie between

the software end positions. If a target position lies outside this range, the positioning record is not

executed and the reaction parametrised in the FCT-error management “400…403” is carried out.

5 Commissioning and in operation



5.1 Sequence control in operation

5.1.1 Flow diagram: motor controller

Power ON/Software reset

Bootloader

Initialization

Ready foroperation

Acknowledge errorInitialize

Parameters:Download/upload

Error status

All statuses

Enablecontroller and

output stage

Blockcontroller or

output stage

Positioning control

Single position operationInterpolated positioning mode

Record selection/positioning record

Direct modeRecord linking operation

Firmware:Download

Memory card

Jog modeHoming mode

Intermediatecircuit precharge

Force/torque(current regulator)

Operating modes/controller

Speed(Speed regulator)

Position(Position controller)

Synchronisation

Teach mode

Fig. 5.1 Flow diagram: motor controller



5.1.2 Flow diagram: motor controller regulation

Currentregulator

CMMS-AS-...-G2

Control section

Speedcontroller

Positioncontroller

Power section

Output stage

M

Motor

Encoder

Position setpoint value

Speed setpoint value Current setpoint

value

Position actual valueSpeed actual value

Current actual value

Force/torquemode

Positioningmode1)

Speed mode

–––

+++

Operating modes

Control interfaces

1) Positioning mode includes the following operating modes: “direct mode, individual record mode, record chaining mode,

interpolated positioning mode, homing mode, jog operation and teach operation”.

Fig. 5.2 Flow diagram: motor controller regulation



5.2 Data interfaces (parameter/firmware)

FCT program

CD-ROM/www.festo.com/sp

M1

PC/notebook

Memory card

Devicedescriptions(EDS/GSD) andfunction elements

Festo ConfigurationTool (FCT)

Plug-in file

Software

Storage (HDD/SSD)

Installation Parameter file(xxx.DCO)

Firmware

Firmwarefile

Firmware file(xxx.S)

Firmwarefile

(xxx.S)

Installation/update

Motorcontroller

X1/X4/EXT

ControllerEDS file:– CANopen

– DeviceNet

– DriveBus

GSD file:– PROFIBUS DP

Controllerdata

management

Copy

FCT:

Contro

ller>>SD(Upload)

Control interfaces

Save/

Execute/

FCT: import

Save/execute

Save/execute

FCT:

SD>>Contro

ller(Download)

FCT project dataX5

FCT: Download

FCT: Upload

FCT: Synchronisation

DIP

switch

S1.8

Switch

positio

n=ON

FCT:

Firmware

download

Controllersoftware

(e.g.: CodeSys)

Save/execute

Function elementfile:

– CodeSys

– Step 7

– RSLogix 5000

Save/execute

Save/execute

Download

Fig. 5.3 Overview: data interfaces (parameter/firmware)



5.3 Festo Configuration Tool (FCT)

The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, paramet-

erisation and commissioning of different components and devices from Festo.

– Manage parameter data and firmware files.

– Manual operation (e.g. jog, etc.)

– Diagnostics management

– Recording of measurement data

The FCT consists of the following components:

– a framework with uniform project and data management for all supported types of equipment.

– one plug-in for every type of equipment (e. g. CMMS-AS)

The plug-ins are managed and started from the framework. They support execution of all necessary

steps for commissioning the motor controller. Generation of a motor controller parameterisation can

also be performed offline (without RS232 connection) on the PC/notebook. This enables preparation

for the actual commissioning, for example in the planning office when a system is being planned.

5.3.1 Installing the FCT

Note

The FCT plug-in “CMMS-AS” from version 2.0.0.x supports the motor controller

CMMS-AS-...-G2 with the firmware, from version 1.4.0.2.6.

With later versions of the motor controller, check whether there is an updated FCT plug-

in “CMMS-AS” available. If necessary, consult Festo.

Note

Windows administrator rights are required for installing the FCT.

The FCT is installed on your PC with an installation program:

1. Close all programs.

2. Insert the “Festo Configuration Tool” CD in your CD-ROM drive. If Auto-Run is activated on your sys-

tem, the installation starts automatically and you can skip steps 3 and 4.

3. Select [Execute] in the Start menu (for Windows 7: see “Accessories” menu).

4. Enter D:\Start (if necessary replace D by the letter of your CD ROM drive).

5. Follow the instructions of the FCT Assistant.



5.3.2 Starting the FCT

1. Start the FCT:

double click the FCT icon on the Desktop

– or –

In the Windows menu [Start], select the entry [Festo Software] [Festo Configuration Tool].

2. Create a project in the FCT or open an existing project. Add a CMMS-AS to the project: menu [Com-

ponents] [Insert]. Information on working with projects and on inserting a device in a project can be

found in the help for the FCT framework with the command [Help] [Contents FCT general].

3. Complete all further steps according to the instructions in the plug-in help: command [Help] [Con-

tents of installed plug-ins] [Festo (manufacturer name)] [CMMS-AS (plug-in name)] “Working with

the plug-in”

5.3.3 FCT help

The following Help functions are available in the FCT:

Dynamic Help:

• Activate the dynamic Help [menu bar][Help][Dynamic help] in the FCTuser interface.

When you click on a field, Help is always displayed dynamically.

Fig. 5.4 Overview: Dynamic Help in the FCT

Static Help:

• Click in the FCT user interface in a parameter/configuration field. When the F1 key is pressed, the

Static Help is displayed for the parameter/configuration field.

• Activate the Static Help [menu bar][Help] [Content of installed plug-ins][Festo][CMMS-AS] in the FCT

user interface. The Static Help is displayed when the field “CMMS-AS” is clicked on.

Offline Help (PDF document):

• Print individual pages or all of the pages in a book directly from the Help contents by using the

“Print” button in the Help window.

• Print a prepared version of the help in Adobe PDF format:

Printed version Directory File

FCT Help

(framework)

...(FCT installation directory)\Help\ – FCT_de.pdf

Plug-in Help

(CMMS-AS)

...(FCT installation directory)\HardwareFamilies\

Festo\CMMS-AS\V...\Help\

– CMMS-AS_de.pdf



5.3.4 Download/synchronise FCT project/firmware /parameter data

(data in the motor controller)

Data/files Data interfaces

RS232

[X5]

Memory card/card

slot

[M1]

FCT project data

Download (FCT)

PC/Notebook >> Controller X

Synchronisation (FCT)

PC/Notebook << >> Controller X

Firmware file (xxx.S)

Download

PC/Notebook >> Controller (FCT: firmware download) X

DIP switch S1.8, switch position = ON X

Parameter file (xxx.DCO)

Download

SD >> Controller (FCT) X

SD (latest) >> Controller (FCT) X

Tab. 5.1 Transfer parameter/firmware data to the motor controller

5.3.5 Data backup: upload/synchronise FCT project/parameter data

(data from the motor controller)

Data/files Data interfaces

RS232

[X5]

Memory card/card

slot

[M1]

FCT project data

Upload (FCT)

Controller >> PC/Notebook X

Synchronisation (FCT)

PC/Notebook << >> Controller X


Upload

Controller >> SD (FCT) X

Tab. 5.2 Backup of the motor controller parameter data



5.3.6 Memory card

Using the memory card

The following data can be managed with the plugged-in memory card:

Firmware file (xxx.S)

– If the DIP switch S1.8 is at the “ON” switch position, the versions of the firmware file on the memory

card are checked at every restart (power ON/software reset). If a newer version of the firmware file

is available, it is loaded into the motor controller.


– Through the FCT function “Controller>>SD”, the motor controller parameter record can be backed up

manually as a parameter file on the memory card (upload).

– Through the FCT function “SD>>Controller”, the parameter file with motor controller parameter re-

cord can be loaded manually into the motor controller (download).

– With the activated FCT configuration “After restart, read from SD”, at every restart (power ON/soft-

ware reset) the parameter file is automatically loaded with the motor controller parameter record

into the motor controller (download).

Request to the memory card

Characteristic Description

Supported card type SD1) (version 1 and 2)

Supported file system FAT16 (max. 2 GB)

1) Recommended are industry-suitable memory cards from the Festo accessories programme.

Tab. 5.3 Characteristics of the memory card

5.3.7 Parameter/firmware files

Files Example

Type Names

Letters Format Expansion

Firmware file Large/small xxx.1 .S FW_CMMS-AS_V1p4p0p2p6.S

Parameter file Large 8.31) .DCO CMMSAS01.DCO

1) xxxxxxnn.DCO:

Digit 1–6: “x” = freely selectable

Digit 7+8: “n” = is automatically counted up from “00”.

Tab. 5.4 Characteristics of parameter/firmware files



5.3.8 Download firmware file (xxx.S) (Memory card >> Motor controller)

Note

Loss of the motor controller parameters.

With a firmware download, all parameters of the motor controller are deleted (“factory

setting” status).

– Back up the current parameters of the motor controller on a memory card before

conducting a firmware download (FCT: Controller >> SD). A parameter file is gener-

ated.

– Load the parameter file after the firmware download from the memory card into the

motor controller (FCT: SD >> Controller).

Execute the following steps:

1. Make sure that the output stage enable signal (DIN4)[X1.21] = 0 V DC.

2. Shift the DIP switch [S1.8] to the “ON” position.

3. Insert the memory card with the firmware file (xxx.S) into the card slot [M1].

4. Switch the 24 V DC supply voltage off and then back on.

5. During booting, the motor controller checks (7-segments display: illuminated decimal point “.”)

whether a memory card is plugged into the card slot [M1].

If no memory card is plugged in, or it is damaged, the firmware version is loaded from the

permanent memory.

6. The firmware download is executed (7-segments display: flashing decimal point “.”) if a valid firm-

ware version is contained on the memory card.

No download is executed if the firmware version is the same or the firmware file is dam-

aged. The firmware version is then loaded from the permanent memory.

7. The newly loaded firmware starts automatically.

8. Shift the DIP switch [S1.8] to the “OFF” position.

Errors may occur in firmware download. Possible causes for this are:

– Defective firmware file

– Invalid firmware version

Errors are detected or triggered through the bootloader (7-segments display: illuminated

decimal point “.”).

Recommendation: Only one firmware file should be stored on the memory card. In the

case of several firmware files, the newest one is always loaded!



5.3.9 Download parameter file (xxx.DCO) (Memory card >> Motor controller)

With the Festo Configuration Tool (FCT), a parameter file can be loaded from the memory card (down-

load) or stored on the memory card (upload). In the download, the latest parameter file is always

searched for. You can find additional information in the “Festo Configuration Tool (FCT), CMMS-AS Plug-

In” Help on the CD-ROM� CMMS-AS_de.pdf.

Loading of the parameter file is displayed through the green-flashing Ready-LED.

Additionally, the option “After restart read from SD (memory card)” in the “Project output” FCT window

in the “Memory card” tab can be configured. You can find additional information in the “Festo Configur-

ation Tool (FCT)” Help on the CD-ROM� FCT_de.pdf.

Fig. 5.5 Overview: Option after restart



5.4 Master control over the motor controller

Caution

Unexpected movements of the drive due to incorrect parameterising

• When the motor controller is switched on, make sure that the controller enable sig-

nal (DIN5) = 0 V DC.

• Parameterise the entire system completely before you activate the output stage via

the controller enable signal (DIN5)[X1.9].

When the motor controller is switched on, the “digital I/O module” control interface is activated as

standard.

For the Festo Configuration Tool (FCT) to be able to control the connected motor controller, the follow-

ing conditions must be met:

– Digital input “Output stage enable (DIN4)[X1.21]” = 24 V DC.

– Digital input “Controller enable (DIN5)[X1.9]” = 24 V DC.

– Digital input “Stop (DIN13)[X1.15]” = 24 V DC.

and in the “Project output” FCT window – tab “Operate” – device control

“FCT” check box active

“Enable” check box active

CMMS-AS-...-G2

RS485

Control interfaces

Control section

Festo Configuration Tool (FCT)

Controllers

Master control

CANopenDriveBus

PROFIBUS DPDeviceNet

RS232

X4

EXT

X5

X5

X1Digital inputs

Fig. 5.6 Overview: master control over the motor controller



5.4.1 FCT master control over the motor controller

Timing diagram: FCT master control over the motor controller

“Enable”1) active

Control

Parameterise

“FCT” active

Output stage enable(DIN4)[X1.21]

Festo Configuration Tool (FCT),Device control

Digital inputs (DIN)

Power ON

Controller enable(DIN5)[X1.9]

Stop(DIN13)[X1.15]

Control via DIN

1) Enable via the digital inputs has a higher priority than the FCT enable

Fig. 5.7 Timing diagram: FCT master control over the motor controller



5.5 Switching the motor controller on and off

5.5.1 Behaviour of the motor controller during switch-on

1. Make sure that, on the motor controller, the controller enable signal (DIN5)[X1.9] = 0 V DC.

2. Switch the supply voltage on (230 V AC [X9.1]/24 V DC [X9.6]).

The Ready LED on the front of the motor controller should now light up.

If the Ready LED does not light up, there is a malfunction. If the 7-segments display shows

a character sequence “E x x x”, it is an error message, and you must eliminate the cause

� Appendix A, page 144.

If no LED (Ready/Bus) or 7-segments display lights up on the motor controller, execute the following

steps:

1. Switch the supply voltage off (230 V AC/24 V DC).

2. Wait five minutes until the intermediate circuit voltage has discharged.

3. Check the connection of all cables and wires.

4. Check the 24 V DC supply voltage.

5. Switch the supply voltage back on (230 V AC/24 V DC).

Connection: Digital inputs/outputs for operating status

CMMS-AS-...-G2

9

21

24

24 V DC



Controller ready for operation (DOUT0)

Stop (DIN13)15

X1

Common error (DOUT3)1)

6

13

Load “DIN/DOUT” (GND 24 V)



Fig. 5.8 Connection: Digital inputs/outputs for operating status



Timing diagram: switch-on sequence via Power ON

(Example: speed mode via analogue input)

� Power ON

Common error(DOUT3)[X1.13]



Output stage active(DOUT… )[X1.…]

Holding brake released(BR+)[X6.2]


Speed setpoint value

Speed actual value

t1

t2

t2

t3

t5

t4

Pulse-width modulation output stage active(internal)

t1 L 500 ms

(dependent on the boot phase and start of

the application)

t2 ≥ 2.5 ms

t3 ≤ 10 ms (dependent on the operating mode

and the status of the drive)

t4 ≤ 2.5 ms

t5 = 0…6553 ms (FCT: dependent on the para-

metrised switch-on delay (brake control,

brake timing))

Fig. 5.9 Timing diagram: switch-on sequence via Power ON



5.5.2 Behaviour of the motor controller during switch-off

Timing diagram: switch off motor controller via controller enable signal

� Controller enable(DIN5)[X1.9]





t2t1

t3 t4

Speed setpoint value/actual value

Rest reached(DOUT… )[X1.…]

Holding brake open(mechanical)

t5

t6

t1 ≤ 5 ms

t2 = 0 ms…10 s (FCT: dependent on the

parametrised Quick-stop delay and

Quick-stop monitoring time of the speed

actual value)

t3 = 0…6553 ms (FCT: dependent on the

parametrised switch-off delay (brake control,

brake timing))

t4 ≤ 5 ms

t5 L 50…500 ms

t6 ≤ 5 ms

Fig. 5.10 Timing diagram: switch off motor controller via controller enable signal



Timing diagram: switch off motor controller via output stage enable signal


� Output stage enable(DIN4)[X1.21]

Speed actual value


Holding brake open(mechanical)

t1


t3

t4

t2


t1 ≤ 5 ms

t2 ≤ 2.5 ms

t3 L 50…500 ms

t4 = 0…6553 ms (FCT: dependent on the para-

metrised switch-off delay (brake control,

brake timing))

Fig. 5.11 Timing diagram: switch off motor controller via output stage enable signal

The holding brake is not suitable for braking the motor or moving masses.



5.6 Interruption of the mains supply

5.6.1 Behaviour of the motor controller when the mains supply is interrupted

Timing diagram: interrupt mains supply



Speed



t1

t3

t4

Start…(DIN8)[X1.23]


Declared speed reached1) (DOUT2)[X1.25]


�Mains supply


t2

1) Only if declared speed = setpoint speed.

t1 ≤ 2.5 ms

t2 = … ms (FCT: dependent on the acceleration

ramp)

t3 = 60 ms

t4 ≤ 2.5 ms

Fig. 5.12 Timing diagram: interrupt mains supply



The holding brake is not suitable for braking the motor or moving masses.



5.7 Fieldbus configuration (via DIP switches)

5.7.1 Overview of DIP switches [S1.1…12]

Fig. 5.13 Overview of DIP switches [S1.1...12]

5.7.2 Configure fieldbus address/MAC-ID

The address/MAC-ID can be configured via the DIP switches [S1.1…7].

Fieldbus DIP switch

S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1

CANopen

CAN address (1…127) X X X X X X X

DriveBus

CAN address (2…13) X X X X

PROFIBUS DP

Bus address (3…126)1) X X X X X X X

DeviceNet

MAC-ID (0…63) X X X X X X

RS485

Address (0…127) X X X X X X X

Example: address “57” =

(switch position)

+ 0

(OFF)

+ 32

(ON)

+ 16

(ON)

+ 8

(ON)

+ 0

(OFF)

+ 0

(OFF)

+ 1

(ON)

1) The addresses “0…2” in Profibus DP are assigned to defined interfaces (e.g.: higher-order controller, etc.).

Tab. 5.5 Configure address of the fieldbus/MAC-ID



5.7.3 Configure data rate

The bit/transmission rate can be configured via the DIP switches [S1.9/S1.10].

Fieldbus Bit/transmission rate DIP switch

S1.10 S1.9

CANopen (CAN-Bus)/DeviceNet 125 KBit/s (125 kBaud) OFF OFF

250 KBit/s (250 kBaud) OFF ON

500 KBit/s (500 kBaud) ON OFF

CANopen (CAN bus) 1 MBit/s (1000 kBaud) ON ON

Tab. 5.6 Configure data rate

5.7.4 Configure fieldbus interface

The DIP switch [S1.11] may only be used for activating the CAN interface.

The fieldbus activation is dependent on the following points:

Fieldbus Interface module DIP switch

(mounted) S1.11

CANopen – ON

DriveBus – ON

PROFIBUS DP CAMC-PB OFF

DeviceNet CAMC-DN OFF

RS485 – OFF

Tab. 5.7 Configure fieldbus interface



5.7.5 Configure terminating resistor

The DIP switch [S1.12] may only be used for activating the “CAN bus” terminating resist-

or.

Fieldbus Note DIP switch

S1.12

CANopen ON: terminating resistor active.

OFF: terminating resistor not active.

OFF/ON

DriveBus

PROFIBUS DP In the PROFIBUS DP, the terminating resistor is

integrated into the “CAMC-PB” interface module.

OFF

DeviceNet Terminating resistor can be connected externally,

if needed.

OFF

RS485 OFF

Tab. 5.8 Configure terminating resistor

6 Positioning mode


6 Positioning mode

6.1 Overview: Positioning mode (position control)

Current control(torque)

CMMS-AS-...-G2

Control section

Velocitycontrol

Positioncontroller

Powersection

Output stage

M

Motor

Encoder

Actual position valueActual speed value

Actual current value

–––

+++

Position setpoint value

Velocity setpoint value

Current setpoint value

Controller-internal positioning control

Control interfaces

Interpolator

Speed pilot control

Fig. 6.1 Overview: positioning mode - position control

In the positioning mode, the motor controller can be controlled via the fieldbus or digital inputs. With

direct, single-record, record-chaining, homing or jog operation, the positioning curve is calculated in

the controller-internal positioning controller from the positioning parameters and passed on as position

setpoint values. In the case of interpolating positioning mode, the interpolated positioning curve is

calculated in the interpolator and passed on as position setpoint values. The regulator cascade (posi-

tion, speed and current regulator) processes the deviation “setpoint value” and “actual value” and thus

controls the following output stage.

6 Positioning mode


6.2 Record selection, positioning record and positioning record profile

6.2.1 Function: record selection, positioning record and positioning record profile

The record selection can be controlled in the single-record/record-chaining/homing operation via the

active fieldbus (CANopen/PROFIBUS DP/DeviceNet) or the digital inputs (mode 0 and 2� page 22).

Through activation of the record selection (0…63), the corresponding positioning record (0…63) is ac-

tivated. Individual records can be linked into a record chain through the “Target” offset parameter. The

positioning record “0” is reserved for the reference mode (homing). The positioning records 1…63 can

be used for the individual record or record chaining mode. To each positioning record, a positioning

record (0…7) is assigned via the “Profile” parameter. From the parameters, the controller-internal posi-

tioning controller calculates the positioning curve for the individual record or record sequence.

The positioning records and positioning record profiles can be parametrised via fieldbus or Festo Con-

figuration Tool (FCT).

The following settings can be parametrised in the positioning records/positioning record profiles:

Positioning record parameters:

– Mode (selection of the relative or absolute positioning)

– Position (input of the target position)

– Profile (selection of a positioning record profile)

– Command (selection of a sequence control command) (only for record-chaining operation)

– Target (input of the next positioning record target for the record sequence) (only for record chaining

operation)

– Input (selection of the record sequence control NEXT1/NEXT2) (only for record-chaining operation)

Positioning record profile parameter:

– Speed

– Acceleration

– Deceleration

– Smoothing

– Time (only for record-chaining operation)

– Start delay

– End speed

– Start condition

6 Positioning mode


6.2.2 Actuate record selection/positioning record via fieldbus or digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Digital inputs

Fieldbus Control section

X1

EXT

DeviceNet

Inputs

Recordselection:

0…63

Positioningrecord:

0…63

Position recordprofile:

0…7Bit 0…5

Positioncontrol

Controller-in-ternal position-

ing control

Fig. 6.2 Overview: Actuate record selection/positioning record via fieldbus or digital inputs

Actuate positioning records

The following positioning records can be actuated, dependent on the control interface and operating

mode:

Control interface Operating mode

Single position

operation

Record linking

operation

Homing mode Teach mode

CANopen Positioning

record 1…63

Positioning

record 1…63

Positioning

record 0

Positioning

record 1…63PROFIBUS DP

DeviceNet

Digital inputs (DIN) Positioning

record 1…63

(Mode 0)

Positioning

record 1…7

(Mode 2)

Positioning

record 0

(Mode 0)

Positioning

record 1…63

(Mode 1)

Tab. 6.1 Overview: Actuate positioning records

6 Positioning mode


Record selection bit 0…5/actuate positioning records 1…63 via digital inputs

Record linking operation:

In record-chaining operation (mode 2), only the positioning records 1…7 can be actuated

via the record selection bit 0…2. The record selections bit 3…5 are used for sequence

control “NEXT1/2” and “Halt record sequence”. Activation of the positioning records

8…63 can only take place via continuation (positioning record parameter: target) in the

positioning records 1…7.

Positioning re-

cord

Record selection bit 0…5

Bit 5 (25)

(DIN11)

Bit 4 (24)

(DIN10)

Bit 3 (23)

(DIN3)

Bit 2 (22)

(DIN2)

Bit 1 (21)

(DIN1)

Bit 0 (20)

(DIN0)

– Single position operation (mode 0)

– Teach-in operation (mode 1)

– Record linking operation (mode 2)

Positioning

record 1

0 0 0 0 0 1

Positioning

record 2

0 0 0 0 1 0

Positioning

record 3

0 0 0 0 1 1

Positioning

record 4

0 0 0 1 0 0

…

Positioning

record 7

0 0 0 1 1 1

Positioning

record 8

0 0 1 0 0 0

…

Positioning

record 15

0 0 1 1 1 1

Positioning

record 16

0 1 0 0 0 0

…

Positioning

record 32

1 0 0 0 0 0

…

Positioning

record 63

1 1 1 1 1 1

Tab. 6.2 Overview: Record selection bit 0...5/actuate positioning records 1...63 via digital inputs

6 Positioning mode


6.2.3 Parameterise positioning record

The following settings can be parametrised in the Festo Configuration Tool (FCT):

Parameters Description

Positioning record:

Mode Positioning types:

A = Absolute positioning related to a fixed zero point (axes/project zero

point) (default)

RA = Relative positioning related to the current actual position

RN = Relative positioning related to the last setpoint position

Position Setpoint value for the relative or absolute position.

Profile Selection of the positioning record profile (0…7)

Command

(Record sequence)

Condition for continuation in the sequence control:

END = End of the record sequence:

The record sequence ends with this positioning record. No continuation

follows.

MC = motion complete:

Continuation takes place when the motion complete signal = high.

STS = rest:

Continuation takes place if the drive has reached rest and the

parametrised time (positioning record profile parameter) has expired. Rest

not only means the end of the record sequence (motion complete signal =

high), but also running to block at any position. Timing begins with the

start record sequence signal.

TIM = time:

Continuation takes place if the parametrised time (positioning record

profile parameter) has expired. Timing begins with the rising edge of the

start record sequence signal.

6 Positioning mode



Command

(Sequence control

via NEXT1/2)

Condition for continuation in the sequence control:

NRI = with rising edge (NEXT…):

The current positioning record is interrupted immediately with the rising

edge (NEXT1/2), and the next positioning record (positioning record

parameter: target) is started.

NFI = with falling edge (NEXT…):

The current positioning record is interrupted immediately with the falling

edge (NEXT1/2), and the next positioning record (positioning record

parameter: target) is started.

NRS = with rising edge (NEXT…) and motion complete:

1) If a rising edge (NEXT1/2) is generated during travel of the current

positioning record, the next positioning record (positioning record

parameter: target) is started immediately after the target position (motion

complete = high) is reached.

2) If the current positioning record reaches the target position (motion

complete = high), the next positioning record (positioning record

parameter: target) is started with the next rising edge (NEXT1/2).

NFS = with falling edge (NEXT…) and motion complete:

1) If a falling edge (NEXT1/2) is generated during travel of the current

positioning record, the next positioning record (positioning record

parameter: target) is started immediately after the target position (motion

complete = high) is reached.

2) If the current positioning record reaches the target position (motion

complete = high), the next positioning record (positioning record

parameter: target) is started with the next falling edge (NEXT1/2).

Target Subsequent positioning record in the record sequence.

This parameter is activated via the positioning parameter (FCT) “Command:

MC/STS/TIM/NRI/NFI/NRS/NFS”. All positioning records can be used as

subsequent positioning record in the record sequence.

Input Continuation of sequence control via NEXT1/2 signal.

This parameter is activated via the positioning parameter (FCT) “Command:

NRI/NFI/NRS/NFS”. With the configured input (NEXT1/2), continuation can be

controlled in the sequence control.

Tab. 6.3 Overview: positioning record parameters

6 Positioning mode


6.2.4 Parameterise positioning record profiles



Position record profiles:

Speed Setpoint value for positioning speed.

Acceleration Setpoint value for acceleration.

Deceleration Setpoint value for deceleration.

Smoothing Value for duration of filtering from acceleration and deceleration ramps

� page 71.

Time Setpoint value for how long the positioning record in the record sequence

should be executed until continuation is executed. This parameter becomes

active with the positioning record parameter “Command: TIM”.

Start delay Setpoint value for the waiting time after the start signal until the current

setpoint value is to be executed/the drive should be moved.

Final speed Setpoint value for travel with final speed to run through the target position.

After that, travel continues with final speed.

Start condition Start conditions for the subsequent positioning record in individual or

record-chaining operation.

If the motor controller receives a new start signal (DIN8) during the active

positioning record, the reaction of the controller-internal positioning control can

be controlled via the parametrised start condition as follows:

– Ignore: The start signal (DIN8) for the new positioning record is not evalu-

ated.

– Wait: The current positioning record is executed completely and after that

the new positioning record is started.

– Interrupt: The current positioning record is interrupted and the new posi-

tioning record is started immediately.

Tab. 6.4 Overview: positioning record profile parameter

6 Positioning mode


Parameters: Mode “A/RA/RN”/Start condition “Interrupt”

As an example, the control of a linear axis is described that was configured in positioning record 1 in

the parameter “Start condition” with “Interrupt” and in the positioning records 2a/2b/2c in the para-

meter “Mode” with “A/RA/RN”. Dependent on the configured parameters “Start condition” and

“Mode”, different positions of the linear axis are approached with the second start signal.

Positioning record Positioning record list Positioning profile

Mode Position ... Start condition ...

Positioning record 1 A 150 mm ... Interrupt ...

Positioning record 2a A 120 mm ... ... ...

Positioning record 2b RA –40 mm ... ... ...

Positioning record 2c RN –70 mm ... ... ...

Tab. 6.5 Example: positioning record parameter

Timing diagram: parameter: Start condition “Interrupt”

–70 mm (RN)

Target position: positioning record 1Setpoint position

Actual position

50

0

100

t

s [mm]

150

Start(DIN8)[X1.23]

Start condition “Interrupt”

–40 mm (RA)

120 mm (A)

150 mm (A)Target position: positioningrecord 2a

Target position: positioningrecord 2c

Target position: positioningrecord 2b

1 2

A = Mode A: Absolute positioning related to a

fixed zero point (e.g. project zero point)

RA = Mode A: Relative positioning related to the

current actual position

RN =Mode A: Relative positioning related to the

last setpoint position

Fig. 6.3 Timing diagram: parameter: Start condition “Interrupt”

6 Positioning mode


Parameter: Smoothing (jerk filter)

Example: Smoothing with an acceleration/time delay ta = 25 ms

a+

v v

v

t t

t

t t

t

Smoothing = 0 %• Filter time = 0 ms, time-optimised

Smoothing = 25 %• Filter time tfi = 12.5 ms (= 1/2 ta)

Smoothing = 50 %• Filter time tfi = 25 ms (= ta)

ta,

tfi

ta

ta

ta

ta

tfi

tfi

tfi

tfi

tfi

tfi

ta,

tfi

a–

a+

a–

a+

a–

Smoothing = 100 %• Filter time tfi = 50 ms (= 2 ta)

ta,

tfi

tfi

tfi

ta,

tfi

v

t

a+

a–

t

tfi = 100 %

a = parametrised acceleration

-a = parametrised deceleration

v = parametrised travel speed

Fig. 6.4 Timing diagram: Smoothing with an acceleration/time delay ta = 25 ms

6 Positioning mode


With smoothing (jerk filter), the progression of acceleration (a+)/deceleration (a–)/speed (v) can be

adapted.

With the maximum smoothing “100 %”, each edge of the acceleration/deceleration signals is filtered

for 50 ms (filter time). Here, the drive is run with low acceleration/deceleration, and the least stresses

occur for the drive mechanics. The speed/target position is reached later by 50 ms (filter time tfi) in

comparison to a smoothing of “0 %”.

For smoothing = 0 %, acceleration and deceleration are not filtered. Here, the drive is moved with the

parametrised acceleration/deceleration, and the highest stresses occur for the drive mechanics. The

speed/target position is reached in the shortest amount of time.

Overview: smoothing/filter time

Smoothing 0 % 20 % 40 % 60 % 80 % 100 %

Filter time 0 ms 10 ms 20 ms 30 ms 40 ms 50 ms

Tab. 6.6 Overview: smoothing/filter time

6 Positioning mode


6.3 Direct mode

6.3.1 Function: Direct mode:

In the direct mode, the motor controller can be controlled via the active fieldbus (CANopen/PROFIBUS

DP/DeviceNet/RS485). Through direct application, the controller-internal positioning controller re-

ceives the target position for the direct mode. The controller-internal positioning controller calculates

the positioning curve from the direct mode parameters and target position and transfers the position

setpoint values cyclically to the position control. The controller-internal positioning controller uses the

positioning parameters for each additional direct application if no new parameterisation has been ex-

ecuted. The positioning parameters can be parametrised via fieldbus or Festo Configuration Tool (FCT).

6.3.2 Activating direct mode via fieldbus

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP


EXT

DeviceNet

Controller-in-ternal posi-

tioning con-trolPositioning

parameter

Directapplication

X5RS485

Positioncontrol

Fig. 6.5 Overview: activation: activating direct mode via fieldbus

6 Positioning mode


6.3.3 Connection: digital inputs/outputs

CMMS-AS-...-G2

9

21

22

10

24 V DC





Stop (DIN13)15

X1

X4/X5/EXT

...

6Load “DIN/DOUT” / GND 24 V

Fieldbuses



2) Only required for applications with limited positioning range or homing methods with limit switch.

Fig. 6.6 Connection: Required digital inputs/outputs with a fieldbus activation

6 Positioning mode


6.3.4 Parameterise direct mode



Positioning mode:

Base value of speed Base value for the “Speed” setpoint value

The “Speed” setpoint value is calculated by multiplying “Base value”

and “Speed factor (%-value)”. The speed factor is transmitted

cyclically via the fieldbus.

Acceleration Setpoint value for acceleration to speed.

Deceleration Setpoint value for deceleration to rest.

Smoothing Value for duration of filtering from acceleration and deceleration ramp

� page 71.

Tab. 6.7 Parameterise direct mode

6 Positioning mode


6.4 Single position operation

6.4.1 Function: single position operation

The motor controller can be controlled in single-record operation via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet) or the digital inputs (mode 0� page 22). Through record selection, the

controller-internal positioning controller receives the parameters “Positioning record (1…63)” and “Po-

sitioning record profile (0…7)” of the selected individual record. The controller-internal positioning

controller calculates the positioning curve from these parameters and transfers the position setpoint

values cyclically to the position control. Each individual record is started with its own start command/

signal. The positioning records and positioning record profiles can be parametrised via fieldbus or Festo

Configuration Tool (FCT).

The positioning record “0” is reserved exclusively for homing in the reference mode.

6.4.2 Actuate individual-record operation via fieldbus or digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Digital inputs


X1

EXT

DeviceNet

Inputs

Recordselection/

Positioningrecord:1…63

Bit 0…5


tioning con-trol

Positioncontrol

Fig. 6.7 Overview: Actuate individual-record operation via fieldbus and digital inputs

6 Positioning mode



Record selection bit 0 (DIN0)






Stop (DIN13)

24 V DC





Motion complete (DOUT1)2)

Start confirmed (DOUT2)2)

CMMS-AS-...-G2

12

9

21

15

19

16

11

2

23

24

13

25

7

20

8

3

Limit switch 1 (DIN7)1) 10

22Limit switch 0 (DIN6)1)

Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Start positioning (DIN8)

X1

6Load “DIN/DOUT” (GND 24 V)

Mode 0




Fig. 6.8 Connection: digital inputs/outputs

6 Positioning mode


6.4.4 Timing diagram: start/cancel individual record

Timing diagram: Start individual record via Start positioning signal

� Start positioning(DIN8)[X1.23]

Stop(DIN13)[X1.15]



Confirm start(DOUT2)[X1.25]


Speed

t3

Record selection bit 0…5(Positioning record 1…63)

(DIN…)[X1.…]

t2

t3

t4

t1

t1 ≤ 2.5 ms

t2 ≥ 2.5 ms

t3 ≤ 5 ms

t4 = … ms (FCT: dependent on the parameters

“Message window” and “Damping time” in

the message “Target reached”)

Fig. 6.9 Timing diagram: Start individual record via Start positioning signal

6 Positioning mode


Timing diagram: cancel individual record via stop signal

This timing diagram shows exclusively activation via digital inputs/outputs

Start record sequence(DIN8)[X1.23]

� Stop(DIN13)[X1.15]





Speed

t2


(DIN)[X1.…]

t1

t2

t4

t3

t5

t1 ≥ 2.5 ms

t2 ≤ 5 ms

t3 ≤ 2.5 ms

t4 = … ms (FCT: Dependent on the parameter

“Stop input” in the stop decelerations)




Fig. 6.10 Timing diagram: cancel individual record via stop signal

6.4.5 Parameterise individual record operation


Positioning record parameter� page 67, chap. 6.2.3

Positioning record profile parameter� page 69, chap. 6.2.4

6 Positioning mode


6.5 Record linking operation

6.5.1 Function: record linking operation

The motor controller can be controlled in record-chaining operation via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet) or the digital inputs (mode 2� page 22). Through record selection, the

controller-internal positioning controller receives the parameters “Positioning records (1…63)” and

“Positioning record profile (0…7)” of the selected record sequence (linking of individual records). The

controller-internal positioning controller calculates the positioning curve from these parameters and

transfers the position setpoint values cyclically to the position control. In addition to the individual

record operation, the conditions for continuation and sequence control can be parametrised in the

record-chaining operation. The process of record sequence can be controlled through continuation

(sequence control). The positioning records/positioning record profiles and record continuation can be

parametrised via fieldbus or Festo Configuration Tool (FCT).

The positioning record “0” is reserved exclusively for homing in the reference mode.

6.5.2 Actuate record-chaining operation via fieldbus/digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Digital inputs


X1

EXT

DeviceNet

Inputs

Recordselection/

positioningrecord: 1…63

Recordselection/

positioningrecord: 1…7

Sequencecontrol:

NEXT1/2

Recordsequence

Bit 0…2


tioning con-trol

Position control

Fig. 6.11 Overview: Actuate record-chaining operation via fieldbus and digital inputs

6 Positioning mode




Halt record sequence (DIN3)



NEXT2 (DIN11)

NEXT1 (DIN10)

Stop (DIN13)

24 V DC







CMMS-AS-...-G2

12

9

21

15

19

16

11

2

23

24

13

25

7

20

8

3



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Start record sequence (DIN8)

X1


Mode 2





6 Positioning mode


6.5.4 Timing diagram: start/interrupt/cancel record sequence

Timing diagram: start record sequence via start positioning sequence signal

� Start record sequence(DIN8)[X1.23]

Stop(DIN13)[X1.15]

Halt record sequence(DIN3)[X1.8]





Speed(Positioning record 1/2/3)

t3

1


(DIN…)[X1.…]

t4

t2

t3

t4 t5

2 3

t1

t1 ≤ 2.5 ms

t2 ≥ 2.5 ms

t3 ≤ 5 ms

t4 L 16 ms




Fig. 6.13 Timing diagram: start record sequence via start positioning sequence signal

6 Positioning mode


Timing diagram: interrupt record sequence via halt positioning sequence signal


Stop(DIN13)[X1.15]

� Halt record sequence(DIN3)[X1.8]






t2

1


(DIN…)[X1.…]

t3

t1

t2

t3 t6

2 3

t5 t5

t4 t4

2 3

t1 ≥ 2.5 ms

t2 ≤ 5 ms

t3 L 16 ms

t4 = … ms (FCT: dependent on the deceleration

ramp)


ramp)




Fig. 6.14 Timing diagram: interrupt record sequence via halt positioning sequence signal

6 Positioning mode


Timing diagram: cancel individual record via stop signal










t2

1


(DIN…)[X1.…]

t3

t1

t2

t3

2 3

t5

t4

t6

t1 ≥ 2.5 ms

t2 ≤ 5 ms

t3 L 16 ms

t4 ≤ 2.5 ms

t5 = … ms (FCT: Dependent on the parameter





Fig. 6.15 Timing diagram: cancel individual record via stop signal

6 Positioning mode


Timing diagram: cancel record sequence via mode bit 1



Stop(DIN13)[X1.15]







t2

1


(DIN…)[X1.…]

t3

t1

t2

t3

2 3

t4


Mode bit 0(DIN12)[X1.2]

t6t5

t1 ≥ 2.5 ms

t2 ≤ 5 ms

t3 L 16 ms

t4 ≤ 2.5 ms

t5 = … ms (dependent on reaching the target

position of the current positioning record)




Fig. 6.16 Timing diagram: cancel record sequence via mode bit 1

6 Positioning mode


6.5.5 Parameterise record linking operation


Positioning record parameter� page 67, chap. 6.2.3

Positioning record profile parameter� page 69, chap. 6.2.4

6 Positioning mode


6.6 Interpolated positioning mode

6.6.1 Function: interpolated positioning mode

In the interpolated positioning mode, the motor controller can be controlled via the active fieldbus

(CANopen/DriveBus). Via the control interface, the interpolator receives new position setpoint values

cyclically. With multi-axis systems, several axes can be controlled synchronously in interpolating opera-

tion in order to run a shared path curve. Here, the position setpoint values are specified to the motor

controller as position setpoint values by a higher-order controller in a defined cycle time. The cycle time

of the position specification is dependent on the control interface (e.g. CANopen: approx. 5 ms). But

the motor controller requires position setpoint values for internal position control in a cycle time of. 0.4

ms. The interpolator calculates from the position specifications of the controller additional position

setpoint values for position control. The motor controller uses for this purpose an interpolation al-

gorithm with a 3rd order polynomial and a corresponding speed pilot control in the cycle time of the

position controller.

Additional information� description of device profile CiA 402, P.BE-CMMS-FHPP-CO-SW-...

Pos-ition

t

1

2

1 Cycle time “control” (≥8 ms) 2 Cycle time “position control” (0.4 ms)

Fig. 6.17 Interpolation of position setpoint values

6.6.2 Activate interpolated positioning mode via fieldbus

X4

CMMS-AS-...-G2

CANopen


Interpolator

DriveBus

Position control

Fig. 6.18 Overview: Activate interpolated positioning mode via fieldbus

6 Positioning mode



CMMS-AS-...-G2

9

21

22

10

24

12

24 V DC



Limit switch 0 (DIN6)1)




Stop (DIN13)15

X1

X4/EXT

...


CANopen/DriveBus





6 Positioning mode


6.7 Homing mode/homing

6.7.1 Function: homing mode

The motor controller can be controlled in homing mode via the active fieldbus (CANopen/DriveBus/

PROFIBUS DP/DeviceNet/RS485) or the digital inputs (mode 0� page 22). Through direct application

or record selection (positioning record 0) the controller-internal positioning controller receives the

homing parameters. The controller-internal positioning controller calculates the homing curve from

these parameters and transfers the position setpoint values cyclically to the position control. After

successful completion of homing, the reference point, the absolute reference point in the dimesion

reference system for axis zero point, project zero point, etc., is determined. The homing parameters can

be parametrised via fieldbus or Festo Configuration Tool (FCT).

For homint, the following settings must be parametrised in the Festo Configuration Tool (FCT):

– Homing method (at current position, limit switch, stop and/or zero impulse)

– Axis zero point (factory setting = project zero point)

– System of measurement units (You can find additional information in the “Festo Configuration Tool

(FCT), CMMS-AS-PlugIn” help on the CD-ROM� CMMS-AS_de.pdf )

6.7.2 Activate homing mode via fieldbus/digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

Digital inputs


X1

EXT

X5

DeviceNet

Inputs

DriveBus

Record selection/Positioning

record: 0

Directapplication

Bit 0…5

Positioncontrol

Controller-internal po-

sitioningcontrol

Limit switch 0/1

Fig. 6.20 Overview: Activate homing mode via fieldbus and digital inputs

6 Positioning mode









Stop (DIN13)

24 V DC







CMMS-AS-...-G2

12

9

21

15

19

16

11

2

23

24

13

25

7

20

8

3



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Start positioning (DIN8)

X1


Mode 0





6 Positioning mode


6.7.4 Timing diagram: cancel homing to limit switch/stop/

Timing diagram: homing to limit switch

Start positioning(DIN8)[X1.23]

Stop(DIN13)[X1.15]

Limit switch 1(DIN7)[X1.10]




t1

Speedv+

v–

Status word referenced (FCT)Homing carried out

(DOUT…)[X1.…]

t2 t3 t2 t3

“Search” “Crawl”

t4

� Limit switch 0 (negative)/� Limit switch 1 (positive)

(DIN6)[X1.22]/(DIN7)[X1.10]

3

1

2 t5

� Limit switch

detected

� Reference point

detected

t1 ≤ 5 ms

t2 = … ms (dependent on the acceleration

ramp)

t3 = … ms (dependent on the deceleration

ramp)

t4 ≤ 2.5 ms




1 Example: “normally closed” limit switch type

2 Travel curve with “Positive limit switch”

homing methods

3 Travel curve with “Negative limit switch”

homing methods

Fig. 6.22 Timing diagram: start homing to limit switch via start positioning signal

6 Positioning mode


Timing diagram: homing to stop


Stop(DIN13)[X1.15]




t1

t2

� Stop detected

Speedv+

v–“Run”

2

1


(DOUT…)[X1.…]

“Crawl”

t3 t2 t4

� Axis

zero point

reached

t5

t1 ≤ 5 ms


ramp)

t3 = … ms (dependent on the torque threshold

(FCT) and damping characteristic of the stop)

t4 = … ms (FCT: dependent on the deceleration

ramp)




1 Travel curve with “Positive stop” homing

methods

2 Travel curve with “Negative stop” homing

methods

Fig. 6.23 Timing diagram: homing to stop

6 Positioning mode


Timing diagram: cancel homing via stop signal







t1

Speedv+

v–


(DOUT…)[X1.…]

t2 t3 t2 t6

“Search” “Crawl”

t4

Limit switch 0 (negative)/Limit switch 1 (positive)

(DIN6)[X1.22]/(DIN7)[X1.10]

3

1

2 t7

t5� Limit switch

detected

t1 ≤ 5 ms


ramp)

t3 = … ms (dependent on the deceleration

ramp)

t4 ≤ 2.5 ms

t5 ≤ 2.5 ms

t6 = … ms (FCT: dependent on the parameter







homing methods


homing methods

Fig. 6.24 Timing diagram: cancel homing via stop signal

6 Positioning mode


Timing diagram: cancel homing through error message


Stop(DIN13)[X1.15]






t1

t3t2

“Search”

� Error


(DOUT…)[X1.…]

Speedv+

v–

3

1

2

t1 ≤ 5 ms


ramp)

t3 = … ms (dependent on the configuration

“error function” in the error management and

the corresponding parameter in the stop

deceleration)



homing methods


homing methods

Fig. 6.25 Timing diagram: cancel homing through error message (e.g. following error, …)

6 Positioning mode


6.7.5 Homing mode/configure and parameterise homing

The following settings can be configured and parametrised in the Festo Configuration Tool (FCT):

– Detect limit switch:

Parameterise the deceleration sufficiently high so that the drive does not overrun the

limit switch too far during the “Search” run.

– Detect reference point

Parameterise the “Crawl” speed very low so that the reference point can be detected

by the motor controller.

Settings Description

Homing method

Target For homing, the following targets can be configured:

� Page 97

– Current position

– Limit switches

– Limit switch with zero pulse

– Stop

– Stop with zero pulse

– Zero pulse

Direction For homing, the following search directions can be configured:

– Positive direction

– Negative direction

Parameter

Search: travel to the limit switch or stop

Speed Setpoint value for travel with “Search” speed.

Acceleration Setpoint value for acceleration to “Search” speed or for deceleration

to rest.

Crawl: travel to the reference point

Speed Setpoint value for travel with “Crawl” speed.

Acceleration Setpoint value for acceleration to “Crawl” speed or for deceleration to

rest.

Run: travel to the axis zero point

Speed Setpoint value for travel with “Run” speed.

Acceleration Setpoint value for acceleration to “Run” speed or for deceleration to

rest.

Additional parameters

Torque threshold Requirement: homing method “Stop” has been activated.

Threshold value for the torque at which the stop is detected.

Axis zero point Setpoint value for the distance to the reference point.

6 Positioning mode



Options

Travel to axis zero point

after homing

If this option is activated, the drive is automatically driven to the axis

zero point after every successful homing.

Homing with controller en-

able

Requirement:

– Output stage signal (DIN4)[X1.21] = 24 V DC.

– Controller enable (DIN5)[X1.9] = 0 V DC.

If this option is activated, homing is started automatically with each

positive edge of the controller enable signal (DIN5) or each enable via

the fieldbus.

Options

Save zero point shift � Page 103

Tab. 6.8 Configure and parameterise homing

6 Positioning mode


Homing methods

Positioning accuracy

To increase the positioning accuracy, the zero pulse of the motor shaft encoder can be

used for the evaluation.

Software end positions

The software end positions are deactivated with the start of homing and reactivated after

completion of homing.

Current position (No homing is carried out)

Code Description

hex dec

23h 35 Current position

1. The current position is taken as the homing

point.

2. If an axis zero point is parametrised and the

FCT option “Travel to axis zero point after

homing” is activated:

travel with “Run” speed to the axis zero point.

Note: Through shifting of the reference system,

travel to the limit switch or fixed stop is possible.

For that reason this method is mostly used for

axes of rotation.

Tab. 6.9 Overview: current position

6 Positioning mode


Homing to limit switch

Code Description

hex dec

12h 18 Positive limit switch

1. Search for limit switch in the positive

direction1):

Travel with “Search” speed in a positive

direction until the limit switch has been

detected.

2. Search for homing point in the negative

direction:

Travel with “Crawl” speed in a negative

direction until the limit switch switches back

into the neutral position. This position is taken

as the homing point.





Positive limit switch

11h 17 Negative limit switch

1. Search for limit switch in the negative

direction1):

Travel with “Search” speed in a negative


detected.

2. Search for homing point in the positive

direction:

Travel with “Crawl” speed in a positive


into the neutral position. This position is taken

as the homing point.





Negative limit switch

1) If the limit switch is active, continue at 2nd point.

Tab. 6.10 Overview: homing to limit switch

6 Positioning mode


Homing to limit switch and zero pulse signal (N/#N)

Code Description

hex dec

02h 02 Positive limit switch and zero pulse1)

1. Search for limit switch in the positive

direction2):



detected.


direction:



into the neutral position and the first zero

pulse has been detected. This position is

taken as the homing point.





Zero pulse

Positive limit switch

01h 01 Negative limit switch and zero pulse1)

1. Search for limit switch in the negative

direction2):



detected.


direction:



into the neutral position and the first zero

pulse has been detected. This position is

taken as the homing point.





Zero pulse

Negative limit switch

1) Motors have shaft encoder with zero pulse as standard.

2) If the limit switch is active, continue at 2nd point.

Tab. 6.11 Overview: homing to limit switch and zero pulse signal (N/#N)

6 Positioning mode


Homing to stop

The motor controller must not permanently control to the stop.

Recommendation: Parameterise an axis zero point ≥ 3 mm (outside the effective range of

the stop and end-position cushioning) and activate the FCT option “Travel to axis zero

point after homing”.

Code Description

hex dec

EEh -18 Positive stop1)

1. Search for stop/homing point in the positive

direction:


direction until the stop2) has been detected.

This position is taken as the homing point.





EFh -17 Negative stop1)

1. Search for stop/homing point in the negative

direction:








1) Limit switches are ignored during travel to the stop.

2) The stop is detected after the current has risen.

Tab. 6.12 Overview: homing to stop

6 Positioning mode


Homing to stop and zero pulse signal (N/#N)

Code Description

hex dec

FEh -2 Positive stop and zero pulse1)2)

1. Search for stop in the positive direction:





direction:


direction until the first zero pulse has been

detected. This position is taken as the homing

point.





Zero pulse

FFh -1 Negative stop and zero pulse1)2)

1. Search for stop point in the negative direction:





direction:




point.





Zero pulse


2) Limit switches are ignored during travel to the stop.

3) The stop is detected after the current has risen.

Tab. 6.13 Overview: homing to stop and zero pulse signal (N/#N)

6 Positioning mode


Homing to zero pulse signal (N/#N)

Code Description

hex dec

22h 34 Zero pulse in positive direction1)

1. Search for zero pulse in the positive direction:




point.





Zero pulse

21h 33 Zero pulse in negative direction1)

1. Search for zero pulse in the negative direction:




point.





Zero pulse


Tab. 6.14 Overview: homing to zero pulse signal (N/#N)

6 Positioning mode


Option: save zero point shift

Multi-turn absolute encoder

For drives with multi-turn absolute encoder, only one homing is required for commissioning to align the

reference point of the dimension reference system and the zero point of the motor encoder. These off-

set data can be stored permanently in the multi-turn absolute encoder through the command “Save

zero point shift” and are not lost if the supply voltage is interrupted. When the supply voltage is turned

on, drives with multi-turn absolute encoder are always homed at the absolute encoder zero point

stored in the motor encoder.

Single-turn absolute encoder

For drives with single-turn absolute encoder, homing is required after each interruption of the supply

voltage to align the reference point of the dimension reference system and the zero point of the motor

encoder. The absolute reference of the offset data is stored only temporarily and is lost with each inter-

ruption of the supply voltage.

6 Positioning mode


6.8 Jog operation

6.8.1 Function: jog operation

The motor controller can be controlled in jog operation directly via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet), the digital inputs (mode 1� page 22) or the parameter interface (RS232,

Festo Configuration Tool (FCT)). Through the direct application of the fieldbus, the digital inputs “Jog+

(DIN10)/Jog– (DIN11)” or the Festo Configuration Tool (FCT) “Jog<</Jog>>”, the controller-internal posi-

tioning control receives the travel direction for jog operation. The controller-internal positioning con-

troller calculates the jog curve from the jog parameters and transfers the position setpoint values cyc-

lically to the position control. In jog operation, the drive first runs at creep speed in order to approach a

position accurately. If after expiration of the creep duration the activation continues to be active, the

drive continues at jog speed in order to travel through large paths quickly. Jog operation is quit with the

falling edge of the jog signal.

This operating mode can be used in the following applications:

– Approaching the teach position

– Drive free running (e.g. after a malfunction)

– Manual running (manually operated feed)

The jog parameters can be parametrised via fieldbus or Festo Configuration Tool (FCT).

6.8.2 Activate jog operation via fieldbus/digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Digital inputs


X1

EXT

DeviceNet

Inputs

Direct application

Jog parameters

Jog+/–

X5RS232

“FCT” softwareJog>> (+)Jog<< (–)

Positioncontrol

Controller-internal po-

sitioningcontrol

Fig. 6.26 Overview: activate jog operation via fieldbus or digital inputs

6 Positioning mode


6.8.3 Activate jog operation via Festo Configuration Tool (FCT)

Jog operation can be manually controlled via the interfaces “Jog<< (–)” and “Jog>> (+)” in the FCT window

“Project output” in the online tab “Manual travel”.

1 2

1 Jog in negative direction 2 Jog in positive direction

Fig. 6.27 Activate jog operation via Festo Configuration Tool (FCT)

6 Positioning mode







Jog– (DIN11)

Jog+ (DIN10)

Stop (DIN13)

24 V DC






Teach confirmed (DOUT2)

12

9

21

15

19

16

11

2

24

13

25

7

20

8

3



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

X1


Mode 1

CMMS-AS-...-G2





6 Positioning mode


6.8.5 Timing diagram: creep-speed travel/jog travel/jog+/jog–

Timing diagram: crawl/jog travel

a2

t(s)

Jog+/jog– (DIN10/DIN11)

v(t) 1/t1

t3 t4

2

t2

a1

a1

v1

v2

0

1 Crawl run to the precise positioning of the

drive

2 Jog run to run through large stroke lengths

quickly

a1 Acceleration (jog parameter)

a2 Deceleration (jog parameter)

v1 Crawl speed (crawl travel parameter)

v2 Max. speed (jog parameter)

t1 Crawl duration (crawl travel parameter)

t2 Crawl acceleration time (dependent on the

parametrised acceleration a1 and crawl

speed v1)

t3 Jog acceleration time (dependent on the

parametrised acceleration a1 max. speed v2

and crawl speed v1)

t4 Jog deceleration time (dependent on the

parametrised deceleration a2 and max.

speed v2)

Fig. 6.29 Timing diagram: crawl/jog travel

6 Positioning mode


Timing diagram: jog travel via jog+/jog–

Stop(DIN13)[X1.15]

� Jog+(DIN10)[X1.3]

� Jog–(DIN11)[X1.16]



Acknowledge teach(DOUT2)[X1.25]


t1

t4 t4

t3 t3

SpeedJog+

Jog–

t1

t2

t2

t1 ≤ 5 ms

t2 ≤ 5 ms

t3 = … ms (FCT: dependent on the crawl

duration and jog acceleration ramp)

t4 = … ms (FCT: dependent on the jog

deceleration ramp)

Fig. 6.30 Timing diagram: jog travel via jog+/jog–

6 Positioning mode


Timing diagram: jog travel with simultaneous activation of jog+/jog–

Priority of the jog signals

The signal “jog–” has a higher priority than the signal “jog+”. If both signals are active

simultaneously, the signal “jog–” is executed.

Stop(DIN13)[X1.15]

� Jog+(DIN10)[X1.3]

� Jog–(DIN11)[X1.16]





t1

t1

t4

SpeedJog+

Jog–

t3 t3

t4

t3

t4 t4

t3

t1t2

t2

t2

t1 ≤ 5 ms

t2 ≤ 5 ms




deceleration ramp)

Fig. 6.31 Timing diagram: jog travel with simultaneous activation of jog+/jog–

6 Positioning mode


6.8.6 Parameterise jog mode


Software end position:

If the drive is referenced, the drive automatically stops when it reaches a

software end position. The software end position is not passed (deceler-

ation path is taken into account).


Crawling:

Crawl speed Setpoint value for travel at crawl speed.

Crawling duration Setpoint value for duration of crawling.

Jog parameters (jog travel):

Max. speed Setpoint value for travel at max. speed.

Acceleration Setpoint value for the following accelerations:

– Crawling: acceleration to crawl speed.

– Jogging: acceleration to max. speed.

Deceleration Setpoint value for deceleration (for crawling and jog travel) to rest.

Smoothing Value for duration of filtering of acceleration and deceleration ramp

� page 71.

Tab. 6.15 Parameterise jog mode

6 Positioning mode


6.9 Teach mode

6.9.1 Function: teach mode

The motor controller can be controlled in teach mode directly via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet) or the digital inputs (mode 1� page 22). Prior to the teach mode, the drive

must be run into the desired teach position. Through the direct application or record selection, a posi-

tioning record (1…63) can be selected in which the teach position is to be stored. Evaluation of the

teach position is started via the teach bit in the control byte of the fieldbus or with the rising edge of

the teach signal at the digital input (DIN8). With the falling edge of the teach signal, the current actual

position of the drive is temporarily stored in the “Position” positioning record parameter of the selec-

ted positioning record. Simultaneously, the parametrised debounce time starts to run, which blocks a

new evaluation of the record selection during storage.

The teach position is not permanently stored until there is a falling edge of the controller enable signal

(DIN5)[X1.9].

Temporary data are lost when the 24 V DC power supply is switched off or in the event of a

power failure.

6.9.2 Activate teach mode via fieldbus/digital inputs

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Digital inputs


X1

EXT

DeviceNet

Inputs

Direct application Memory:Positioning record

parameter “Position”

Record selection/Positioning record:

1…63

Teach

Bit 0…5

Fig. 6.32 Overview: activate teach mode via fieldbus and digital inputs

6 Positioning mode









Stop (DIN13)

24 V DC






Teach confirmed (DOUT2)

CMMS-AS-...-G2

12

9

21

15

19

16

11

2

23

24

13

25

7

20

8

3



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Teach (DIN8)

X1


Mode 1





6 Positioning mode


6.9.4 Timing diagram: teach

� Teach(DIN8)[X1.23]

Stop(DIN13)[X1.15]

1) Jog+2) Record selection bit 4

(DIN10)[X1.3]

1) Jog–2) Record selection bit 5

(DIN11)[X1.16]





SpeedJog+

Jog–

t1

t1

t2

t6


(DIN…)[X1.…]

t2

t5

Store actual position

t3t4

t3t4

1) Jogging 2) Teaching

t7

t1 ≤ 5 ms

t2 ≤ 5 ms




deceleration ramp)

t5 ≤ 2.5 ms

t6 = … ms (FCT: dependent on the debounce

time)

t7 ≤ 2.5 ms

Fig. 6.34 Timing diagram: teach

6 Positioning mode


6.9.5 Parameterise teach mode



Debounce time of the DINs after teaching

Debounce time Setpoint value for the duration after the falling flank “Teach (DIN8)”

until the digital inputs “Jog+ (DIN10)” and “Jog– (DIN11)” are

evaluated again.

Tab. 6.16 Parameterise teach mode

7 Speed mode and force/torque mode



7.1 Speed mode

7.1.1 Overview: speed mode (speed adjustment)

Currentregulator

Speedregulator

Output stage

M

Motor

Encoder

Speed actual value


––

++

Speed setpoint value Current setpoint

value

CMMS-AS-...-G2

Control section Power section

Control interfaces

Speed setpoint value ramp

Fig. 7.1 Overview: speed mode (speed adjustment)

In the speed mode, the motor controller can be controlled via the fieldbus or analogue input. The regu-

lator cascade (speed and current regulator) processes the deviation “speed setpoint value” and “speed

actual value” and thus controls the following output stage. The speed setpoint value ramp can option-

ally be activated.



7.1.2 Function: speed mode

In the speed mode, the motor controller can be controlled via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet/RS485) or analogue input. Through the direct application (fieldbus) or the

analogue setpoint value (analogue input), the speed adjustment receives the speed setpoint value.

Optionally, the speed setpoint value ramp can be activated in the Festo Configuration Tool (FCT) to para-

meterise the acceleration and deceleration ramps for the positive/negative direction.

For speed mode, no homing is required.

7.1.3 Activate speed mode via fieldbus/analogue input

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

Analogue input

Fieldbuses Control section

X1

EXT

X5

DeviceNet

Input

Direct application


Speed setpointvalue ramp

Speed adjustment

Fig. 7.2 Overview: activate speed mode via fieldbus or analogue input



7.1.4 Connection: analogue and digital I/O modules

24 V DC






Screening (SGND)




CMMS-AS-...-G2

12

9

21

22

10

14

2

15

1

24

13

25

X1

Setpoint value:-10…+10 V

Load “DIN/DOUT” (GND 24 V) 6

4

Analogue input, differential (#AIN0)


Reference voltage output (VREFOUT), +10 V DC

Analogue load (AGND), reference potential “referencevoltage output/analogue inputs”


1) The limit switches are set by default to N/C contact (configuration via FCT)


Fig. 7.3 Connection: analogue and digital I/O modules



7.1.5 Parameterise speed mode



Analogue input

Scaling Value for scaling (linear axis: mm/s or rotative axis: rpm) of the

analogue setpoint value (±10 V) in a speed setpoint value.

Offset Value for the height of the voltage shift “rotational speed/speed

characteristic curve” to the zero point� page 119.

Safe Zero Threshold value for the analogue setpoint value range in which the

rotational speed/speed characteristic curve is valued as rest (linear

axis = 0 mm/s or rotative axis = 0 rpm)� page 119.

Input malfunctions (e.g. offset fluctuations, noise, etc.) can be

suppressed or a defined rest of the drive can be parametrised.

If the motor controller can be operated via an external control circuit,

the value “0 V” should be parametrised as a Safe Zero to ensure the

stability of the external control circuit.

Setpoint value selection/speed setpoint value ramp

Ramp type Selection of the ramp type

Dependent on the ramp type, the parameters “acceleration,

deceleration and positive/negative direction” can be parametrised

individually or grouped.

Acceleration

(positive/negative

direction)

Setpoint value for acceleration to the speed setpoint value.

Deceleration

(positive/negative

direction)

Setpoint value for deceleration to the speed setpoint value.

Tab. 7.1 Parameterise speed mode



-1

1

1 7.55 10-10 -7.5 -5 -2.5

1250

1000

500

-500

-750

-1000

[V]

Linear axis [mm/s]

Rotative axis [rpm]

2

1

750

2.5

1 Safe Zero = 1 V 2 Offset = -2.5 V

Fig. 7.4 Rotational speed/speed characteristic curve

Offset:

If the parameter “Offset” is used, the rotational speed/speed characteristic curve is shif-

ted by the value of the offset.

For the example “Offset = -2.5 V (Fig. 7.4)”, the following values result:

– Linear axis: -10 V = -750 mm/s, + 10 V = 1250 mm/s.

– Rotative axis: -10 V = -750 rpm, + 10 V = 1250 rpm.

The offset zero point of the rotational speed/speed characteristic curve is asymmetric to

the reference zero point.

Safe Zero:

If the parameter “Safe Zero” is used, the control range of the rotational speed/speed

characteristic curve is reduced by the range “Safe Zero”.



7.2 Force/torque mode

7.2.1 Overview: force/torque mode (current control)

Currentregulator

(torque)

CMMS-AS-...-G2

Control section Power section

Output stage

M

Motor

Encoder


–

+

Current setpoint

value

Control interface

Fig. 7.5 Overview: force/torque mode (current control)

In the force/torque mode, the motor controller can be controlled via the fieldbus or analogue input. The

current regulator processes the deviation “current setpoint value” and “current actual value” and thus

regulates the following output stage.

All specifications on forces/torques refer to the motor nominal torque or the motor nom-

inal current. Since force/torque are proportional to the motor current, only the current

regulator is activated in this operating case.



7.2.2 Function: force/torque mode

In the force/torque mode, the motor controller can be controlled via the active fieldbus (CANopen/

PROFIBUS DP/DeviceNet/RS485) or analogue input. Through the direct application (fieldbus) or the

analogue setpoint value (analogue input), the current control (torque) receives the current setpoint

value.

No homing is required with force/torque mode.

7.2.3 Activate force/torque mode via fieldbus/analogue input

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

Analogue input

Fieldbuses Control section

X1

EXT

X5

DeviceNet

Input

Direct application


Current regulation

Fig. 7.6 Overview: activate force/torque mode via fieldbus or analogue input



7.2.4 Connection: analogue and digital I/O modules

Analogue load (AGND), reference potential “referencevoltage output/analogue inputs”

24 V DC







Screening (SGND)




CMMS-AS-...-G2

12

9

21

22

10

14

2

15

1

24

13

25

X1

Setpoint value:-10…+10 V

Load “DIN/DOUT” (GND 24 V) 6

4Reference voltage output (VREFOUT), +10 V DC



1) The limit switches are set by default to N/C contact (configuration via FCT)


Fig. 7.7 Connection: analogue and digital I/O modules



7.2.5 Parameterise force/torque mode



Analogue input

Scaling Value for scaling (%) of the analogue setpoint value (±10 V) in a cur-

rent setpoint value (motor nominal torque).

Offset Value for the height of the voltage shift “torque/force characteristic

curve” to the zero point� page 124.

Safe Zero Threshold value for the analogue setpoint value range in which the

torque/force characteristic curve is valued as free of torque/force

(0 mA)� page 124.

Input malfunctions (e.g. offset fluctuations, noise, etc.) can be sup-

pressed or a defined rest of the drive can be parametrised.

If the motor controller can be operated via an external control circuit,

the value “0 V” should be parametrised as a Safe Zero to ensure the

stability of the external control circuit.

Tab. 7.2 Parameterise force/torque mode



-1

1

1 7.55 10-10 -7.5 -5 -2.5

125

100

50

-50

-75

-100

[V]

[%]1)

2

1

75

2.5

1 Safe Zero = 1 V

2 Offset = -2.5 V

1) In reference to the motor nominal current

Fig. 7.8 Torque/force characteristic curve

Offset:

If the parameter “Offset” is used, the torque/force characteristic curve is shifted by the

value of the offset.

For the example “Offset = -2.5 V (Fig. 9.7)”, the following values result:

– Linear/rotative axis: -10 V = -75 %, + 10 V = 125 % of the motor nominal current.

The offset zero point of the torque/force characteristic curve is asymmetric to the refer-

ence zero point.

Safe Zero:

If the parameter “Safe Zero” is used, the control range of the torque/force characteristic

curve is reduced by the range “Safe Zero”.

8 Synchronisation


8 Synchronisation

8.1 Synchronisation (slave operation)

8.1.1 Function: synchronisation

In slave operation (synchronisation), the motor controller can be controlled via encoder inputs or the

digital inputs. The motor controller receives the setpoint value for synchronisation through the encoder

input. From the setpoint value, the parametrised line count and the parametrised “virtual gear unit”,

the internal controller calculates a position setpoint value and passes it on cyclically to the position

control.

The following encoder signals/control interfaces are available for synchronisation:

Encoder signal Control interfaces

Encoder input [X10]

(Differential signals

in accordance with RS422)

[5 V, TTL]

Digital input [X1]

[24 V, HTL]

Incremental signal A/#A/B/#B/N/#N

Pulse/direction signal CLK/#CLK/DIR/#DIR CLK/DIR

Forward/reverse signal CW/#CW/CCW/#CCW CW/CCW

Tab. 8.1 Overview: control interfaces/encoder signals in synchronisation operation

During synchronisation, all other operating modes are on hold.

8 Synchronisation


8.1.2 Activate synchronisation via encoder signal

CMMS-AS-...-G2

Control section

X1Encoder signals: 24 V- CLK/DIR

- CW/CCW

Synchronisation(slave operation)

Encoder output

ControllersMotor controller CMM...1)

Encoder

Master Slave

Encoder input

X10Encoder signals: 5 V- A/#A/B/#B/N/#N

- CLK/#CLK/DIR/#DIR- CW/#CW/CCW/#CCW

1) In the motor controller CMM..., only the encoder output “Incremental signals: A/#A/B/#B/N/#N” is implemented.

Fig. 8.1 Overview: activate synchronisation via encoder signals

8 Synchronisation


8.1.3 Connection: digital I/O modules, encoder input, 5 V

Stop (DIN13)

24 V DC






Setpoint position reached (DOUT2)

CMMS-AS-...-G2

12

9

21

15

11

2

23

24

13

25



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Sync start (DIN8)

X1

6

X10

1

2

3

6

7

8

A

B

N

#A

#B

#N

CW

CCW

CLK

DIR

Pulse/directionsignal

Forward/reversesignal

Incremental signal


41)

5

Load “Encoder signal” (GND)

Auxiliary power supply 5 V DC ±5 % / max. 100 mA

HousingScreening (GND)

91)Load “auxiliary power supply” (GND)

Mode 3

#CW

#CCW

#CLK

#DIR


1) Pin “4” and “9” are connected internally.



Fig. 8.2 Connection: digital I/O modules, encoder input, 5 V

8 Synchronisation


8.1.4 Connection: digital I/O modules, encoder input, 24 V

Stop (DIN13)

24 V DC






Setpoint position reached (DOUT2)2)

CMMS-AS-...-G2

12

9

21

15

11

2

23

24

13

25



Mode bit 0 (DIN12)

Mode bit 1 (DIN9)

Start sync (DIN)

6

X1

20

8

Pulse/directionsignal

Forward/reversesignal

CLK (DIN2)

DIR (DIN3)

CW (DIN2)

CCW (DIN3)

...


Mode 3




Fig. 8.3 Connection: digital I/O modules, encoder input, 24 V

8 Synchronisation


8.1.5 Timing diagram: start synchronisation via Start Sync signal

� Start Sync(DIN8)[X1.23]

Stop(DIN13)[X1.15]

Rest reached(DOUT1)[X1.12]


Position synchronous(DOUT2)[X1.25]


Speed “Master”

t1 t2

t3 t4

Speed “Slave”

t1 ≤ 5 ms

t2 ≤ 5 ms

t3 = … ms (dependent on the master

acceleration ramp)

t4 = … ms (dependent on the master

deceleration ramp)

Fig. 8.4 Timing diagram: start synchronisation

8 Synchronisation


8.1.6 Configure/parameterise synchronisation



Signal shape

Signal shape Select encoder signal:

– A/#A/B/#B/N/#N: incremental signals with zero pulse

– CLK/DIR: pulse/direction signal

– CW/CCW: forward/reverse signal

Encoder data

Synchronisation input Select synchronisation input:

(Only for encoder signal “CLK/DIR” and “CW/CCW” active)

– Connection [X10]: 5 V signal

– Connection [X1]: 24 V signal (DIN2/DIN3)

Number of lines Value for the number of lines on the rotation angle “90°/360°”.

The encoder signals are evaluated differently through the squared

evaluation of the motor controller. The line count “1” refers to the

following angle ranges:

– Incremental signal (A/#A/B/#B): 360° (one revolution).

– Pulse/direction signal (CLK/DIR): 90° (quarter revolution)

– Forward/reverse signal (CW/CCW): 90° (quarter revolution)

Gear unit Transmission ratio (gear ratio) of a virtual gear unit

Options

Ignore zero pulse The zero pulse signals “N/#N” are not used for counting the

revolutions. With this option, malfunctions due to faulty evaluation of

the A/#A/B/#B signals can be suppressed.

Reversing the direction of

rotation

The evaluation of the phase displacement of the signals “A/#A” and

“B/#B” is rotated 180°.

Tab. 8.2 Configure/parameterise synchronisation

The line count can normally be found in a data sheet or the rating plate for the shaft

encoder.

9 Motor controller functions



9.1 Encoder emulation (master operation)

9.1.1 Function: encoder emulation

In the master mode (encoder emulation), the motor controller can output its current actual position

(rotor position) via the encoder output [X10] as an incremental signal (A/#A/B/#B/N/#N). This incre-

mental signal can be used by the connected slave device as a synchronisation signal.

The emulated incremental signals (A/#A/B/#B/N/#N) are active at the encoder output

[X10] as standard. Through activation of the operating mode “Synchronisation, slave

mode”, the encoder output is deactivated and the encoder input activated.

9.1.2 Output encoder emulation through encoder output

CMMS-AS-...-G2

Encoder signal: 5 V- A/#A/B/#B/N/#N

Control section

X10

Encoder emulation(master operation)

Encoder input

ControllersMotor controller CMM...

MasterSlave

Encoder output

Fig. 9.1 Overview: output encoder emulation via encoder signals



9.1.3 Connection: encoder output, 5 V

CMMS-AS-...-G2

X10

1

2

3

6

7

8

Incremental signal

A

#N

B

#A

N

#B

41)

5

“Incremental signal” load (GND)

Auxiliary power supply 5 V DC ±5 % / max. 100 mA

HousingScreening (SGND)

91)Load “auxiliary power supply” (GND)

1) Pin “4” and “9” are connected internally.

Fig. 9.2 Connection: encoder output, 5 V

9.1.4 Configure/parameterise encoder emulation


To avoid rounding errors, the number of lines per revolution should contain the factor 2n.

(1, 2, 4, 8, ... 2048).


Encoder data

Number of lines Value, number of increments per revolution (360°).

The number of increments specifies the number of emulated

incremental signals “A/#A/B/#B” per revolution.

Options

Suppress zero pulse The zero pulse signals “N/#N” are not passed on to the slave device.

Reversing the direction of

rotation

The phase displacement of the signals “A/#A” and “B/#B” is rotated

by 180°.

Tab. 9.1 Configure/parameterise encoder emulation



9.2 Flying measurement

9.2.1 Function: flying measurement

In flying measurement, the “actual position” measured value can be stored in the motor controller

through the fast sample input (DIN9)[X1.11]. With the configured edge of the sample input, the current

actual position of the drive is taken over into the sample memory. A higher-order controller can inter-

rogate the last stored actual position via the active fieldbus (CANopen/PROFIBUS DP/DeviceNet/

RS485). The last stored actual position is displayed in the “Project output” FCT window in the online

tab “Operation” in the “Dynamic data” field.

9.2.2 Activate flying measurement via digital input

Multiple assignment of digital inputs.

– DIN9: This digital input is used in the positioning mode as mode bit 1.

X4

CMMS-AS-...-G2

CANopen

PROFIBUS DP

Flying measurement


X5

EXT

DeviceNet

FCT

Sample storage“Actual position”

X5RS485

X1

Inputs

Sample input

X2

Shaft encoder motor

Actual position

Fig. 9.3 Control flying measurement via digital input



9.2.3 Connection: digital input

CMMS-AS-...-G2

6

Festo Configuration Tool (FCT)

Sampling input (DIN9)11

X51)

X4/X51)/EXT

...


Fieldbuses

X1

...

...

X2

Motor shaft encoder, EnDat 2.2

1) The connection [X5] can only be used for an interface (RS232 or RS485).

Fig. 9.4 Connection: digital input



9.3 Analogue monitor

9.3.1 Function: analogue monitor

Through the analogue monitor (AMON0)[X1.17], the motor controller can provide various setpoint/ac-

tual values to a controller or oscilloscope as an analogue output signal.

9.3.2 Output analogue monitor through digital output

CMMS-AS-...-G2

Analogue output

Analogue monitor

Control section

X1Monitor signal:0…10 V

Setpoint/actual values:– Speed

– Position

– Current

– ….

Fig. 9.5 Overview: output analogue monitor through digital output

9.3.3 Connection: analogue output

CMMS-AS-...-G2

14Analogue load “Analogue monitor” (AGND)

Analogue monitor (AMON)

X1

17

1Screening (SGND)

Fig. 9.6 Connection: analogue output



9.3.4 Configure/parameterise analogue monitor

The following settings can be configured/parametrised in the Festo Configuration Tool (FCT):


Analogue output

Analogue monitor The following signals can be output as analogue monitor signal:

– Speed setpoint value

– Speed actual value (raw)

– Speed actual value (filtered)

– Position setpoint value

– Position actual value

– Effective current setpoint value

– Effective current actual value

– Reactive current setpoint value

– Reactive current actual value

– Phase current U

– Phase current V

– Rotor position

– Following error

– Output stage voltage

– Fixed voltage level

Scaling Value for scaling of the monitor signal to the analogue output signal

(0…10 V)� Fig. 9.7.

Offset Value for the height of the “Offset” voltage shift to the load

(AGND)[X1.14]� Fig. 9.7.

Numeric overflow limitation Function for overflow limitation of the analogue output signal

� Fig. 9.8.

Tab. 9.2 Configure/parameterise analogue monitor



Analogue monitor with offset adjustment

2

2

–200–300–400

10

8

6

4

[V]

–100 200 300 400100[mm/S]

1

1 Offset = 4 V DC 2 Scaling “Speed setpoint value” = 200 mm/s

Fig. 9.7 Analogue monitor with offset adjustment

Analogue monitor with offset adjustment and numeric overflow limitation

2

–200–300–400

10

8

6

4

[V]

–100 200 300 400100[mm/S]

12

1 Offset = 4 V DC 2 Numeric overflow limitation active

Fig. 9.8 Analogue monitor with offset adjustment and numeric overflow limitation



9.4 Endless positioning

9.4.1 Function: endless positioning

For applications such as “synchronised conveyor belt” or “rotary indexing table”, endless positioning is

possible in one direction through relative positioning records. For relative positioning records, an over-

run of the position counter is possible. That is, the position counter jumps from +32767 revolutions to

-32768 revolutions, for example. To be able to use the “Endless positioning” function, the following

settings must be taken into account in configuration of the linear axis/axis of rotation in the Festo Con-

figuration Tool (FCT).

For endless positioning, only the relative positioning types “RA/RN” may be used in the

travel parameter “Mode”.

No endless positioning is possible in jog mode, since the minimum or maximum absolute

position is always used as a target here.

Configure endless positioning in the Festo Configuration Tool (FCT)

1. Mark either the option field

“Rotative Festo axis”, “Linear

user-defined axis” or “Rotative

user-defined axis” in the drive

configuration.

2. Activate the “Unlimited” control

field for endless positioning.

1

2

Fig. 9.9 Configure endless positioning in the Festo Configuration Tool (FCT)

“Endless positioning” settings in the Festo Configuration Tool (FCT):

– Use the mounted limit switches for homing only.

– Do not use parametrised software end positions for operation.



9.4.2 Relative positioning records

The motor controller calculates internally with 65536 increments (16 bit) per revolution (360°). For

positioning records that do not have a whole number (integer) as the result, the motor controller

rounds up to the next whole number. This can result in deviations with endless positioning.

Example: rotary indexing table

4 positions. (90°) 65536:4= 16384 ----> Integer

6 positions. (60°) 65536:6= 10922.666 ----> The controller positions at 10923 (60.0018°).

10 Service


10 Service

10.1 Protective and service functions

10.1.1 Overview

The motor controller has a complex array of sensors that monitor the controller section, power output

stage, motor and external communication to ensure that they function excellently. Most errors cause

the controller section to switch off the motor controller and the power output stage. The motor control-

ler cannot be switched back on until the error is remedied and then acknowledged.

For some of the diagnostic messages, the behaviour of the motor controller can be parametrised.

Possible reactions:

– PS off power section is switched off immediately. The residual energy results in uncontrolled

movements (coasting) in the motor until a state of rest is reached.

– QStop Quick stop with the parametrised deceleration “Quick Stop (FCT)”. The power stage is

switched off after the rest state has been reached or after expiration of the parametrised monitor-

ing time Quick Stop (FCT).

– Warn Output of a warning, no further error response

– Ignore No error response

A complex system of sensors and numerous monitoring functions ensure operational reliability:

– Measurement of the motor temperature

– Measurement of the power output stage temperature

– Detection of power interruption/failure

– Detection of earth faults (PE)

– Detection of overvoltages and undervoltages in the intermediate circuit

– I2t-monitoring of motor and output stage

– Detection of errors in the internal power supply

– Supply voltage failure

10.1.2 Overload current and short-circuit monitoring of the motor output

Overload current and short-circuit monitoring detects short circuits between two motor phases and

short circuits at the motor output terminals against the positive and negative reference potential of the

intermediate circuit and against earthing (PE). If the error control detects overload current, the power

output stage shuts down immediately, guaranteeing protection against short circuits.

10.1.3 Monitoring of interruption and failure of the mains supply

Monitoring of interruption and failure for mains supply takes effect if the mains voltage is interrupted >

60 ms.

10 Service


10.1.4 Overvoltage and undervoltage monitoring for the intermediate circuit

The overvoltage monitoring for the intermediate circuit takes effect as soon as the intermediate circuit

voltage exceeds the operating voltage range. The undervoltage monitoring for the intermediate circuit

takes effect as soon as the intermediate circuit voltage falls below the operating voltage range. The

power output stage is switched off if exceeded or fallen below.

10.1.5 Output stage temperature monitoring

The output stage temperature is measured with a temperature sensor. In error management, the reac-

tion to the errors “Temperature of output stage is 5 °C below maximum” and “Over-temperature of

output stage” can be parametrised.

10.1.6 Monitoring of the motor

The motor controller has the following protective functions for monitoring the motor and the connected

motor shaft encoder:

Protective function Description

Monitoring the

shaft encoder

An error of the motor shaft encoder results in switching off of the power output

stage. Generally true for intelligent encoders is that their various error

messages are evaluated and reported by the motor controller as common error

“E 08-6” and “E 08-8”.

Measurement and

monitoring of the

motor

temperature

The motor controller can record and monitor the motor temperature through

the connection [X6].

In error management, the reaction to the error “overtemperature error (motor)”

can be parameterised.

Tab. 10.1 Protective functions of the motor

10.1.7 I2t monitoring

The motor controller has I2t monitoring to limit the average power loss in the power output stage and in

the motor. As the power dissipation occurring in the power electronics and motor grows with the

square of the flowing current, the squared current value is assumed as the dimension of the power

loss.

10 Service


10.2 Operating mode and error messages

10.2.1 LED displays (Ready/CAN)

The two LED indicators are located on the front of the motor controller.

The following functions are displayed through the LED indicators.

Element LED colour Function

Ready Green Operating status/controller enable

Flashing green Parameter file (xxx.DCO), memory card is being read/written

CAN Yellow Status display of CAN bus illuminates if CAN communication

takes place

Tab. 10.2 LED displays

10.2.2 Seven-segments display

The seven-segments display is located on the front side of the motor controller.

The following operating modes and error/warning messages are displayed over the seven-segments

display.

Display 1) Significance

Operating modes

Rotating

outside

segments

Speed mode (speed adjustment):

Display changes corresponding to rotor position and speed.

Middle

segment

Controller enable active (motor is energised).

I Force mode (current control)

P x x x Positioning mode, record number x x x

000 – No positioning record active

001...063 – Positioning record 001 ... 063 active

070/071 – Jog+/jog–

064 – Manual travel via FCT or FHPP direct record (direct operation)

P H x Homing phase x

0 – Searching travel to the primary destination (limit switch or stop)

1 – Crawl to the reference point

2 – Travel to the axis zero point

H Two-channel safety function requested (DIN4 [X1.21] and Rel [X3.2])

10 Service


Display 1) Significance

Bootloader messages

Dot Start program (bootloader) active

Flashing

point

– Firmware file (memory card) is being read

– Display of errors through the start program

Error/warning messages

E x x y Error (E = error)

Number: Two-position main index (x x), single-position sub-index (y)

Example: E 0 1 0� Appendix A.

– x x y – Warning

Number: Two-position main index (x x), single-position sub-index (y).

Example: - 1 7 0 -� Appendix A.

1) Several characters are displayed one after the other.

Tab. 10.3 Operating mode and error display of the seven-segments display

10.2.3 Acknowledgement of error messages

Error messages can be acknowledged through:

– Festo Configuration Tool (FCT)

– the fieldbus (control word)

– a decreasing edge of the controller enable signal (DIN5)

Controllerenable

(DIN5)[X1.9]

1

“Error active”

1 ≤ 5 ms

Fig. 10.1 Timing diagram: acknowledge errors

Diagnostic events which are parametrised as warnings are automatically acknowledged if

the cause is no longer present.

10.2.4 Diagnostic messages

The errors/warnings and their causes and remedies are described in the diagnostic messages

� Appendix A.

A Diagnostic messages



A.1 Explanations on the diagnostic messages

If an error occurs, the motor controller CMMS-AS-...-G2 displays an error message cyclically in the sev-

en-segment display. The error message is made up of an E (for Error), a main index and a sub-index,

e.g.: “E 01 0”.

Warnings have the same number as error messages. In contrast to error messages, however, warnings

are preceded and followed by hyphens, e.g. “- 1 7 0 -”

The subsequent error tables include the following information:

Column Significance

No. Main index and sub-index of the diagnostic message.

Code The Code column includes the error code (Hex) via CiA 402.

Message Message that is displayed in the FCT.

Cause Possible causes for the message.

Action Action by the user.

Reaction The Reaction column includes the error response (default setting, partially

configurable):

– PS off (switch off output stage)

– QStop (quick stop with parametrised ramp)

– Warn (Warning)

– Ignore.

Tab. A.1 Explanations of the error tables

The Reaction column includes the error responses of the default parameter set. After

configuration of the motor controller with FCT, the standard values defined in the FCT or

the configured reactions apply.

A complete list of the diagnostic messages corresponding to the firmware statuses at the time of print-

ing of this document can be found in section A.2



A.2 Diagnostic messages with instructions for fault clearance

Error group 1 Internal faults

No. Code Message Reaction

01-0 6180h Stack overflow PS off

Cause – Incorrect firmware?

– Sporadic high processor load due to special compute-bound

processes (save parameter set, etc.).

Measure • Load approved firmware.

• Contact Technical Support.

Error group 02 Intermediate circuit


02-0 3220h Undervoltage in intermediate circuit Configurable

Cause – Intermediate circuit voltage falls below the parametrised

threshold.

Measure • Quick discharge due to switched-off mains supply.

• Check mains voltage (mains voltage level or network imped-

ance too high?).

• Check intermediate circuit voltage (measure).

• Check undervoltage monitor (threshold value).

• Check travel profile: If travel with lower acceleration and/or

travel speeds is possible, reduced power consumption from the

mains results.

Error group 03 Temperature monitoring, motor


03-1 4310h Temperature monitoring, motor Configurable

Cause Motor overloaded, temperature too high.

– Motor too hot.

– Sensor defective?

Measure • Check parameters (current regulator, current limits).

If the error persists when the sensor is bypassed: device defective.



Error group 04 Temperature monitoring, electronics


04-0 4210h Excess/low temperature of power electronics Configurable

Cause Motor controller is overheated.

– Motor controller overloaded?

– Temperature display plausible?

Measure • Check installation conditions, cooling through the housing

surface, integrated heat sink and back wall.

• Check the drive layout (due to possible overloading in continu-

ous operation).

Error group 05 Internal voltage supply


05-0 5114h 5 V electronics supply fault PS off

Cause Monitoring of the internal power supply has recognised under-

voltage. This is either due to an internal defect or an overload/

short circuit caused by connected peripherals.

Measure • Separate device from the entire peripheral equipment and

check whether the error is still present after reset. If so, an

internal defect is present� Repair by the manufacturer.

05-1 5115h Error in 24 V supply PS off

Cause Monitoring of the internal power supply has recognised under-

voltage.

Measure • Check 24 V logic supply.

• Separate device from the entire peripheral equipment and



05-2 8000h Error in driver supply PS off

Cause Error in the plausibility check of the driver supply (Safe Torque Off )

Measure • Separate device from the entire peripheral equipment and





06-0 2320h Over-current of the intermediate circuit/output stage PS off

Cause – Motor defective.

– Short circuit in the cable.

– Output stage defective.

Measure • Check motor, cable and motor controller.





07-0 3210h Overvoltage in the intermediate circuit PS off

Cause Braking resistor is overloaded; too much braking energy which

cannot be dissipated quickly enough.

– Resistor capacity is incorrect?

– Resistor not connected correctly?

– Check design (application)

Measure • Check the design of the braking resistor (positioning drives);

resistance value may be too great.

• Check the connection to the braking resistor (internal/extern-

al).

Error group 08 Angle encoder


08-6 7386h Angle encoder communication fault PS off

Cause Communication to serial angle encoders is disrupted (EnDat en-

coders).

– Angle encoder connected?

– Angle encoder cable defective?

– Angle encoder defective?

Measure • Check whether encoder signals are faulty?

• Test with another encoder.

• Check angle encoder cable.

For operation with long motor cables:

• Observe notes on EMC-compliant installation! Additional anti-

interference measures required from 15 m cable length.

08-8 7388h Internal angle encoder error PS off

Cause Internal monitoring of the angle encoder has detected an error and

forwarded it via serial communication to the controller.

Possible causes:

– Excess rotational speed.

– Angle encoder defective.

Measure If the error occurs repeatedly, the encoder is defective.� Replace

encoder including encoder cable.



Error group 11 Homing


11-1 8A81h Homing error PS off

Cause Homing was interrupted, e.g. by:

– Withdrawal of controller enable.

– Reference switch is beyond the limit switch.

– External stop signal (termination of a homing phase).

Measure • Check homing sequence.

• Check arrangement of the switches.

• If applicable, lock the stop input during homing if it is not de-

sired.

Error group 12 CAN


12-0 8181h CAN: general error Configurable

Cause Other CAN error.

Triggered by the CAN controller itself and is used as a common

error for all further CAN errors.

Measure • Re-start CAN controller.

• Check CAN configuration in the controller.

• Check wiring.

12-1 8181h CAN: error bus off Configurable

Cause Errors can occur if the CAN control malfunctions or is deliberately

requested by the controller of the bus-off status.



• Check wiring.

12-2 8181h CAN: error when transmitting Configurable

Cause Error when sending a message (e.g. no bus connected).

Measure • Re-start CAN controller

• Check CAN configuration in the controller

• Check wiring

12-3 8181h CAN: error receiving Configurable

Cause Error receiving a message.



• Check wiring: cable specification adhered to, broken cable,

maximum cable length exceeded, correct terminating resistors,

cable screening earthed, all signals terminated?



Error group 12 CAN

No. ReactionMessageCode

12-4 8130h CAN: time-out nodeguarding Configurable

Cause Node guarding telegram not received within the parametrised

time. Signals corrupted?

Measure • Compare cycle time of the remote frames with that of the con-

troller.

• Check: failure of the controller?

12-5 8181h CAN: error in the IPO mode Configurable

Cause Over a period of 2 SYNC intervals, the SYNC telegram or the PDO of

the controller has failed.


• Check CAN configuration in the controller (SYNC telegram must

be parametrised).

• Check wiring.

Error group 14 Motor identification


14-9 6197h Error, motor identification PS off

Cause Error in automatic determination of the motor parameters.

Measure • Ensure sufficient intermediate circuit voltage.

• Encoder cable connected to the right motor?

• Motor blocked, e.g. holding brake does not release?

Error group 16 Initialization


16-2 6187h Initialization fault PS off

Cause Error in initialising the default parameters.

Measure • In case of repetition, load firmware again.

If the error occurs repeatedly, the hardware is defective.

16-3 6183h Unexpected status / programming error PS off

Cause The software has taken an unexpected status.

For example, unknown status in the FHPP state machine.

Measure • In case of repetition, load firmware again.

If the error occurs repeatedly, the hardware is defective.



Error group 17 Following error monitoring


17-0 8611h Following error monitoring Configurable

Cause Comparison threshold for the limit value of the following error

exceeded.

Measure • Increase error window.

• Parameterise acceleration to be less.

• Motor overloaded (current limiter from the I²t monitoring act-

ive?).

Error group 18 Output stage temperature monitoring


18-1 4280h Output stage temperature 5 °C belowmaximum Configurable

Cause The output stage temperature is greater than 90°C.

Measure • Check installation conditions, cooling through the housing

surface, integrated heat sink and back wall.

Error group 19 I²T monitoring


19-0 2380h I²t at 80 % Configurable

Cause Of the maximum I²t workload of the controller or motor, 80 % has

been achieved.

Measure • Check whether motor/mechanics are blocked or sluggish.

Error group 21 Current measurement


21-0 5210h Error, offset current measurement PS off

Cause The controller performs offset compensation of the current meas-

urement.

Tolerances that are too large result in an error.

Measure If the error occurs repeatedly, the hardware is defective.

• Send motor controller to the manufacturer.

Error group 22 PROFIBUS


22-0 7500h Error in PROFIBUS initialisation PS off

Cause Fieldbus interface defective.

Measure • Please contact Technical Support.



Error group 22 PROFIBUS


22-2 7500h PROFIBUS communication error PS off

Cause – Faulty initialisation of the PROFIBUS interface.

– Interface defective.

Measure • Check the set slave address.

• Check bus termination.

• Check wiring.

Error group 25 Firmware


25-1 6081h Incorrect firmware PS off

Cause Motor controller and firmware are not compatible.

Measure • Update the firmware.

Error group 26 Data flash


26-1 5581h Checksum error PS off

Cause Checksum error of a parameter set.

Measure • Load factory setting.

• If the error is still present, the hardware may be defective.

Error group 29 SD card


29-0 7680h No SD available Configurable

Cause An attempt was made to access a missing SD card.

Measure Check:

• whether the SD card is inserted properly,

• whether the SD card is formatted,

• whether a compatible SD card is plugged in.

29-1 7681h SD initialization error Configurable

Cause – Error during initialization.

– Communication not possible.

Measure • Plug card back in.

• Check card (file format FAT 16).

• If necessary, format card.



Error group 29 SD card


29-2 7682h SD parameter record error Configurable

Cause – Checksum incorrect.

– File not present.

– File format incorrect.

– Error backing up the parameter file on the SD card.

Measure • Check content (data) of the SD card.

Error group 31 I²t monitoring


31-0 2312h I²t error motor (I²t at 100 %) Configurable

Cause I²t monitoring of the controller has been triggered.

– Motor/mechanical system blocked or sluggish.

– Motor under-sized?

Measure • Check motor and mechanical system.

31-1 2311h I²t error controller (I²t at 100 %) Configurable

Cause I²t monitoring of the controller has been triggered.

Measure • Check power dimensioning of drive package.



32-0 3280h Intermediate circuit charging time exceeded PS off

Cause The intermediate circuit could not be charged after the mains

voltage was applied.

– Fuse possibly defective.

– Internal braking resistor defective.

– In operation with external braking resistor, the resistor is not

connected

Measure • Check mains voltage (intermediate circuit voltage < 150 V)

• Check interface to the external braking resistor.

• If the interface is correct, the internal braking resistor or the

built-in fuse is presumably faulty� Repair by the manufac-

turer.

32-8 3285h Power supply failure during controller enable PS off

Cause Interruption/power failure while the controller enable was active.

Measure • Check mains voltage/power supply.



Error group 35 Fast stop


35-1 6199h Time out for fast stop PS off

Cause The parametrised time for fast stop was exceeded.

Measure • Check parameterisation.

Error group 40 Software end position


40-0 8612h Negative software limit switch reached Configurable

Cause The position setpoint has reached or exceeded the negative soft-

ware limit switch.

Measure • Check the target data.

• Check positioning area.

40-1 8612h Positive software limit switch reached Configurable

Cause The position setpoint has reached or exceeded the positive soft-

ware limit switch.



40-2 8612h Target position lies behind the negative software limit switch Configurable

Cause Start of a positioning task was suppressed because the target lies

behind the negative software limit switch.



40-3 8612h Target position lies behind the positive software limit switch Configurable

Cause The start of a positioning task was suppressed because the target

lies behind the positive software limit switch.



Error group 41 Path program


41-8 6193h Path program error, unknown command Configurable

Cause Unknown command found during record continuation.


41-9 6192h Error in path program jump destination Configurable

Cause Jump to a positioning record outside the permitted range.




Error group 42 Positioning


42-1 8681h Positioning: error in pre-computation Configurable

Cause Positioning cannot be reached through the options of the position-

ing (e.g. final speed) or parameters.

Measure • Check parameterisation of the position records in question.

42-4 8600h Message, homing required Configurable

Cause – Positioning not possible without homing.

– Homing must be carried out.

Measure • Reset optional parameterisation “Homing required”.

• Carry out a new homing run after acknowledgement of an angle

encoder error.

42-9 6191h Error in position data record PS off

Cause – An attempt is being made to start an unknown or deactivated

position record.

– The set acceleration is too small for the permissible maximum

speed.

– (Danger of a calculation overflow in the trajectory calculation).

Measure • Check parameterisation and sequence control and correct if

necessary.

Error group 43 Limit switch error


43-0 8612h Negative limit switch error Configurable

Cause Negative hardware limit switch reached.

Measure • Check parameterisation, wiring and limit switches.

43-1 8612h Positive limit switch error Configurable

Cause Positive hardware limit switch reached.


43-9 8612h Error in limit switch Configurable

Cause Both hardware limit switches are active simultaneously.




Error group 45 STO error



Cause Driver supply is still active despite the STO requirement.

Measure The internal logic for the STO requirement may be disturbed due to

high-frequency switching operations at the input.

• Check activation; the error must not recur.

• If the error occurs repeatedly when the STO is called:

• Check firmware (approved version?).

If all the above options have been excluded, the hardware of the

motor controller is defective.


Cause The driver supply is active again, although STO is still required.

Measure The internal logic for the STO requirement may be disturbed due to

high-frequency switching operations at the input.

• Check activation; the error must not recur.

• If the error occurs repeatedly when the STO is called:

• Check firmware (approved version?).

If all the above options have been excluded, the hardware of the

motor controller is defective.


Cause The driver supply is not active again, although STO is no longer

required.

Measure If the error occurs again after the STO requirement is ended, the

hardware of the motor controller is defective.

45-3 8087h DIN4 plausibility error PS off

Cause Output stage no longer switches off� hardware defective.

Measure Repair by the manufacturer.

Error group 64 DeviceNet error


64-0 7582h DeviceNet communication error PS off

Cause Node number exists twice.

Measure • Check the configuration.

64-1 7584h DeviceNet general error PS off

Cause The 24 V bus voltage is missing.

Measure • In addition to the motor controller, the DeviceNet interface

must also be connected to 24 V DC.






Cause – Receive buffer overflow.

– Too many messages received within a short period.

Measure • Reduce the scan rate.


Cause – Send buffer overflow.

– Insufficient free space on the CAN bus to transmit messages.

Measure • Increase the baud rate.

• Reduce the number of nodes.

• Reduce the scan rate.


Cause IO-message could not be sent

Measure • Check that the network is connected correctly and does not

malfunction.


Cause Bus off.

Measure • Check that the network is connected correctly and does not

malfunction.


Cause Overflow in the CAN controller.

Measure • Increase the baud rate.

• Reduce the number of nodes.

• Reduce the scan rate.



65-0 7584h DeviceNet general error Configurable

Cause – Communication is activated, even though no interface is

plugged in.

– The DeviceNet interface is attempting to read an unknown

object.

– Unknown DeviceNet error.

Measure • Check whether the DeviceNet interface is plugged in correctly.

• Check that the network is connected correctly and does not

malfunction.

65-1 7582h DeviceNet communication error Configurable

Cause I/O connection timeout.

No I/O message received within the expected time.

Measure • Please contact Technical Support.



Error group 70 Operating mode error


70-2 6195h General arithmetic error PS off

Cause The fieldbus factor group cannot be calculated correctly.

Measure • Check the factor group.

70-3 6380h Operating mode error Configurable

Cause This operating mode change is not supported by the motor control-

ler.

Measure • Check your application.

Not every change is permissible.

Error group 79 RS232 error


79-0 7510h RS232 communication error Configurable

Cause Overrun when receiving RS232 commands.

Measure • Check wiring.

• Check of the transmitted data.



A.3 Error codes via CiA 301/402

Diagnostic messages

Code No. Message Reaction

2311 h 31-1 I²t error controller (I²t at 100%) Configurable

2312 h 31-0 I²t error motor (I²t at 100%) Configurable

2320 h 06-0 Over-current of the intermediate circuit/output stage PS off

2380h 19-0 I²T at 80 % Configurable

3210h 07-0 Overvoltage in the intermediate circuit PS off

3220h 02-0 Undervoltage in intermediate circuit Configurable

3280h 32-0 Intermediate circuit charging time exceeded PS off

3285h 32-8 Power supply failure during controller enable PS off

4210h 04-0 Over-/undertemperature of power electronics Configurable

4280h 18-1 Output stage temperature 5 °C below maximum Configurable

4310h 03-1 Temperature monitoring, motor Configurable

5114h 05-0 Error, 5 V electronics supply PS off

5115h 05-1 Error in 24 V supply PS off

5210h 21-0 Error, offset current measurement PS off

5581h 26-1 Checksum error PS off

6081h 25-1 Incorrect firmware PS off

6180h 01-0 Stack overflow PS off

6183h 16-3 Unexpected status / programming error PS off

6187h 16-2 Initialization fault PS off

6191h 42-9 Error in position data record PS off

6192h 41-9 Error, jump destination path program Configurable

6193h 41-8 Error, jump destination path program Configurable

6195h 70-2 General arithmetic error PS off

6197h 14-9 Error, motor identification PS off

6199h 35-1 Time out for quick stop PS off

6380h 70-3 Operating mode error Configurable

7386h 08-6 Angle encoder communication fault PS off

7388h 08-8 Internal angle encoder error PS off

7500h 22-0 Error in PROFIBUS initialization Configurable

22-2 PROFIBUS communication error Configurable

7510h 79-0 RS232 communication error Configurable

7582h 64-0 DeviceNet communication error PS off

64-2 DeviceNet communication error PS off





65-1 DeviceNet communication error Configurable



Diagnostic messages

Code ReactionMessageNo.

7584h 64-1 DeviceNet general error PS off

65-0 DeviceNet general error Configurable

7680h 29-0 No SD available Configurable

7681h 29-1 SD initialization error Configurable

7682h 29-2 SD parameter set error Configurable

8000h 45-0 Error, driver supply PS off

45-1 Error, driver supply PS off



8087h 45-3 DIN4 plausibility error PS off

8130h 12-4 CAN: time-out nodeguarding Configurable

8181h 12-0 CAN: general error Configurable

12-1 CAN: error bus off Configurable

12-2 CAN: error when transmitting Configurable

12-3 CAN: error when receiving Configurable

12-5 CAN: error in the IPO mode Configurable

8600h 42-4 Message, homing required Configurable

8611h 17-0 Following error monitoring Configurable

8612h 40-0 Negative software limit switch reached Configurable

40-1 Positive software limit switch reached Configurable

40-2 Target position lies behind the negative software limit switch Configurable

40-3 Target position lies behind the positive software limit switch Configurable

43-0 Negative limit switch error Configurable

43-1 Positive limit switch error Configurable

43-9 Fault in limit switch Configurable

8681h 42-1 Positioning: error in pre-computation Configurable

8A81h 11-1 Homing error PS off



A.4 PROFIBUS diagnostics

Diagnostic messages

Unit_Diag_Bit No. Message Reaction

00 E429 Position data set 42-9 Error in position record PS off

01 E703 Operating mode 70-3 Operating mode error Configurable

02 E702 Arithmetic error 70-2 General arithmetic error PS off

03 E421 Position

pre-computation

42-1 Positioning: error in

pre-computation

Configurable

04 E163 Unexpected state 16-3 Unexpected status /

programming error

PS off

05 E010 Stack overflow 01-0 Stack overflow PS off

06 E261 Checksum error 26-1 Checksum error PS off

07 E162 Initialization 16-2 Initialization fault PS off

08 E290 No SD available 29-0 No SD available Configurable

09 E291 SD initialization 29-1 SD initialization error Configurable

10 E292 SD parameter set 29-2 SD parameter set error Configurable

13 E222 PROFIBUS

communication

22-2 PROFIBUS communication error Configurable

14 - unknown 12-x Unknown error (CAN) Configurable

15 E790 RS232 communication

error

79-0 RS232 communication error Configurable

18 E418 Record seq. unknown

cmd

41-9 Error, jump destination path

program

Configurable

19 E419 Record seq. invalid

dest.

41-8 Error, jump destination path

program

Configurable

20 - unknown 64-x Unknown error (DeviceNet) PS off

65-x Unknown error (DeviceNet) Configurable

23 E220 PROFIBUS assembly 22-0 Error in PROFIBUS initialization Configurable

26 E351 Time out: Quick stop 35-1 Time out for quick stop PS off

27 E111 Error during homing 11-1 Homing error PS off

31 E149 Motor identification 14-9 Error, motor identification PS off

33 E190 I2t at 80 % 19-0 I²T at 80 % Configurable

35 E181 Outp. stage temp. 5 <

max.

18-1 Output stage temperature

5 °C belowmaximum

Configurable

36 E170 Following error 17-0 Following error monitoring Configurable

37 E424 Enforce homing run 42-4 Message, homing required Configurable

38 E43x limit switches 43-0 Negative limit switch error Configurable

43-1 Positive limit switch error Configurable

43-9 Fault in limit switch Configurable



Diagnostic messages

Unit_Diag_Bit ReactionMessageNo.

39 E40x Software limit 40-0 Negative software limit switch

reached

Configurable

40-1 Positive software limit switch

reached

Configurable

40-2 Target position lies behind the

negative software limit switch

Configurable

40-3 Target position lies behind the

positive software limit switch

Configurable

40 E320 Loading time link

overflow

32-0 Intermediate circuit charging time

exceeded

PS off

41 E328 Fail. power supply

ctr.ena.

32-8 Power supply failure during

controller enable

PS off

42 E310 I2t-error motor 31-0 I²t error motor (I²t at 100%) Configurable

43 E311 I2t-error controller 31-1 I²t error controller (I²t at 100%) Configurable

45 E052 Driver supply 45-0 Error, driver supply PS off




46 E453 Plausibility DIN 4 45-3 DIN4 plausibility error PS off

47 E124 Time out nodeguarding 12-4 CAN: time-out nodeguarding Configurable

48 E050 5 V - Internal supply 05-0 Error, 5 V electronics supply PS off

50 E051 24 V - internal supply 05-1 Error in 24 V supply PS off

51 E251 Hardware error 25-1 Incorrect firmware PS off

52 E210 Offset current metering 21-0 Error, offset current

measurement

PS off

53 E060 Overcurrent output

stage

06-0 Over-current of the intermediate

circuit/output stage

PS off

54 E020 Undervoltage power

stage

02-0 Undervoltage in intermediate

circuit

Configurable

55 E070 Overvoltage output

stage

07-0 Overvoltage in the intermediate

circuit

PS off

58 E03x Overheating error

(motor)

03-1 Temperature monitoring, motor Configurable

59 E040 Overtemperature

power stage

04-0 Over-/undertemperature of

power electronics

Configurable

61 E086 SINCOS-RS485

communication

08-6 Angle encoder communication

fault

PS off

62 E088 SINCOS track signals 08-8 Internal angle encoder error PS off

B Serial interface RS232


B Serial interface RS232 (diagnostics/parameterisationinterface)

B.1 Activate motor controller via the interface RS232

B.1.1 Master data of the interface RS232

Parameter Significance

Signal level According to RS232 specification

Transmission rate 9.6…115 KBit/s

ESD protection Drivers up to 16 kV protected against electrostatic discharge “ESD”

Connection RS232, 3-conductor (RxD/TxD/GND)

Tab. B.1 Parameters of the RS232 interface

B.1.2 Basic setting of the interface RS232

In the factory setting, the interface RS232 is reset to the following basic settings.


Baud rate 9.6 KBit/s

Data bits 8

Parity None

Stop bits 1

Tab. B.2 Basic setting according to factory setting

B.1.3 Connect RS232 interface with a program

To be able to operate an interface with a terminal program, such as for test purposes, the following

settings are required (recommendations):

Parameter Value

Flow control None

Emulation VT100

ASCII configuration – Sent characters finish with line feed

– Output entered characters locally (local echo)

– During reception, attach line feed to the end of the line

Tab. B.3 Connect RS232 interface with a program

Please note that, immediately after a reset, the motor controller independently issues a bootup mes-

sage via the serial interface. A reception program on the controller must either process or reject these

received characters.



B.1.4 Connection [X5]: pin allocation of the interface RS232

Collision with interface “RS485”.

If the interface “RS232” is used, the interface “RS485” can additionally be active through

configuration. If a cable is used in which the pins “4” and “9” are contacted on both plugs,

this can result in simultaneous access of the interfaces “RS232” and “RS485” to themotor

controller.

– For communication with the interface “RS232”, use only a cable that corresponds to

the pin allocation “interface RS232”.

DSUB plug connector, 9-pin, pins

Pin Designation Description

1 – Unused

2 RxD Receive data Receive signal

3 TxD Transmit data Transmission signal

4 – Do not occupy

(may only be used for RS485, A-signal (RxD+/TxD+))

5 GND Ground Load, reference potential “transmission/reception signal”, not

galvanically separated

6 – Unused

7 – Unused

8 – Unused

9 – Do not occupy

(may only be used for RS485, B-signal (RxD–/TxD–))

Tab. B.4 Pin allocation of RS232 interface

B.2 Commands/syntax of the RS232 interface

B.2.1 General commands

Command Syntax Answer

New initialisation of the positioning con-

troller

RESET! None (switch-on message)

Save the current parameter record and

all position records in the non-volatile

flash memory

SAVE! DONE

Setting the transmission rate for serial

communication

BAUD9600

BAUD19200

BAUD38400

BAUD57600

BAUD115200

Unknown command Any ERROR!

MMMM: main version: 16 Bit (hexadecimal format)

SSSS: subversion: 16 Bit (hexadecimal format)



Command AnswerSyntax

Reading the version number of the firm-

ware.

VERSION? 2300:VERSION:MMMM.SSSS

MMMM: main version: 16 Bit (hexadecimal format)

SSSS: subversion: 16 Bit (hexadecimal format)

Tab. B.5 General commands

B.2.2 Control motor controller via CAN-Interpreter (CI)

Communication of the CAN-Interpreter (CI) is based on the service data objects (SDO) of the CANopen

device profile CiA 402. Through the RS232 interface, the motor controller can be parametrised and

controlled.

Command syntax

Read: ?XXXXYY

8 bit write: =XXXXYY:WW

16 bit write: =XXXXYY:WWWW

32 bit write: =XXXXYY:WWWWWWWW

Short code Significance

XXXX Command index

YY Command sub-index

WWWW Data

Tab. B.6 Command syntax RS232

Additional information on CAN objects can be found in the documentation� device profile CiA 402,

P.BE-CMMS-FHPP-CO-SW-….

Example: operate motor controller in direct mode (profile position mode)

The following describes the sequence in principle.

1. Changing of the controller enable logic

The controller enable logic can be changed via the CAN control word (COB 6510_10). Since the

simulation of the CAN interface can be completely taken over via the RS232 interface, the enable

logic can also be converted to DINs + CAN.

– Command: =651010:0002

As a result, the release can be granted via the CAN control word (COB 6040_00).

– Command: =604000:0006 command “shutdown”

– Command: =604000:0007 command “switch on/disable operation”

– Command: =604000:000F Command “Enable operation”

2. Activation of the “profile position mode”

The positioning mode is activated via the CAN control word (COB 6060_00 mode of operation).

– Command: =606000:01 profile position mode



3. Write position parameters

The target position can be written through the CAN control word (COB 607A_00, target position).

The target position is thereby written in “position units”. That means, it depends on the set CAN

factor group. The default setting here is 1/216 revolutions. (16 bit portion before the decimal point,

16 bit portion after it.)

– Command: =607A00:00058000 target position 5.5 revolutions

The travel speed can be written via the CAN control word (COB 6081_00, profile velocity), the final

speed via the CAN control word (COB 6082_00, end velocity).

The speeds are thereby written in “speed units”. That means, they depend on the set CAN factor

group.

The default setting here is 1 revolution/min. (32 bit portion before the decimal point, 0 bit portion

after it).

– Command: =608100:000003E8 travel speed 1000 rpm

The acceleration can be written via the CAN control word (COB 6083_00, profile acceleration), the

deceleration via the CAN control word (COB 6084_00 profile deceleration) and the quick stop ramp

via the CAN control word (COB 6085, quick stop deceleration).

The acceleration is thereby written in “acceleration units”. That means, they depend on the set CAN

factor group.

The default setting here is 1/28 revolution/min. (24 bit portion before the decimal point, 8 bit por-

tion after it).

– Command: =608300:00138800 acceleration 5000 rpm

4. Start positioning

Positioning is started via the CAN control word (COB 6040_00):

a) Controller enable is controlled via bit 0 … 3 (see above).

b) Positioning is started via a rising edge at bit 4. The following settings are accepted thereby.

c) Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is

taken over (0), or whether the ongoing positioning should be cancelled (1)

d) Bit 6 establishes whether the positioning should be carried out absolutely (0) or relatively (1).

– Command: =604000:001F start absolute positioning or

– Command: =604000:005F start relative positioning

5. After positioning has been ended, the status of the controller must be reset so a new positioning

can be started.

– Command: =604000:000F bring controller into “Ready” state

Example: “Homing mode” via the RS232 interface

With the CAN access simulated via the RS232 interface, the motor controller can also be operated in

the CAN “Homing mode”. The following describes the sequence in principle.

1. Conversion of the controller enable logic

2. The controller enable logic can be changed via the CAN control word (COB 6010_10). Since the

simulation of the CAN interface can be completely taken over via the RS232 interface, the enable

logic can also be converted to DINs + CAN.

– Command: =651010:0002



3. As a result, the release can be granted via the CAN control word (COB 6040_00).

– Command: =604000:0006 command “shutdown”

– Command: =604000:0007 command “switch on/disable operation”

– Command: =604000:000F command “Enable operation”

4. Activation of the “Homing mode”

5. The reference mode is activated via the CAN control word (COB 6060_00, Mode of Operation).

– Command: =606000:06 Homing mode

6. Start homing

7. Homing is started via the CAN control word (COB 6040_00).

8. Controller enable is controlled via bit 0 … 3.

9. Homing is started via a rising edge at bit 4.

– Command: =604000:001F

10.After homing has been ended, the status of the motor controller must be reset.

– Command: =604000:000F bring controller into “Ready” state

C Serial interface RS485


C Serial interface RS485 (control interface)

C.1 Activate motor controller via the interface RS485

C.1.1 Master data of the interface RS485


Signal level According to RS485 specification

Transmission rate 9.6 … 115 KBit/s

ESD protection Drivers up to 16 kV protected against electrostatic discharge “ESD”

Connection DSUB plug, 9-pin, socket, special cable

Tab. C.1 Master data of the interface RS485

C.1.2 Factory setting of the interface RS485


Baud rate 9.6 kbps

Data bits 8

Parity None

Stop bits 1

Tab. C.2 Factory setting of the interface RS485



C.1.3 Connection [X5]: pin allocation of the interface RS485

Collision with interface “RS232”.

When the interface RS485 is activated, the interface RS232 continues to be active. If a cable

is used inwhich the pins “2” and “3” arecontactedonboth plugs, this canresult insimultan-

eous access of the interfaces “RS232” and “RS485” to the motor controller.

– For communication with the interface “RS485”, use only a cable that corresponds to

the pin allocation “interface RS485”.

DSUB plug connector, 9-pin, pins

Pin Designation Description

1 – Unused

2 – Do not occupy

(may only be used for RS232, RxD signal)

3 – Do not occupy

(may only be used for RS232, TxD signal)

4 A (RxD+/TxD+) + Receive-/Transmit data Positive transmission and reception signal

5 GND Ground Load, reference potential

“transmission/reception signal”

6 – Unused

7 – Unused

8 – Unused

9 B (RxD–/TxD–) – Receive-/Transmit Data Negative transmission and reception signal

Tab. C.3 Pin allocation of RS485 interface



C.2 Configure RS485 interface in the Festo Configuration Tool (FCT)

1. Mark the “Application data”

button in the project tree.

2. Press the “Operating mode

selection” button in the work

space.

3. Select “RS485” as control

interface. (Acknowledge the

change with “OK”)

4. Mark the “Digital I/O” button in

the project tree.

5. Deactivate the “active” control

field in the “Mode selection via

DIN9 and DIN12” field.

6. Press the “Download” button in

the work space to load the new

configuration in the motor

controller.

7. Press the “Save” button in the

work space to save the new

configuration permanently.

8. Produce a reset to activate the

configuration:

– FCT: Press the “Restart

controller” button

([Menu bar] [Component]

[Restart controller]).

– Switch 24 V DC supply

voltage off and on.

1 2

7

4

5

6

3

8

Fig. C.1 Configure RS485 interface in the FCT



C.3 Commands/syntax of the RS485 interface

Control of the motor controller via RS485 takes place with the same objects as with RS232. Only the

syntax of the commands to read/write the objects is expanded in comparison to the RS232.

Syntax:

Xtnn:HH...HH:CC

Short code Significance

XT Fixed constants

nn Node number, identical to the CANopen node number (setting via DIP switch)

HH...HH Data (RS232 command syntax)

CC Checksum

Tab. C.4 Command syntax RS485

– The reply sends the following characters to the first 5 positions:

“XRnn:” with nn = node number of the device.

– All devices react to the node number 00 as “Broadcast”. In this way, each device can be addressed

without knowing the node number.

– The commands of type “=” “?”, etc. support an optional checksum. This checksum is formed

without the first 5 characters.

At the byte level, all characters are added up byte-by-byte to a UINT8 number without taking the

overtravel into account.

The checksum comprises the entire command without RS485 identifier and without checksum.

Example:

for “XT07:=607A00:000A0000:80”

the checksum “80” is created over

“=607A00:000A0000:”.

– The boot-up message of the boot loader and the boot-up message of the firmware are sent only

over RS232 mode.

Example “Profile position mode” via RS485

If the motor controller is operated via the RS485 interface, control, just as operation, can take place via

the RS232 interface� Profile position mode, page 164. If required, the node number is simply written

in front of the command. The node number is set via the DIP switches.

Command: XT07:=607A00:000A0000 Target position 10 revolutions send to node 7

CMMS-AS-...-G2


Index

A

Address of the fieldbus 60. . . . . . . . . . . . . . . . . .

Analogue inputs 32. . . . . . . . . . . . . . . . . . . . . . . .

Analogue monitor 135. . . . . . . . . . . . . . . . . . . . . .

Analogue output 32. . . . . . . . . . . . . . . . . . . . . . .

C

Certificates 14. . . . . . . . . . . . . . . . . . . . . . . . . . . .

CiA 402 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control interfaces 22. . . . . . . . . . . . . . . . . . . . . . .

D

Data interfaces 45. . . . . . . . . . . . . . . . . . . . . . . . .

Data rate 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Declaration of conformity 14. . . . . . . . . . . . . . . .

Device profiles

– CANopen device profile CiA 402 39. . . . . . . . . .

– Festo Handling and Positioning

Profile (FHPP) 39. . . . . . . . . . . . . . . . . . . . . . . .

Digital inputs 25. . . . . . . . . . . . . . . . . . . . . . . . . .

Digital outputs 29. . . . . . . . . . . . . . . . . . . . . . . . .

Dimension reference system 40. . . . . . . . . . . . . .

E

Encoder emulation 131. . . . . . . . . . . . . . . . . . . . .

Encoder input 33. . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder output 33. . . . . . . . . . . . . . . . . . . . . . . .

Endless positioning 138. . . . . . . . . . . . . . . . . . . .

Error 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error message 143, 144. . . . . . . . . . . . . . . . . . .

F

FCT 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool (FCT) 46. . . . . . . . . . . . .

FHPP 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbuses 37. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firmware file 49. . . . . . . . . . . . . . . . . . . . . . . . . . .

Flying measurement 133. . . . . . . . . . . . . . . . . . . .

Forward/reverse signal

(CW/#CW/CCW/#CCW) 36. . . . . . . . . . . . . . . . .

H

Homing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I2t monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . .

Incremental signal (A/#A/B/#B/N/#N) 34. . . . . .

Intended use 13. . . . . . . . . . . . . . . . . . . . . . . . . .

Interruption and failure monitoring 140. . . . . . . .

L

LED displays

– CAN 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

– Ready 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limit switch 42. . . . . . . . . . . . . . . . . . . . . . . . . . .

M

MAC ID 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Master control 52. . . . . . . . . . . . . . . . . . . . . . . . .

Memory card 49. . . . . . . . . . . . . . . . . . . . . . . . . .

Monitoring of the motor 141. . . . . . . . . . . . . . . . .

Multi-turn absolute encoder 103. . . . . . . . . . . . .

O

Operating modes

– Force/torque mode 120. . . . . . . . . . . . . . . . . .

– Homing mode 89. . . . . . . . . . . . . . . . . . . . . . . .

– Interpolated positioning mode 87. . . . . . . . . . .

– Jog mode 104. . . . . . . . . . . . . . . . . . . . . . . . . . .

– Positioning mode 63. . . . . . . . . . . . . . . . . . . . .

– Record linking operation 80. . . . . . . . . . . . . . .

– Single position operation 76. . . . . . . . . . . . . . .

– Speed mode 115. . . . . . . . . . . . . . . . . . . . . . . .

– Synchronisation 125. . . . . . . . . . . . . . . . . . . . .

– Teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . .

Overload current and short-circuit

monitoring 140. . . . . . . . . . . . . . . . . . . . . . . . .

Overvoltage and undervoltage monitoring 141. .

CMMS-AS-...-G2


P

Parameter file 49. . . . . . . . . . . . . . . . . . . . . . . . . .

Position control 63. . . . . . . . . . . . . . . . . . . . . . . .

Positioning profile 64. . . . . . . . . . . . . . . . . . . . . .

Positioning record 64. . . . . . . . . . . . . . . . . . . . . .

Pulse/direction signal

(CLK/#CLK/DIR/#DIR) 35. . . . . . . . . . . . . . . . .

R

Record selection 65. . . . . . . . . . . . . . . . . . . . . . .

Relative positioning records 139. . . . . . . . . . . . .

S

SD memory card 49. . . . . . . . . . . . . . . . . . . . . . . .

Service 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Seven-segment display 142. . . . . . . . . . . . . . . . .

Short-circuit monitoring 140. . . . . . . . . . . . . . . . .

Single-turn absolute encoder 103. . . . . . . . . . . .

Smoothing 71. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software end position 42. . . . . . . . . . . . . . . . . . .

T

Target group 9. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Temperature monitoring 141. . . . . . . . . . . . . . . .

Terminating resistor 62. . . . . . . . . . . . . . . . . . . . .

Type codes 10. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.

Copyright:Festo AG & Co. KGPostfach73726 EsslingenGermany

Phone:+49 711 347-0

Fax:+49 711 347-2144

e-mail:[email protected]

Internet:www.festo.com

Original: de

Motor controller CMMS-AS--G2 · 2020-03-13 · CMMS-AS-...-G2...

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Transcript of Motor controller CMMS-AS--G2 · 2020-03-13 · CMMS-AS-...-G2...