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Festo CMMD-AS series, Description

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Festo CMMD-AS series Description Download Page 23

2

Interfaces

Festo – GDCP-CMMS/D-FW-EN – 1404NH – English

23

Interface

Function

Page

1

LED indicators

Ready (green)

212

CAN communication (yellow)

2

Seven-segment displays

Error/warning messages

212

Operating modes

Bootloader

Safety function

3

DIL switch [S1]

Fieldbus address/MAC-ID configuration

[S1.1…7]

82

Firmware download activation from the memory

card [S1.8]

83

Data rate configuration [S1.9…10]

(CAN bus/DeviceNet)

83

CAN bus activation [S1.11]

83

Terminating resistor activation [S1.12]

(CAN bus)

84

Tab. 2.4

Overview: LED indicators, seven-segment displays and DIL switches

Summary of Contents for CMMD-AS series

Page 1: ...Description Fuctions and commissioning Firmware Version from 1 4 0 x 6 8040107 1404NH 8034520 Motor controller CMMS AS CMMS ST CMMD AS ...

Page 2: ...structions 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 ou...

Page 3: ... safety function interfaces 25 2 2 2 Power supply motor and motor encoder interfaces 27 2 2 3 Parameter firmware interfaces 29 2 2 4 LED indicators seven segment displays and DIL switches 31 2 3 Motor controller CMMD AS C8 3A 33 2 3 1 Control sensor and safety function interfaces 33 2 3 2 Power supply motor and motor encoder interfaces 35 2 3 3 Parameter firmware interfaces 37 2 3 4 LED indicators...

Page 4: ...lue specification 66 3 3 3 Analogue output signal analogue monitor 67 3 4 Synchronisation interfaces X1 X10 X1 1 X1 2 X10 1 X10 2 68 3 4 1 Encoder input for synchronisation slave interface 68 3 4 2 Encoder output for encoder emulation master interface 69 3 4 3 Incremental signals A A B B N N 70 3 4 4 Pulse direction signals CLK CLK DIR DIR 71 3 4 5 Forward reverse signals CW CW CCW CCW 72 3 5 Fiel...

Page 5: ...motor controller 90 5 2 6 Archiving extracting device data FCT PC 92 5 2 7 Parameter file DCO 93 5 2 8 Reading writing saving the parameter file DCO memory card motor controller 94 5 3 Commissioning the motor controller 95 5 3 1 Preparing for initial start up 95 5 3 2 Required digital inputs outputs for operation 96 5 3 3 Status diagram of the motor controller 97 5 3 4 Switching on the power suppl...

Page 6: ...mode 137 6 6 2 Connection Digital inputs outputs 138 6 6 3 Timing diagram Start interrupt cancel record sequence 140 6 6 4 Parameterising the record linking mode 144 6 7 Interpolated positioning mode 153 6 7 1 Function Interpolated positioning mode 153 6 7 2 Connection Digital inputs outputs 154 6 8 Homing mode homing 155 6 8 1 Function Homing mode 155 6 8 2 Connection Digital inputs outputs 156 6...

Page 7: ... and encoder input 5 V 195 8 1 3 Connection Digital inputs outputs 24 V 196 8 1 4 Timing diagram Starting synchronisation via Start Sync signal 197 8 1 5 Configure parameterise synchronisation 198 9 Operational functions 199 9 1 Encoder emulation master operation 199 9 1 1 Function Encoder emulation 199 9 1 2 Connection Encoder output 5 V 200 9 1 3 Configure parameterise encoder emulation 200 9 2 ...

Page 8: ...A Diagnostic messages 217 A 1 Explanations on the diagnostic messages 217 A 2 Diagnostic messages with instructions for fault clearance 218 A 3 Error codes via CiA 301 402 231 A 4 Profibus diagnostics 233 B Serial interface RS232 diagnostics parameterisation interface 236 B 1 Activating the motor controller via the interface RS232 236 B 1 1 Master data of the interface RS232 236 B 1 2 Connect RS23...

Page 9: ...ontroller CMMS AS C4 3A G2 From Rev 03 Firmware From version 1 4 0 2 6 FCT plug in CMMS AS From version 2 0 0 x CMMS ST Motor controller CMMS ST C8 7 G2 From Rev 05 Firmware From version 1 4 0 1 6 FCT plug in CMMS ST From version 2 0 0 x CMMD AS Motor controller CMMD AS C8 3A From Rev 03 Firmware From version 1 4 0 3 6 FCT plug in CMMD AS From version 2 0 0 x Note Before using a newer firmware ver...

Page 10: ...nology AS AC synchronous Nominal current C4 4 A Input voltage 3 A 230 V AC Generation G2 2nd generation Fig 1 Type codes CMMS AS C4 3A G2 Type codes CMMS ST C8 7 G2 CMMS Interfaces ST C8 7 G2 CMMS Motor controller standard Motor technology ST Stepper motor Nominal current C8 8 A Input voltage 7 48 V DC Generation G2 2nd generation Fig 2 Type codes CMMS ST C8 7 G2 ...

Page 11: ...GDCP CMMS D FW EN 1404NH English 11 Type codes CMMD AS C8 3A CMMD Interfaces AS C8 3 A CMMD Motor controller double Motor technology AS AC synchronous Nominal current C8 8 A Input voltage 3 A 230 V AC Fig 3 Type codes CMMD AS C8 3A ...

Page 12: ... STO safety function Safe Torque Off GDCP CMMS ST G2 S1 CMMS ST Device profile FHPP GDCP CMMS D C HP CMMS AS CMMD AS CMMS ST Description of the interfaces CAN bus CANopen Interface CAMC PB PROFIBUS Interface CAMC DN DeviceNet Control and parameterisation via the device profile FHPP Festo Handling and Positioning Profile with PROFIBUS DeviceNet or CANopen Device profile CiA 402 GDCP CMMS D C CO CMM...

Page 13: ...vice 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 P...

Page 14: ...roller with stored positioning records The motor controller is designed for installation in a con trol cabinet The product is intended for use in industrial environments Outside of industrial environments e g in commercial and mixed residential areas actions to suppress interference may have to be taken Use exclusively In faultless technical condition In original status without unauthorised modifi...

Page 15: ... conditions of the product specified in the technical data Mounting and installation description GDCP CMMS AS G2 HW GDCP CMMD AS HW GDCP CMMS ST G2 HW Appendix A 1 and of all connected components Compliance with the limit values and load limits permits operation of the product in compliance with the relevant safety regulations Observe the instructions and warnings in this documentation 1 2 3 Quali...

Page 16: ...A G2 2 1 1 Control sensor and safety function interfaces X1 X5 X4 EXT X10 X3 DeviceNet PROFIBUS DP CANOpen DriveBus RS485 DIN0 13 DOUT0 3 AIN0 AIN0 AMON0 CLK CLK DIR DIR CW CW CCW CCW A A B B N N CLK CLK DIR DIR CW CW CCW CCW 2 1 STO 3 4 5 6 7 8 Fig 2 1 Overview Control sensor and safety function interfaces ...

Page 17: ... signals X10 CLK CLK DIR DIR 70 Forward reverse signals X10 CW CW CCW CCW 71 CAN interface X4 CANopen 72 DriveBus 72 Slot EXT Interface module CAMC 5 72 RS485 interface X5 240 2 Control Master device 3 Motor controller CMM Master or slave device 4 Sensors Limit switches 77 Sequence control NEXT1 2 148 5 Interface module CAMC DeviceNet CAMC DN 72 PROFIBUS DP CAMC PB 72 6 PC Master device RS485 inte...

Page 18: ...o GDCP CMMS D FW EN 1404NH English 2 1 2 Power supply motor and motor encoder interfaces X9 X6 1 x 110 230 V AC 1 2 3 4 5 6 7 24 V DC Power ON OFF X2 9 GND 8 Fig 2 2 Overview Power supply motor and motor encoder interfaces ...

Page 19: ... 7 Motor controller CMMS AS C4 3A G2 Protective earthing housing 12 Power supply X9 Power section 230 V AC L1 N PE Control section 24 V DC 24 V 0 V External braking resistor ZK BR CH Motor interfaces X6 Motor U V W PE Holding brake BR BR Motor temperature sensor MT MT Motor encoder X2 EnDat interface Terminal motor cable screening GND connected with protective earthing 8 Motor encoder closed loop ...

Page 20: ...interfaces X5 M1 S1 8 1 2 3 4 5 6 Festo Configuration Tool FCT Framework plug in Firmware files Device descriptive files EDS GSD Function block files CodeSys Step7 RSLogix 5000 Documentation www festo com sp Download Upload Read Write Fig 2 3 Overview Parameter firmware interfaces ...

Page 21: ...ope of delivery 3 Internet Support Portal www festo com sp 4 Festo Configuration Tool FCT Parameterisation configuration 79 Data transfer control Firmware file 86 Device data FCT 89 Parameter set data motor controller 92 5 PC Operating system Windows 6 Memory card Supported card type SD version 1 and 2 Supported file system FAT16 max 2 GB Data transfer control Download firmware file S 87 Read para...

Page 22: ...2 Interfaces 22 Festo GDCP CMMS D FW EN 1404NH English 2 1 4 LED indicators seven segment displays and DIL switches 1 2 3 Fig 2 4 Overview LED indicators seven segment displays and DIL switches ...

Page 23: ...essages 212 Operating modes Bootloader Safety function 3 DIL switch S1 Fieldbus address MAC ID configuration S1 1 7 82 Firmware download activation from the memory card S1 8 83 Data rate configuration S1 9 10 CAN bus DeviceNet 83 CAN bus activation S1 11 83 Terminating resistor activation S1 12 CAN bus 84 Tab 2 4 Overview LED indicators seven segment displays and DIL switches ...

Page 24: ... Control sensor and safety function interfaces X1 X5 X4 EXT X10 X3 DeviceNet PROFIBUS DP CANOpen DriveBus RS485 2 1 STO 3 4 5 6 7 8 DIN0 13 DOUT0 3 AIN0 AIN0 AMON0 CLK CLK DIR DIR CW CW CCW CCW A A B B N N CLK CLK DIR DIR CW CW CCW CCW Fig 2 5 Overview Control sensor and safety function interfaces ...

Page 25: ...gnals X10 CLK CLK DIR DIR 70 Forward reverse signals X10 CW CW CCW CCW 71 CAN interface X4 CANopen 72 DriveBus 72 Slot EXT Interface module CAMC 5 72 RS485 interface X5 240 2 Control Master device 3 Motor controller CMM Master or slave device 4 Sensors Limit switches 77 Sequence control NEXT1 2 148 149 5 Interface module CAMC DeviceNet CAMC DN 72 PROFIBUS DP CAMC PB 72 6 PC Master device RS485 int...

Page 26: ...upply motor and motor encoder interfaces X9 1 x 110 230 V AC 3x400 500 V AC1 1 2 3 4 6 7 24 V DC Power ON OFF 24 V DC 48 V DC 5 X6 X2 9 GND 8 1 Dependent on the power supply power supply unit power section Fig 2 6 Overview Power supply motor and motor encoder interfaces ...

Page 27: ...n 24 V DC 24 V 0 V Motor interfaces X6 Motor string A A B B Holding brake BR BR Motor temperature sensor MT MT Motor encoder X2 Incremental signals A A B B N N Terminal motor cable screening GND connected with protective earthing 8 Motor encoder1 closed loop Incremental signals A A B B N N 12 9 Stepper motor EMMS ST MTR ST Motor string A A B B Holding brake BR BR Motor temperature sensor MT MT 12 ...

Page 28: ...interfaces X5 M1 S1 8 1 2 3 4 5 6 Festo Configuration Tool FCT Framework plug in Firmware files Device descriptive files EDS GSD Function block files CodeSys Step7 RSLogix 5000 Documentation www festo com sp Download Upload Read Write Fig 2 7 Overview Parameter firmware interfaces ...

Page 29: ...pe of delivery 3 Internet Support Portal www festo com sp 4 Festo Configuration Tool FCT Parameterisation configuration 79 Data transfer control Firmware file 86 Device data FCT 89 Parameter set data motor controller 92 5 PC Operating system Windows 6 Memory card Supported card type SD version 1 and 2 Supported file system FAT16 max 2 GB Data transfer control Download firmware file S 87 Read param...

Page 30: ...2 Interfaces 30 Festo GDCP CMMS D FW EN 1404NH English 2 2 4 LED indicators seven segment displays and DIL switches 1 2 3 Fig 2 8 Overview LED indicators seven segment displays and DIL switches ...

Page 31: ...essages 212 Operating modes Bootloader Safety function 3 DIL switch S1 Fieldbus address MAC ID configuration S1 1 7 82 Firmware download activation from the memory card S1 8 83 Data rate configuration S1 9 10 CAN bus DeviceNet 83 CAN bus activation S1 11 83 Terminating resistor activation S1 12 CAN bus 84 Tab 2 8 Overview LED indicators seven segment displays and DIL switches ...

Page 32: ...nction interfaces X5 X4 DOUT_EXT1 0 7 DeviceNet PROFIBUS DP CANOpen DriveBus RS485 2 1 STO 3 4 5 6 7 8 EXT1 EXT2 X3 1 X3 2 X1 1 X10 1 X1 2 X10 2 DOUT_EXT2 0 7 DIN0 13 DOUT0 3 AIN0 AIN0 AMON0 CLK CLK DIR DIR CW CW CCW CCW A A B B N N CLK CLK DIR DIR CW CW CCW CCW Fig 2 9 Overview Control sensor and safety function interfaces ...

Page 33: ...everse signals X10 1 X10 2 CW CW CCW CCW 71 CAN interface X4 CANopen 72 DriveBus 72 Slots EXT1 2 Interface module CAMC 5 72 Input output module CAMC D 5 RS485 interface X5 240 2 Control Master device 3 Motor controller CMM Master or slave device 4 Sensors Limit switches 77 Sequence control NEXT1 2 148 5 Interface module CAMC Input output module CAMC D DeviceNet CAMC DN 72 PROFIBUS DP CAMC PB 72 Di...

Page 34: ... English 2 3 2 Power supply motor and motor encoder interfaces X9 1 x 110 230 V AC 1 2 3 4 5 6 7 24 V DC Power ON OFF X6 2 X2 2 9 GND 8 X6 1 X2 1 9 GND 8 Axis string 2 Axis string 1 Fig 2 10 Overview Power supply motor and motor encoder interfaces ...

Page 35: ...or controller CMMD AS C8 3A Protective earthing housing 12 Power supply X9 Power section 230 V AC L1 N PE Control section 24 V DC 24 V 0 V External braking resistor ZK BR CH Motor interfaces X6 1 X6 2 Motor U V W PE Holding brake BR BR Motor temperature sensor MT MT Motor encoder X2 1 X2 2 EnDat interface Terminal motor cable screening GND connected with protective earthing 8 Motor encoder closed ...

Page 36: ...interfaces X5 M1 S1 8 1 2 3 4 5 6 Festo Configuration Tool FCT Framework plug in Firmware files Device descriptive files EDS GSD Function block files CodeSys Step7 RSLogix 5000 Documentation www festo com sp Download Upload Read Write Fig 2 11 Overview Parameter firmware interfaces ...

Page 37: ...e of delivery 3 Internet Support Portal www festo com sp 4 Festo Configuration Tool FCT Parameterisation configuration 79 Data transfer control Firmware file 86 Device data FCT 89 Parameter set data motor controller 92 5 PC Operating system Windows 6 Memory card Supported card type SD version 1 and 2 Supported file system FAT16 max 2 GB Data transfer control Download firmware file S 87 Read parame...

Page 38: ...2 Interfaces 38 Festo GDCP CMMS D FW EN 1404NH English 2 3 4 LED indicators seven segment displays and DIL switches 1 2 3 Fig 2 12 Overview LED indicators seven segment displays and DIL switches ...

Page 39: ...essages 212 Operating modes Bootloader Safety function 3 DIL switch S1 Fieldbus address MAC ID configuration S1 1 7 82 Firmware download activation from the memory card S1 8 83 Data rate configuration S1 9 10 CAN bus DeviceNet 83 CAN bus activation S1 11 83 Terminating resistor activation S1 12 CAN bus 84 Tab 2 12 Overview LED indicators seven segment displays and DIL switches ...

Page 40: ...profiles Operational functions Encoder emulation Flying measurement Analogue monitor Endless positioning Operating modes Positioning mode Direct mode Individual record mode Record linking mode Interpolated positioning mode Homing mode Jog mode Teach mode Speed mode Force torque mode Synchronisation X4 X12 CMMS X1 1 X1 22 CMMD Digital I O modules Analogue input output X13 CMMS X1 1 X1 23 CMMD Field...

Page 41: ...profile C CiA 402 CANopen CI CAN Interpreter CiA 402 SDO F FHPP Festo C F C F F CI Operating modes Positioning mode position control page 112 Direct mode page 115 Direct application F C F F CI Individual record mode page 119 Record selection Positioning record 1 63 DIN F F F Record linking mode page 136 Record selection Positioning record 1 7 DIN Record selection Positioning record 1 63 F F F Inte...

Page 42: ...IBUS DP DeviceNet RS485 Device profile C CiA 402 CANopen CI CAN Interpreter CiA 402 SDO F FHPP Festo C F C F F CI Operating modes Positioning mode position control page 112 Homing mode homing page 154 Direct application C F C F F CI Record selection Positioning record 0 DIN Jog mode page 171 Direct application F F F Digital inputs DIN Teach mode page 177 Direct application F F F Record selection P...

Page 43: ...evice profile C CiA 402 CANopen CI CAN Interpreter CiA 402 SDO F FHPP Festo C F C F F CI Operating modes Speed mode speed adjustment page 182 Direct mode Direct application F C F F CI Analogue setpoint value Analogue input AIN Force mode1 torque mode2 current control page 187 Direct mode Direct application F C F F CI Analogue setpoint value Analogue input AIN 1 Only for configuration linear axis a...

Page 44: ... Control CANOpen PROFIBUS DP DeviceNet RS485 Device profile C CiA 402 CANopen CI CAN Interpreter CiA 402 SDO F FHPP Festo C F C F F CI Operating mode Synchronisation position control page 192 Incremental signals A A B B N N Incremental inputs IN Pulse direction signals CLK CLK DIR DIR Incremental inputs IN Digital inputs DIN Forward reverse signals CW CW CCW CCW Incremental inputs IN Digital input...

Page 45: ...S DP DeviceNet RS485 Operational functions Encoder emulation page 198 Incremental outputs yes yes no yes yes yes yes yes Flying measurement page 200 Digital input no no no yes yes yes yes yes Analogue monitor AMON0 0 10 V page 202 Analogue output yes yes yes yes yes yes yes yes Endless positioning page 205 yes yes yes yes yes yes yes yes Resonance filter only for motor controller CMMS ST C8 7 G2 p...

Page 46: ...outputs DOUT0 3 Synchronisation interfaces Encoder input Incremental signals A A B B N N Pulse direction signals CLK CLK DIR DIR Forward reverse signals CW CW CCW CCW Encoder output Incremental signals A A B B N N Analogue interfaces Analogue inputs AIN0 AIN0 Analogue output AMON0 5 V2 24 V1 10 V 0 10 V 1 HTL signal high transistor logic High signal 24 V 2 TTL signal transistor transistor logic Hi...

Page 47: ...s Encoder input Incremental signals A A B B N N Pulse direction signals CLK CLK DIR DIR Forward reverse signals CW CW CCW CCW Encoder output Incremental signals A A B B N N Analogue interfaces Analogue inputs AIN0 AIN0 Analogue output AMON0 5 V2 24 V1 10 V 0 10 V 1 HTL signal high transistor logic High signal 24 V 2 TTL signal transistor transistor logic High signal 5 V 3 Interface module CAMC opt...

Page 48: ...als CLK CLK DIR DIR Forward reverse signals CW CW CCW CCW Encoder output Incremental signals A A B B N N Analogue interfaces Analogue inputs AIN0 AIN0 Analogue output AMON0 5 V2 24 V1 X10 1 X1 2 Digital interfaces Digital outputs EXT2 DOUT0 73 Digital outputs EXT1 DOUT0 73 EXT1 10 V 0 10 V 1 HTL signal high transistor logic High signal 24 V 2 TTL signal transistor transistor logic High signal 5 V ...

Page 49: ... module CAMC D 8E8A at slots EXT1 EXT2 The digital outputs EXT1 DOUT0 7 and EXT2 DOUT0 7 can be freely configured and assigned to one of the two strings The 8 digital inputs cannot be used by the motor controller for operation 3 2 2 Selecting the operating mode mode via digital input signals The following operating modes modes can be selected via the digital input signals Mode bit 0 and Mode bit 1...

Page 50: ...ion DIN 92 Sample 11 Mode bit 1 0 Mode bit 1 1 DIN 10 3 Record selection bit 4 Jog Record selection bit 4 NEXT1 DIN 11 16 Record selection bit 5 Jog Record selection bit 5 NEXT2 DIN 123 AIN0 2 Mode bit 0 0 Mode bit 0 1 Mode bit 0 0 Mode bit 0 1 DIN 133 AIN0 15 Stop DOUT0 24 Controller ready for operation DOUT1 12 Motion complete MC 4 Standstill reached DOUT2 25 Start confirmed4 Teach confirmed Sta...

Page 51: ...gital input signals Mode bit 0 Mode bit 1 Mode bit 0 DIN12 X1 2 Mode bit 1 DIN9 X1 11 Motion Complete1 Standstill reached2 DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Individual record mode 0 Jog teach mode 1 Record linking mode 2 Synchronisation mode 3 Start confirmed1 Position synchronous2 DOUT2 X1 25 0 0 1 2 3 0 t1 t1 t1 t1 t1 Mode 0 2 Mode 3 1 Only active for mode 0 2 2 Only active ...

Page 52: ... timing diagram of the input page 107 high active Enable Control DIN5 X1 9 X1 1 9 X1 2 9 High signal for release of the controller page 101 Low signal for blocking the controller enable function results in controlled braking of the motor The category 1 STOP function EN 60204 1 can be realised in combination with an external safety switching device description Safety function STO GDCP CMMS AS G2 S1...

Page 53: ... record Individual record operation Bit 0 5 active page 121 Record linking operation Bit 0 2 active page 138 Homing mode Bit 0 5 active page 156 Teach mode Bit 0 5 active page 179 high active Individual record operation mode 0 Start Positioning DIN8 X1 23 X1 1 23 X1 2 23 Signal for starting the individual record page 122 With the rising edge the record selection is evaluated and the parameters of ...

Page 54: ...ge homing is performed in accordance with the parametrised homing method high active Jog operation mode 1 Jogging DIN10 X1 3 X1 1 3 X1 2 3 Signal for control of the positive jog travel page 174 With the rising edge jog travel creep jog speed is started With the falling edge jog travel is ended high active Jogging DIN11 X1 16 X1 1 16 X1 2 16 Signal for control of the negative jog travel page 174 Wi...

Page 55: ...ontroller CLK Pulse signal CW Forward signal configur able DIR CCW_24 DIN3 X1 8 X1 1 8 X1 2 8 Encoder signals for synchronising the motor controller DIR Direction signal CCW Reverse signal configur able Flying measurement Sampling DIN9 X1 11 X1 1 11 X1 2 11 Signal for storing the actual position page 200 With the configured edge of the sample signal the current actual position of the drive is take...

Page 56: ...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 Exception DIN13 When using the Analogue input control interface the analogue input AIN0 is active No error message is present The intermediate circuit is loaded Master control is issued high active Quality Enable power granted configurable The signal retu...

Page 57: ... within the parametrised message window and the parametrised damping time message Target reached has expired page 59 high active Target position reached configurable 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 page 59 hi...

Page 58: ...utput stage enable signal DIN4 X1 21 and the Driver supply impulse block REL X3 2 0 V DC high active Error warning Error configurable The signal becomes low if at least one error message is active low active Warning configurable The signal becomes high if at least one warning message is active high active Following error configurable The signal becomes high as soon as the actual position is outsid...

Page 59: ...UT1 2 3 X1 12 25 13 Damping time start t1 Parameter position t1 Damping time termination Damping time Motion complete DOUT1 2 3 X1 12 25 13 Δs Message window Target reached Start DIN8 X1 23 Damping time start Actual position Setpoint position Target position Δs mm linear axis R rotative axis FCT Dependent on the parameter Message window in the message Target reached t1 ms FCT Dependent on the para...

Page 60: ...ns page 208 Parameter position t1 Response delay Following error DOUT1 2 3 X1 12 25 13 Δs Message window Following error Start DIN8 X1 23 Start Response delay Actual position Setpoint position Following error Message 170 Target position t2 Reaction Warn Δs mm linear axis R rotative axis FCT Dependent on the parameter Message window in the message Following error t1 ms FCT Dependent on the paramete...

Page 61: ...l Setpoint speed reached The timing diagram shows the dependency of the digital output signal Setpoint speed on the mes sage window Speed reached Parameter speed Δv Message window Speed reached Start DIN8 X1 23 Actual speed Target speed Setpoint speed reached DOUT1 2 3 X1 12 25 13 Target speed Δv mm s linear axis rpm rotative axis FCT Dependent on the parameter Message window in the message Speed ...

Page 62: ...t signal Declared speed achieved on the message window Speed reached Declared speed reached DOUT1 2 3 X1 12 25 13 Parameter Declared speed Δv Message window Speed reached Start DIN8 X1 23 Actual speed Δv mm s linear axis or rpm rotative axis FCT Dependent on the parameter Message window in the message Speed reached Fig 3 8 Timing diagram Digital output signal Declared speed achieved ...

Page 63: ...ital output signal Standstill reached on the mes sage window Speed reached Standstill reached DOUT1 2 3 X1 12 25 13 Standstill Δv Message window Speed reached Start DIN8 X1 23 Parameter speed Δv mm s linear axis or rpm rotative axis FCT Dependent on the parameter Message window in the message Speed reached Fig 3 9 Timing diagram Digital output signal Standstill reached ...

Page 64: ...ssage Remaining distance Timing diagram Message Remaining distance Remaining distance mes sage DOUT1 2 3 X1 12 25 13 Parameter position Δs Message window Remaining distance Start DIN8 X1 23 Actual position Target position Δs mm linear axis or R rotative axis FCT Dependent on the parameter Message window in the message Remaining distance Fig 3 10 Timing diagram Message Remaining distance ...

Page 65: ...2 14 Analogue load reference potential for Reference voltage VREF Analogue monitor Analogue input SGND X1 1 X1 1 1 X1 2 1 Analogue signal screening AMONO X1 17 X1 1 17 X1 2 17 Analogue monitor output 1 The analogue inputs AIN0 AIN0 are used in the positioning mode or during synchronisation master operation as digital inputs DIN12 mode bit 1 and DIN13 stop signal Tab 3 5 Overview Analogue input out...

Page 66: ... 3 3 Analogue output signal analogue monitor Function Description Analogue monitor signal AMON0 X1 17 X1 1 17 X1 2 17 Configurable monitor signal 0 10 V Reference potential Analogue load AGND page 203 Tab 3 7 Function overview Analogue output signal analogue monitor ...

Page 67: ... N N1 X10 1 6 2 X10 2 7 2 X10 3 8 2 X10 1 1 6 2 X10 2 1 6 2 X10 1 2 7 2 X10 2 2 7 2 X10 1 3 8 2 X10 2 3 8 2 Pulse direction signals CLK CLK1 DIR DIR1 X10 1 6 X10 2 7 X10 1 1 6 X10 2 1 6 X10 1 2 7 X10 2 2 7 Forward reverse signals CW CW1 CCW CCW1 1 Differential signals in accordance with RS422 2 The encoder input is used as an encoder output during encoder emulation master operation Tab 3 8 Overvie...

Page 68: ...der output at each of the connections X10 1 X10 2 Incremental signals A A B B N N are generated by the encoder emulation operational function and made available via the encoder outputs Encoder output signals 5 V TTL Encoder output X10 X10 1 X10 2 CMMS CMMD Incremental signals A A 1 B B 1 N N 1 X10 1 6 2 X10 2 7 2 X10 3 8 2 X10 1 1 6 2 X10 2 1 6 2 X10 1 2 7 2 X10 2 2 7 2 X10 1 3 8 2 X10 2 3 8 2 1 D...

Page 69: ... A A B B the motor controller can de termine the rotational speed direction 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 11 Overview Increme...

Page 70: ...rotations speed DIR DIR Direction signals for control of the direction of rotation DIR high Positive direction of rotation DIR low Negative direction of rotation Tab 3 12 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...

Page 71: ...direction of rotation Tab 3 13 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 13 Timing diagram Forward reverse signals Only one signal pair may be active for activation of the motor controll...

Page 72: ...ave 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 CMMS ST CMMD AS scope of delivery Support Portal www festo...

Page 73: ...le DIN5 Output stage enable DIN4 Limit switch 0 DIN6 2 3 Limit switch 1 DIN7 2 3 Stop DIN13 15 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V EXT EXT1 X4 X5 CANopen DriveBus RS485 PROFIBUS DP DeviceNet1 1 Interface module CAMC optional 2 The limit switches are set by default to N C contact configuration over FCT 3 Only required for applications with limited positioning range or homing methods with limit sw...

Page 74: ...operating modes can be used Positioning mode position control Speed mode speed adjustment Force torque mode current control The operating modes can be switched over in direct operation as needed For additional information Device profile FHPP description GDCP CMMS D C HP 3 6 2 Device profile CANopen CiA 402 for electric drives Through the device profile CiA 402 the following operating modes can be ...

Page 75: ...osition SW limit positive LSN Limit switch hardware negative Limit switch negative 1 LSP Limit switch hardware positive Limit switch positive 1 SP Target position AP Actual position1 a Offset axis zero point AZ b Offset project zero point PZ c Offset target actual position TP AP d Offset Software end position negative SLN e Offset Software end position positive SLP 1 Effective stroke 2 Working str...

Page 76: ...ardware positive Limit switch positive 1 SP Target position AP Actual position1 a Offset axis zero point AZ b Offset project zero point PZ c Offset target actual position TP AP d Optional Offset Software end position negative SLN 2 e Optional Offset Software end position positive SLP 2 1 Effective positioning range 2 Working positioning range no hardware limit switches 1 Additional information pag...

Page 77: ...switch is blocked That is the drive can only be run in the positioning direction of the inactive limit switch Both limit switches active If both limit switches are active simultaneously the drive is braked with the reaction parametrised in the FCT error management PS off Qstop Warn of message 439 the message 439 is configured via message 430 page 208 4 3 2 Software end position SLN SLP If the axis...

Page 78: ...of measurement data Automatic calculation of the controller data for the selected motor gear unit axis combination Manual precision adjustment of the controller 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 CMMS ST CMMD AS The plug ins are managed and st...

Page 79: ...ring parameterising the Festo Configuration Tool FCT 1 Start the FCT Double click on the FCT icon on the desktop Select the following Windows path Start Open Program Path Festo Software Festo Configuration Tool 2 Create a new project or open an existing project Menu bar Project New Double click the existing project in the workspace Help for the FCT framework Menu bar Help Contents FCT general 3 Ad...

Page 80: ...n the FCT user interface Menu bar Help Contents of installed plug ins Festo CMMS AS CMMS ST CMMD AS Clicking the button CMMS AS CMMS ST CMMD AS displays the static Help 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 Di...

Page 81: ...be configured via the DIL switches Overview DIL switches S1 1 12 1 S1 1 7 2 S1 8 4 S1 11 3 S1 9 10 5 S1 12 On Off Switch position 1 Fieldbus address MAC ID configuration 2 Firmware download activation from the memory card 3 Data rate configuration CAN bus DeviceNet 4 CAN bus activation 5 Terminating resistor activation CAN bus Fig 5 2 Overview DIL switches S1 1 12 ...

Page 82: ...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 1261 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 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 2 Fieldbus address MAC ID ...

Page 83: ...for each power ON procedure or controller reboot FCT The bit transmission rate can be configured via the DIL switches S1 9 S1 10 Fieldbus Bit transmission rate DIL 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 4 Data rate configuration CAN bus DeviceNet 5 1 9 CAN bus a...

Page 84: ... 12 can be used exclusively for activation of the CAN BUS terminating resistor Fieldbus Note DIL switch S1 12 ON OFF CANopen CAN bus Integrated terminating res istor 120 Ω active inactive DriveBus CAN bus Tab 5 6 Terminating resistor activation CAN bus In the PROFIBUS DP the terminating resistor is integrated into the CAMC PB interface module The terminating resistor 120 Ω can be connected externa...

Page 85: ...e execute Save execute FCT SD Controller X5 FCT Download FCT Upload FCT Synchronisation DIL switch S1 8 Switch position ON Save execute Save execute Save execute Download FCT Read from SD after restart Device profile FHPP CiA402 FCT Save Copy Framework Plug in file Firmware file Installation Installation update Archive file ZIP Controller data manage ment EDS file CANopen DeviceNet DriveBus GSD fi...

Page 86: ...ation or save the current parameter set of the motor controller to the memory card FCT Controller SD as a parameter file DCO After downloading the firmware load the device data from the Festo Configuration Tool FCT to the motor controller Download or load the parameter file DCO from the memory card to the motor controller FCT SD Controller 5 2 2 Downloading the firmware file FCT motor controller T...

Page 87: ...p4p0p2p6 S CMMS ST FW_CMMS ST_V1p4p0p1p6 S CMMD AS FW_CMMD AS_V1p4p0p3p6 S Tab 5 7 Requirement for firmware file names 2 Insert the memory card into the card slot M1 3 Set the DIL switch S1 8 to the ON position 4 Switch the control section power supply off and on 5 During the boot procedure the motor controller performs a check illuminated decimal point on the seven segment display to verify wheth...

Page 88: ...process for downloading the firmware starts the firmware in the permanent memory is initially deleted If the download fails or if the power supply was interrupted during the download process no firmware will have been transferred to the permanent memory The firmware download process must be restarted again 7 The newly loaded firmware starts automatically 8 Set the DIL switch S1 8 to the OFF positi...

Page 89: ...ice data can be transferred between the FCT and the motor controller as follows Download From FCT to the motor controller Upload From the motor controller to the FCT Synchronisation Between FCT and motor controller Note Loss of device data If the control section power supply is interrupted any modifications made to the device data that have not been saved to the permanent memory will be lost Save ...

Page 90: ...urrent device data on the motor controller is loaded into the Festo Configuration Tool FCT 2 Download The current device data on the Festo Configuration Tool FCT is loaded into the motor controller 3 Syncronisation The device data on the Festo Configuration Tool FCT and the motor controller is synchronised 4 Store The device data is saved from the main memory to the permanent memory of the motor c...

Page 91: ... Archive FCT Device data Archive file ZIP Festo Configuration Tool FCT 2 2 Extract Hard disk 1 Archive The device data from the Festo Configuration Tool FCT is saved to the PC s hard disk as an archive file ZIP 2 Extract The archive file ZIP containing the device data is loaded from the PC s hard disk into the Festo Configuration Tool FCT Fig 5 7 Overview Archiving extracting device data FCT PC ...

Page 92: ...mory card to the motor controller Controller SD write From the motor controller to the memory card Requirement for parameter file names File names Example Letters Format File name Extension large 8 3 8 digit1 DCO CMMS AS CMMSAS01 DCO CMMS ST CMMSST01 DCO CMMD AS CMMDAS01 DCO 1 xxxxxxnn DCO x digits 1 6 are used for the file name Any ASCII characters can be used here n digits 7 8 are used for the c...

Page 93: ...rk set a search is conducted on the memory card for the parameter file DCO designated Latest after every restart Power ON FCT Restart controller when located it is loaded automatically into the main memory of the motor controller 4 SD Controller SD Controller A search is conducted on the memory card for the parameter file DCO designated Latest when located it is loaded automatically into the main ...

Page 94: ...additional information Mounting and installation description GDCP CMMS AS G2 HW GDCP CMMD AS HW GDCP CMMS ST G2 HW Fieldbus interfaces Check the fieldbus address MAC ID page 82 Check the data rate CAN bus DeviceNet page 83 Check CAN bus activation CANopen DriveBus page 83 Check the terminating resistor The activation of the CAN bus terminating resistor CANopen DriveBus page 84 The activation of th...

Page 95: ...tion CMMS CMMD 9 21 24 24 V DC Controller enable DIN5 Output stage enable DIN4 Controller ready for operation DOUT 0 Stop DIN13 1 15 X1 X1 1 X1 2 Common error DOUT3 2 6 13 Load DIN DOUT GND 24 V The connection diagram shows the switch positions in operation 1 The digital input DIN13 is used as an analogue input AIN0 in speed force or torque mode 2 Default setting freely configurable in the Festo C...

Page 96: ...found in the respective operating modes Power ON FCT Restart controller Bootloader Initialization Ready for operation Acknowledge error Device data FCT Parameter file DCO Error status All statuses Enable output stage Firmware file Intermediate circuit precharge CMMS AS CMMD AS Current Controller operating mode Rotational speed Position Enable controller Block output stage and controller Fig 5 10 S...

Page 97: ...pen slot EXT CMMS EXT1 EXT2 CMMD with the missing module or cover plate 2 Install the product in a control cabinet Caution Unexpected movement of the drive If the following conditions are fulfilled during the Power ON process Output stage enable is enabled DIN4 24 V X1 21 X1 1 21 X1 2 21 Controller enable is enabled DIN5 24 V X1 9 X1 1 9 X1 2 9 Setpoint value specified via control interface Fieldb...

Page 98: ...is connected to the cor rect pins at connection X9 4 the connections Power supply X9 and Motor X6 X6 1 X6 2 are interchanged Before switching on check to ensure the power supply is connected to connec tion X9 and the motor is connected to connection X6 X6 1 X6 2 5 at the connection Motor X6 X6 1 X6 2 a motor phase has been short circuited with the PE conductor Before switching on check the motor p...

Page 99: ... x x appendix A page 216 The LED Ready Bus CMMS ST CMMD AS or CAN CMMS AS or seven segment display do not light up Perform the following steps 1 Measure the voltage levels at the input output of the power supply unit and the power switch 2 Switch off the power supplies Power OFF 3 Wait five minutes until the intermediate circuit voltage has discharged 4 Check the cabling and the connection of the ...

Page 100: ... of the drive Make sure that the motor controller is only controlled by one control interface mas ter control Caution Defective safety function STO Safe Torque Off If the safety function at connection X3 X3 1 X3 2 is bypassed it means the motor controller cannot be deactivated in the event of an emergency via safety components e g emergency off switch with safety switching device which can result ...

Page 101: ...ke released BR X6 2 Controller ready for operation DOUT0 X1 24 Speed setpoint value Actual speed 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 parameterised switch on delay brake...

Page 102: ...termined here and temporarily stored in the main memory of the motor controller Note Operation of vertical axes A maximum of 50 of the permissible total load may be used for operation of vertically mounted axes Timing diagram Commutation finding with the first controller enable DIN5 after Power ON Commutation finding Controller enable DIN5 X1 9 Holding brake released BR X6 2 Controller ready for o...

Page 103: ...ures described above replace the mo tor Direction of rotation travel incorrect Enable disable check box the process for reversing the direction of rotation field installation in the Festo Configuration Tool FCT Checking the position and switching function of the limit switches limited axis only Activate the drive by using the jog function in the Festo Configuration Tool FCT page 172 to check the s...

Page 104: ...encoders is used Single turn absolute encoder CMMS AS CMMD AS After each Power ON Controller restart FCT Multi turn absolute encoder CMMS AS CMMD AS On initial start up or after replacing the motor Incremental encoder CMMS ST After each Power ON Controller restart FCT 3 If the axis has been parameterised in the Festo Configuration Tool FCT with a limited working stroke linear positioning range rot...

Page 105: ...7 Switch off controller enable DIN5 page 108 Interrupt mains supply page 106 The holding brake is configured in the Festo Configuration Tool FCT via the selection of the motor type When the holding brake has been configured the time delays in the brake control are activated and can be parameterised Note Using the holding brake The holding brake is not suitable for braking the motor or payloads in ...

Page 106: ... the mains supply is interrupted Timing diagram Interruption of the mains supply Controller enable DIN5 X1 9 Output stage enable DIN4 X1 21 Speed Holding brake released BR X6 2 Controller ready for operation DOUT0 X1 24 t1 t2 Common error DOUT3 X1 13 Mains supply Output stage active DOUT X1 t1 60 ms t2 2 5 ms Fig 5 13 Timing diagram Interruption of the mains supply ...

Page 107: ...ts in uncontrolled movements coasting until a state of rest is reached Timing diagram Switching off the motor controller via output stage enable DIN4 Controller enable DIN5 X1 9 Output stage enable DIN4 X1 21 Actual speed value Holding brake released BR X6 2 Holding brake open mechanical t1 Controller ready for operation DOUT0 X1 24 t3 t4 t2 Output stage active DOUT X1 t1 5 ms t2 2 5 ms t3 L 50 50...

Page 108: ...gised Timing diagram Switching off the motor controller via controller enable DIN5 Controller enable DIN5 X1 9 Output stage enable DIN4 X1 21 Output stage active DOUT X1 Holding brake released BR X6 2 Controller ready for operation DOUT0 X1 4 t2 t1 t3 t4 Speed setpoint 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...

Page 109: ...aces Output stage enable DIN4 X1 21 Controller enable DIN5 X1 9 Stop DIN13 X1 15 not for the Analogue input control interface Caution Unexpected movement of the drive If the following conditions are fulfilled Output stage enable is enabled DIN4 24 V X1 21 X1 1 21 X1 2 21 Controller enable is enabled DIN5 24 V X1 9 X1 1 9 X1 2 9 Setpoint value specified via control interface Fieldbus analogue input...

Page 110: ...trol CANOpen PROFIBUS DP DeviceNet Device profile Festo Handling and Positioning Profile FHPP Device control SCON B5 FCT MMI CCON B5 Lock RS485 1 CAN Interpreter RS232 1 1 CI commands CI commands Device profile Festo Handling and Positioning Profile FHPP 1 Note the information regarding interface RS232 page 236 and RS485 page 240 Fig 5 16 Overview Master control over the motor controller ...

Page 111: ...control interface to the Festo Configuration Tool FCT Timing diagram FCT master control over the motor controller Enable 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 Fig 5 17 Timing diagram FCT master control over the motor controller ...

Page 112: ...lues In the case of interpolating positioning mode the interpolated positioning curve is calculated in the interpolator and passed on as position speed setpoint values The regulator cascade position speed and current regulator processes the deviation between set point value and actual value and thus controls the output stage and the connected motor Current control Torque CMMS CMMD Control section ...

Page 113: ...rameterised positioning record 1 63 page 120 Several individual records in the positioning record list can be linked to a record sequence via the record linking function The selected positioning record can be activated with the start command control data or DIN8 From the parameters the controller internal positioning controller calculates the corresponding positioning curve for the individual reco...

Page 114: ...ord selec tion bit 1 5 Positioning re cord 1 63 page 121 Mode 2 Record selec tion bit 1 2 Positioning re cord 1 7 page 138 Mode 0 Record selec tion bit 1 5 Positioning re cord 0 page 156 Mode 1 Record selec tion bit 1 5 Positioning re cord 1 63 page 179 Tab 6 1 Overview Record selection positioning record control interface operating mode 6 3 Relative positioning The motor controller calculates int...

Page 115: ...m the position setpoint value and the direct mode parameters and transfers the position setpoint values cyclically to the position control The controller internal positioning controller retains the positioning parameters for each additional direct application if a new parameterisation process has not been executed via the active fieldbus The positioning parameters can be parameterised via fieldbus...

Page 116: ... switch 0 DIN6 2 3 Limit switch 1 DIN7 2 3 Stop DIN13 1 15 X1 X1 1 X1 2 X4 X5 EXT EXT1 6 Load DIN DOUT GND 24 V Fieldbuses 1 The digital input DIN13 is used as an analogue input AIN0 in speed force or torque mode 2 The limit switches are set by default to N C contact configuration over FCT 3 Only required for applications with limited positioning range or homing methods with limit switch Fig 6 4 C...

Page 117: ... Device profile FHPP The setpoint value is calculated by multiplying the base value of velocity vB and the percentage value of velocity kv Device profile CiA 402 Setpoint value1 for speed vB Base value of velocity Device profile FHPP Base value for calculating velocity vn kv Percentage value of velocity Device profile FHPP Percentage value1 for calculating velocity vn ka Smooth Value for duration ...

Page 118: ...ternally 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 Take into consideration the deviation of the rounded position values when paramet erising the position page 114 ...

Page 119: ...rnal posi tioning controller calculates the positioning curve from the parameters and transfers the position set point values cyclically to the position control Each individual record is started with its own start com mand signal The positioning records and positioning record profiles can be parameterised via fieldbus or the Festo Configuration Tool FCT The positioning record 0 is reserved exclusi...

Page 120: ... DIN13 24 V DC Controller enable DIN5 Output stage enable DIN4 Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS CMMD 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start positioning DIN8 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V Mode 0 1 The limit switches are se...

Page 121: ...cord selection Bit 5 25 DIN11 X1 16 X1 1 16 X1 2 16 Bit 4 24 DIN10 X1 3 X1 1 3 X1 2 3 Bit 3 23 DIN3 X1 8 X1 1 8 X1 2 8 Bit 2 22 DIN2 X1 20 X1 1 20 X1 2 20 Bit 1 21 DIN1 X1 7 X1 1 7 X1 2 7 Bit 0 20 DIN0 X1 19 X1 1 19 X1 2 19 1 0 0 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 4 0 0 0 1 0 0 7 0 0 0 1 1 1 8 0 0 1 0 0 0 15 0 0 1 1 1 1 16 0 1 0 0 0 0 32 1 0 0 0 0 0 63 1 1 1 1 1 1 Tab 6 3 Overview Activating the ...

Page 122: ...ing signal DIN8 Start positioning DIN8 X1 23 Stop DIN13 X1 15 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 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 Destination reached Fig 6 ...

Page 123: ... DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed t2 Record selection bit 0 5 Positioning record 1 63 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 t5 ms FCT Dependent on the parameters Message window and Damping time in the message Destination reached Fig 6 ...

Page 124: ...me end speed page 143 Parameter Variant Page 1 Position List 2 Position List Number 1 63 125 3 Mode A RA RN 126 128 4 Position 126 5 Profile 1 7 8 125 6 Command END 126 7 Position Profiles 8 Position Profiles Number 1 7 125 9 Velocity 126 aJ Acceleration 126 aA Deceleration 126 aB Smooth 126 129 aC Start Delay 131 aD Final Velocity 132 aE Start Condition Ignore 133 Delay 134 Interrupt 135 Tab 6 4 ...

Page 125: ...1 2 Positioning record number Record selection 1 63 Digital inputs fieldbus 63 1 Positioning record list 2 Positioning record profiles 3 Positioning record profile number 0 7 Parameter Description Position List Number Selection of the positioning record The positioning record in the individual record is selected via the record selection of the control interface Profile Selection of a positioning r...

Page 126: ...ue for speed ka Smooth Value for duration of filtering from acceleration and deceleration ramp page 130 Pos Position Setpoint value for the relative or absolute position Mod Mode Selection of a relative or absolute positioning mode page 128 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...

Page 127: ...iation of the rounded position values when paramet erising the position page 114 FCT position sets activation MEM FCT If the FCT position sets activation is FCT and with relative positioning RA RN only the relative posi tioning RA related to the current actual position is carried out page 128 FCT position sets activation MEM FCT Type of positioning FCT position sets activation MEM FCT Absolute pos...

Page 128: ...120 mm Ignore 3 1 A 150 mm Interrupt 2 RN 70 mm Ignore 4 1 A 150 mm Interrupt 2 RA 40 mm Ignore Tab 6 8 Parameters Mode A RA RN Timing diagram Parameters Mode A RA RN 150 mm A 70 mm RN Case 1 Current position 50 0 100 t s mm 150 Start DIN8 X1 23 Case 2 3 4 Start Positioning record 2 via the start condition Interrupt 40 mm RA 120 mm A Case 2 1 2 Case 3 Case 4 Setpoint position Start Positioning rec...

Page 129: ...s occur for the drive mechanics The parameterised velocity vN and the position are reached with a time delay If smoothing is 0 the smoothing function is deactivated and the acceleration deceleration ramps are not filtered The drive is moved with the parameterised acceleration deceleration and the highest stresses occur for the drive mechanics The parameterised velocity vN and the position are reac...

Page 130: ...me tfi 0 ms time optimised B Smoothing 25 Filter time tfi 12 5 ms C Smoothing 50 Filter time tfi 25 ms tfi ta ta tfi tfi a a a a a D Smoothing 100 Filter time tfi 50 ms v t a a t ta ta ta ta tfi tfi tfi ta tfi tfi tfi ta tfi VN VN VN VN 1 2 tfi tfi a Acceleration a Deceleration vN Velocity 1 Movement with reduced acceleration 2 Movement with reduced deceleration Fig 6 11 Timing diagram Smoothing ...

Page 131: ...ration for point to point positioning as a function of the Start delay parameter t t a v a vN t s Pos Start td a Acceleration a Deceleration vN Velocity Pos Position Parameter Description td Start Delay Setpoint value for the time delay until the current positioning record is started Tab 6 9 Parameter Start delay ...

Page 132: ...vN t s Pos Start vE vN vE 0 vE vN vE vN VEmax vE vN vE 0 vE vN vE vN vE vN vE 0 vE vN vE vN a Acceleration a Deceleration vN Velocity Pos Position Parameter Description vE Final Velocity1 Setpoint value for the end speed at which the position is travelled through and subsequently continued In order to achieve short acceleration times time delays to the sub sequent positioning record the end speed ...

Page 133: ... course for the parameter Start condition Ignore t t t Motion complete DOUT1 X1 12 Start positioning Start record sequence DIN8 X1 23 Item 1 1 2 Start Positioning record 1 Parameter Description Start condition Ignore Other start signals do not have any effect when executing the cur rent positioning record The current positioning record moves to parameterised position 1 After reaching the position ...

Page 134: ... positioning Start record sequence DIN8 X1 23 Start Positioning record 3 via the start condition Delay 1 2 3 Position3 Start Positioning record 1 Parameter Description Start condition Delay The current positioning record moves to parameterised position 1 The next positioning record then starts The positioning record that was last activated with the start signal is moved Tab 6 12 Parameter Start co...

Page 135: ...via the start condition Interrupt Start Positioning record 1 Parameter Description Start condition Interrupt The current positioning record is interrupted and the next record is started immediately Note The error message E421 is generated if the new setpoint position cannot be approached from the current drive status actual posi tion value actual speed value e g if the new position cannot be appro...

Page 136: ...tioning curve from these parameters and transfers the position setpoint values cyclically to the position control In addition to the individual record mode the conditions for continuation and sequence control can be parameterised in the record linking mode The positioning record 0 is reserved exclusively for homing in the homing mode and cannot be integrated into a record sequence Activating the r...

Page 137: ...ler enable DIN5 Output stage enable DIN4 Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS CMMD 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start record sequence DIN8 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V Mode 2 1 The limit switches are set by default to N ...

Page 138: ...s 8 63 cannot be directly controlled via the digital inputs outputs control interface These positioning records can only be used in the record sequence via the destination parameter Positioning record Record selection1 Bit 2 22 DIN2 X1 20 X1 1 20 X1 2 20 Bit 1 21 DIN1 X1 7 X1 1 7 X1 2 7 Bit 0 20 DIN0 X1 19 X1 1 19 X1 2 19 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 7 1 1 1 1 In the record linking mode the dig...

Page 139: ...1 23 Stop DIN13 X1 15 Halt record sequence DIN3 X1 8 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t3 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t4 t2 t3 t4 t6 2 3 t1 t5 t5 t1 2 5 ms t2 2 5 ms t3 5 ms t4 L 16 ms t5 2 5 ms t6 ms FCT Dependent on the parameters Message window and ...

Page 140: ...e DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 t7 2 3 t6 t6 t5 t5 2 3 t4 t4 t1 2 5 ms t2 5 ms t3 L 16 ms t4 2 5 ms t5 ms FCT Dependent on the deceleration ramp t6 ms FCT Dependent on the acceleration ramp t7 ms FCT Dependent on the para...

Page 141: ... X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 2 3 t6 t7 t4 t4 t1 2 5 ms t2 5 ms t3 L 16 ms t4 2 5 ms t5 2 5 ms t6 ms FCT Dependent on the parameter Stop input in the stop decelerations t7 ms FCT Dependent on the parameters Message window and ...

Page 142: ...1 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 2 3 t5 Controller ready for operation DOUT0 X1 24 Mode bit 0 DIN12 X1 2 t7 t6 t4 t4 t1 2 5 ms t2 5 ms t3 L 16 ms t4 2 5 ms t5 2 5 ms t6 ms dependent on reaching the position of the current positioning record t7 ms FCT Dependent on the parameter...

Page 143: ...FI4 148 NRS NFS5 149 4 Destination 1 63 2 144 5 Input NEXT1 NEXT2 148 149 6 Position Profiles 7 Time 146 147 8 Final Velocity 151 1 Record continuation is effected via the Motion Complete signal 2 Record continuation is effected after expiration of the rest time 3 Record continuation is effected after expiration of the time 4 Record continuation is effected via the NEXT signal 5 Record continuatio...

Page 144: ...e first positioning record in the record sequence is selected via the record selection of the control interface Command Selection of the record continuation type in the record sequence The following commands can be used for record continuation MC Motion Complete page 145 STS rest page 146 TIM time page 147 NRI NFI NEXT page 148 NRS NFS NEXT and Motion Complete page 149 The record sequence is termi...

Page 145: ...via the parameter Command END t Motion Complete MC controller internal t t t Start record sequence DIN8 X1 23 Position Confirm start DOUT2 X1 25 END MC MC Parameter Description Command MC Motion Complete Continuation takes place when the controller internal Motion Complete signal high position reached END End of record linking record sequence The record sequence is ended upon reaching the position...

Page 146: ...ntinuation after expiration of the time at rest Continuation takes place if the drive has reached rest and the parameterised time positioning record profile parameter has expired Measurement of the time starts when the position set starts Note Rest not only means the end of the positioning record record sequence but also running to a stop e g mechanical stop at any position Time Setpoint value for...

Page 147: ... controller internal t Start record sequence DIN8 X1 23 1 Behaviour in the event of positioning time time TIM t t t Parameter Time Speed TIM Motion Complete MC controller internal t Start record sequence DIN8 X1 23 Parameter Description Command TIM Continuation after expiration of the time Continuation takes place if the parametrised time positioning record profile parameter has expired Measuremen...

Page 148: ...ng edge NEXT1 2 and the next positioning record in the record sequence is started immediately Tab 6 20 Parameter Command NRI Parameter Command NFI falling edge NEXT1 NEXT2 The diagram shows record continuation via the parameter Command NFI NEXT1 NEXT2 DIN10 DIN11 X1 3 X1 16 t t Command NFI Speed NFI Parameter Description Command NFI Continuation with falling edge NEXT The current positioning recor...

Page 149: ...on Complete MC controller internal t t Speed NRS MC 2 Behaviour in the event of signal sequence Motion Complete MC after NEXT t NEXT1 NEXT2 DIN10 DIN11 X1 3 X1 16 Motion Complete MC controller internal t t Speed NRS MC Parameter Description Command NRS Continuation with Motion Complete and rising edge NEXT Continuation takes place when the controller internal signal Motion Complete high and a risi...

Page 150: ...n Complete MC controller internal t t Speed MC NFS 2 Behaviour in the event of signal sequence Motion Complete MC after NEXT t NEXT1 NEXT2 DIN10 DIN11 X1 3 X1 16 Motion Complete MC controller internal t t Speed NFS MC Parameter Description Command NFS Continuation with Motion Complete and falling edge NEXT Continuation takes place when the controller internal signal Motion Complete high and a fall...

Page 151: ...Complete MC controller internal t t Start record sequence DIN8 X1 23 END Motion Complete MC DOUT1 X1 12 t t Velocity vN1 Final velocity vE1 Velocity vN2 Position 1 Position 2 1 Final velocity vE velocity vN Parameter Description vE Final Velocity1 Setpoint value for the final velocity at which the position is travelled through and subsequently continued 1 The max value is limited by the setpoint v...

Page 152: ...s Fig 6 18 The shortest synchronisation interval is 6 4 ms This is also the default value in the inter polation_time_period object 60C2h The external position setpoint values are interpol ated internally in the 400 μs position controller cycle Recommendation for an optimal path interpolation Set the sync interval in integer multiples of 400 μs e g 8 ms 10 ms 12 ms For additional information Device...

Page 153: ...on diagram shows the required digital inputs for the interpolated positioning mode CMMS CMMD 9 21 22 10 24 12 24 V DC Controller enable DIN5 Output stage enable DIN4 Limit switch 0 DIN6 1 Limit switch 1 DIN7 1 Controller ready for operation DOUT0 Common error DOUT3 2 Stop DIN13 15 X1 X1 1 X1 2 X4 6 Load DIN DOUT GND 24 V CANopen DriveBus 1 The limit switches are set by default to N C contact confi...

Page 154: ...ameterised via fieldbus or the Festo Config uration Tool FCT For homing the following settings must be parameterised in the Festo Configuration Tool FCT Homing page 161 Measuring system page 75 Note When using drives with a single turn absolute encoder CMMS D AS or incremental encoder CMMS ST the offset data Homing point of the measuring system will be erased from the main memory if the power supp...

Page 155: ... 24 V DC Controller enable DIN5 Output stage enable DIN4 Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS CMMD 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start positioning DIN8 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V Mode 0 1 The limit switches are set by d...

Page 156: ... via the record selection bit 0 5 Positioning re cord Record selection Bit 5 25 DIN11 X1 16 X1 1 16 X1 2 16 Bit 4 24 DIN10 X1 3 X1 1 3 X1 2 3 Bit 3 23 DIN3 X1 8 X1 1 8 X1 2 8 Bit 2 22 DIN2 X1 20 X1 1 20 X1 2 20 Bit 1 21 DIN1 X1 7 X1 1 7 X1 2 7 Bit 0 20 DIN0 X1 19 X1 1 19 X1 2 19 0 0 0 0 0 0 0 Tab 6 25 Overview Activating the positioning record via digital inputs record selection bit 0 5 ...

Page 157: ...mmon error DOUT3 X1 13 t1 Velocity v v Status word referenced FCT Homing complete DOUT X1 t2 t3 t2 t3 Search Crawl t4 Limit switch 0 DIN6 X1 22 3 1 2 t5 Limit switch 0 detected Homing point detected t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the deceleration ramp t4 2 5 ms t5 ms FCT Dependent on the parameters Message window and Damping time in the message Destination reac...

Page 158: ...mon error DOUT3 X1 13 t1 t2 Stop detected Speed v v Run 2 1 Status word referenced FCT Homing complete DOUT X1 Search t3 t2 t4 Axis zero point reached t5 t1 5 ms t2 ms FCT Dependent on the acceleration ramp t3 ms dependent on the torque threshold FCT and damping characteristic of the stop t4 ms FCT Dependent on the deceleration ramp t5 ms FCT Dependent on the parameters Message window and Damping ...

Page 159: ...complete DOUT X1 t2 t3 t2 t6 Search Crawl t4 Limit switch 0 DIN6 X1 22 3 1 2 t7 t5 Limit switch 0 detected t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the deceleration ramp t4 2 5 ms t5 2 5 ms t6 ms FCT Dependent on the parameter Stop input in the stop decelerations t7 ms FCT Dependent on the parameters Message window and Damping time in the message Destination reached 1 Ex...

Page 160: ...X1 12 Controller ready for operation DOUT0 X1 24 Common error DOUT3 X1 13 t1 t3 t2 Search Error Status word referenced FCT Homing complete DOUT X1 Velocity v v 3 1 2 t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the configuration error function in the error management and the corresponding parameter in the stop deceleration 1 Example Normally closed limit switch type 2 Travel...

Page 161: ...ming mode homing Settings Description Homing method Destination The following destinations homing methods can be configured for homing Actual position page 164 Limit switch page 165 Limit switch with zero pulse page 166 Block page 167 Block with zero pulse page 168 Zero pulse page 169 Direction For homing the following search directions can be configured Positive direction Negative direction ...

Page 162: ...ty 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 related to the nominal torque at which the stop is detected Axis Zero Point Setpoint value for the distance to the homing point Options Go to the axis...

Page 163: ...on Options Save Offset To Encoder By selecting this option the offset data is transferred from the zero point synchronisation dimension reference system and motor en coder and stored permanently in the multi turn absolute encoder page 170 Tab 6 26 Configure and parameterise homing ...

Page 164: ...der 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 23 h 35 Current position 1 The current position is taken as the homing point 2 If an axis zero point is parameterised and the FCT option Travel to axis zero point a...

Page 165: ...axis zero point after homing is activated Travel with Run speed to the axis zero point Positive limit switch 11 h 17 Negative limit switch 1 Search for limit switch in the negative direc tion1 Travel with Search speed in a negative direc tion until the limit switch has been detected 2 Search for homing point in the positive direc tion Travel with Crawl speed in a positive direc tion until the limi...

Page 166: ...ed Travel with Run speed to the axis zero point Zero pulse Positive limit switch 01 h 01 Negative limit switch and zero pulse1 1 Search for limit switch in the negative direc tion2 Travel with Search speed in a negative direc tion until the limit switch has been detected 2 Search for homing point in a positive direc tion Travel with Crawl speed in a negative direc tion until the limit switch switc...

Page 167: ...detected This position is taken as the homing point 2 If an axis zero point is parameterised and the FCT option Travel to axis zero point after homing is activated Travel with Run speed to the axis zero point EFh 17 Negative stop1 1 Search for stop homing point in the negative direction Travel with Search speed in a negative direc tion until the stop2 has been detected This position is taken as th...

Page 168: ...el with Run speed to the axis zero point Zero pulse FFh 1 Negative stop and zero pulse1 2 1 Search for stop point in the negative direction Travel with Search speed in a negative direc tion until the stop3 has been detected 2 Search for homing point in the positive direc tion Travel with Crawl speed in a positive direc tion until the first zero pulse has been detec ted This position is taken as th...

Page 169: ...Travel to axis zero point after homing is activated Travel with Run speed to the axis zero point Zero pulse 21 h 33 Zero pulse in negative direction1 1 Search for zero pulse in the negative direction Travel with Crawl speed in a negative direc tion until the first zero pulse has been detec ted This position is taken as the homing point 2 If an axis zero point is parameterised and the FCT option Tr...

Page 170: ...homing point of the dimension reference system and the zero point of the motor encoder This offset data can be stored permanently in the multi turn absolute encoder via the command Save zero point shift If the power supply is interrupted the offset data is not lost When the power supply is switched on drives with a multi turn absolute encoder are always homed to the absolute encoder zero point sto...

Page 171: ...and transfers the position setpoint values cyclically to the position control The drive first runs at creep speed in the jog mode If after expiration of the creep duration control is still active the drive accelerates to jog speed in order to travel through large paths quickly Jog mode is quit with the falling edge of the jog signal This operating mode can be used in the following applications App...

Page 172: ...to Configuration Tool FCT The jog mode can be manually controlled via the interfaces Jog Jog in the FCT window Pro ject output in the online tab Manual move 2 3 1 1 Manual Move 2 Jog in negative direction 3 Jog in positive direction Fig 6 28 Manual jog via Festo Configuration Tool FCT ...

Page 173: ...C Controller enable DIN5 Output stage enable DIN4 Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Teach confirmed DOUT2 12 9 21 15 19 16 11 2 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V Mode 1 CMMS CMMD 1 The limit switches are set by default to N C contact configuration...

Page 174: ...the course of jog travel with separate actuation of jog jog Stop DIN13 X1 15 Jog DIN10 X1 3 Jog DIN11 X1 16 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 t1 t4 t4 t3 t3 Speed Jog Jog t1 t2 t2 t1 5 ms t2 5 ms t3 ms FCT Dependent on the crawl duration page 176 t4 ms FCT Dependent on the jog deceleration ramp Fig 6 30 Timing diagram Jog travel via jog jog ...

Page 175: ...ority 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 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 t1 t1 t4 Speed Jog Jog t3 t3 t4 t3 t4 t4 t3 t1 t2 t2 t2 t1 5 ms t2 5 ms t3 ms FCT Dependent on the crawl duration page 176 t4 ms FCT Dependent on the jog deceleration ramp Fig 6 31 Timin...

Page 176: ...elocity Setpoint value for travel at max speed a Acceleration Setpoint value for the following accelerations Crawling Acceleration to crawl speed Jog travel Acceleration to max speed a Deceleration Setpoint value for deceleration for crawling and jog travel to rest Crawling jog travel ka Smooth Value for duration of filtering of acceleration and deceleration ramp page 130 Tab 6 33 Parameterise jog...

Page 177: ... is evaluated with the rising edge control data or DIN8 and with the falling edge control data or DIN8 the teach position is temporarily stored in the selected positioning record posi tioning record parameter Position Simultaneously the parameterised debounce time starts to run which blocks a new evaluation of the record selection during storage Note If the control section power supply is interrup...

Page 178: ...p DIN13 24 V DC Controller enable DIN5 Output stage enable DIN4 Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Teach confirmed DOUT2 CMMS CMMD 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Teach DIN8 X1 X1 1 X1 2 6 Load DIN DOUT GND 24 V Mode 1 1 The limit switches are set by default ...

Page 179: ...rd selection Bit 5 25 DIN11 X1 16 X1 1 16 X1 2 16 Bit 4 24 DIN10 X1 3 X1 1 3 X1 2 3 Bit 3 23 DIN3 X1 8 X1 1 8 X1 2 8 Bit 2 22 DIN2 X1 20 X1 1 20 X1 2 20 Bit 1 21 DIN1 X1 7 X1 1 7 X1 2 7 Bit 0 20 DIN0 X1 19 X1 1 19 X1 2 19 1 0 0 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 4 0 0 0 1 0 0 7 0 0 0 1 1 1 8 0 0 1 0 0 0 15 0 0 1 1 1 1 16 0 1 0 0 0 0 32 1 0 0 0 0 0 63 1 1 1 1 1 1 Tab 6 34 Overview Activating the p...

Page 180: ... actual position of the drive Teach DIN8 X1 23 operating mode dependent DIN10 X1 3 operating mode dependent DIN11 X1 16 Controller ready for operation DOUT0 X1 24 Acknowledge teach DOUT2 X1 25 t2 Record selection bit 0 3 DIN X1 t1 Store actual position Teach t3 Jog Record selection bit 4 Record selection bit 5 Jog Operating mode Mode 1 Jog Jog Jog Jog t1 2 5 ms t2 ms FCT Dependent on the debounce ...

Page 181: ...ers FCT can be parameterised for the teach mode Settings Description Debounce time of the DINs after teaching Time To Ignore DINs After Teach Ignore 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 35 Parameterise teach mode ...

Page 182: ...regulator cascade speed and current regulator processes the deviation between the speed setpoint value and the actual speed value and thus controls the output stage and the connected motor The speed setpoint value ramp can op tionally be activated Current control Speed regu lator Output stage M Motor Motor encoder Actual speed value Actual current value Speed setpoint value Current setpoint value ...

Page 183: ...e setpoint value analogue input the speed adjust ment receives the speed setpoint value Optionally the speed setpoint value ramp can be activated in the Festo Configuration Tool FCT to parameterise the acceleration and deceleration ramps for the positive negative direction For speed mode no homing is required Activate speed mode via fieldbus analogue input X4 CMMS CMMD CANOpen PROFIBUS DP RS485 An...

Page 184: ... operation DOUT 0 Motion complete DOUT1 2 Start confirmed DOUT2 2 12 9 21 22 10 14 2 15 1 24 13 25 Setpoint value 10 10 V Load DIN DOUT GND 24 V 6 4 Analogue input differential AIN0 Analogue input differential AIN0 Reference voltage output VREFOUT 10 V DC Analogue load AGND reference potential reference voltage output analogue inputs CMMS CMMD X1 X1 1 X1 2 1 The limit switches are set by default t...

Page 185: ... e g offset fluctuations noise etc can be suppressed or a defined rest of the drive can be parameterised If the motor controller is operated via an external control circuit the value 0 V should be parameterised 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...

Page 186: ...2 5 1 1 3 2 1 Safe Zero 1 V 2 Offset 2 5 V 3 Scaling 10 V 1000 mm s rpm Fig 7 4 Rotational speed speed characteristic curve Offset If the parameter Offset is used the reference zero point is shifted by the value of the offset to the offset zero point The rotational speed speed characteristic curve is thus asymmetric Example Asymmetry at offset 2 5 V Fig 7 4 Linear axis 10 V 750 mm s 10 V 1250 mm s...

Page 187: ...s the deviation between the current setpoint value and the actual current value and thus controls the output stage and the connected motor 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 Current control Torque CMMS CMMD Control...

Page 188: ...ogue input or the Festo Configuration Tool FCT 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 Activate force torque mode via fieldbus analogue input X4 CMMS CMMD CANOpen PROFIBUS DP RS485 RS232 Fieldbuses Control section X1 X1 1 X1 2 EXT EXT1 X5 DeviceN...

Page 189: ...6 1 Limit switch 1 DIN7 1 Common error DOUT3 2 Analogue input differential AIN0 Screening SGND Controller ready for operation DOUT 0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS CMMD X1 X1 1 X1 2 12 9 21 22 10 14 2 15 1 24 13 25 Setpoint value 10 10 V Load DIN DOUT GND 24 V 6 4 Reference voltage output VREFOUT 10 V DC Analogue input differential AIN0 1 The limit switches are set by default...

Page 190: ...oint page 191 Safe Zero1 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 191 Input malfunctions e g offset fluctuations noise etc can be sup pressed or a defined rest of the drive can be parameterised If the motor controller is operated via an external control circuit the value 0 V should be parameteri...

Page 191: ...afe Zero 1 V 2 Offset 2 5 V 3 Scaling 10 V 100 related to the motor nominal current Fig 7 8 Torque force characteristic curve Offset If the parameter Offset is used the reference zero point is shifted by the value of the offset to the offset zero point The torque force characteristic curve is thus asymmetric Example Asymmetry at offset 2 5 V Fig 9 7 Linear rotative axis 10 V 75 10 V 125 of the mot...

Page 192: ...ller or a master motor controller The motor controller can be controlled via the synchronisation interface encoder input X10 X10 1 X10 2 or the control interface digital inputs X10 X10 1 X10 2 From the setpoint value of the encoder signal the parameterised line count and the parameterised virtual gear unit the motor controller calculates the position setpoint values and transfers these cyclically ...

Page 193: ...tput emu lation Controllers Motor controller1 Encoder Master device Slave device Synchronisation input X10 X10 1 X10 2 Encoder signals2 5 V TTL A A B B N N CLK CLK DIR DIR CW CW CCW CCW Synchronisation Encoder input Control interface 1 Motor controller with implemented encoder output and incremental signal A A B B N N 2 Differential signals in accordance with RS422 Fig 8 1 Overview Activating sync...

Page 194: ...t switch 1 DIN7 2 10 22 Limit switch 0 DIN6 2 Mode bit 0 DIN12 Mode bit 1 DIN9 Sync start DIN8 X1 X1 1 X1 2 6 X10 X10 1 X10 2 1 2 3 6 7 8 A B N A B N CW CCW CLK DIR Pulse direction signal Forward reverse signal Incremental signal Load DIN DOUT GND 24 V 41 5 Load Encoder signal GND Auxiliary power supply 5 V DC 5 max 100 mA Housing Screening GND 91 Load auxiliary power supply GND Mode 3 CW CCW CLK ...

Page 195: ...on DOUT 0 Motion complete DOUT1 2 Setpoint position reached DOUT2 2 CMMS CMMD 12 9 21 15 11 2 23 24 13 25 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start sync DIN 6 X1 X1 1 X1 2 20 8 Pulse direction signal Forward reverse signal CLK DIN2 DIR DIN3 CW DIN2 CCW DIN3 Load DIN DOUT GND 24 V Mode 3 1 The limit switches are set by default to N C contact configurat...

Page 196: ...t reached DOUT1 X1 12 Mode bit 11 DIN9 X1 11 Position synchronous DOUT2 X1 25 Common error DOUT3 X1 13 Speed specification Master device t1 t2 t3 t4 Actual speed Slave device Mode bit 01 DIN12 X1 2 Controller ready for operation DOUT0 X1 24 t1 5 ms t2 5 ms t3 ms dependent on the master acceleration ramp t4 ms dependent on the master deceleration ramp 1 Activation of the synchronisation operating m...

Page 197: ... the number of increments 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 Transmission ratio gear ratio of a...

Page 198: ...le length up to 32 slave motor controllers can be controlled via the encoder output synchronisa tion interface X10 of the master motor controller The incremental signals A A B B N N from the synchronisation inter face X10 X10 1 X10 2 can either be used as an encoder input for synchronisation or as an encoder output for encoder emulation default setting Output encoder emulation through encoder outp...

Page 199: ... parameterise encoder emulation The following settings can be configured and parameterised in the Festo Configuration Tool FCT Settings Description Encoder Data Number of Increments Value number of increments per revolution 360 The number of increments specifies the number of emulated incre mental signals A A B B per revolution Options Ignore Zero Pulse The zero pulse signals N N are not passed on...

Page 200: ...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 Activate flying measurement via digital input The sample input DIN9 is only active and configurable for the control interface CANopen PROFIBUS DP DeviceNet RS485 X4 CMMS CMMD CANOpen...

Page 201: ...s the required digital input for the flying measurement CMMS CMMD 6 Festo Configuration Tool FCT Sample input DIN9 11 X51 X4 X51 EXT EXT1 Load DIN DOUT GND 24 V Fieldbuses X1 X2 Motor encoder 1 The connection X5 can either be used for the Festo Configuration Tool FCT or for the fieldbus RS485 Fig 9 4 Connection Digital input ...

Page 202: ...l Output analogue monitor through digital output CMMS CMMD Analogue output Analogue monitor Control section X1 X1 1 X1 2 Monitor signal 0 10 V Setpoint actual values Speed Position Current Fig 9 5 Overview Output analogue monitor through digital output 9 3 2 Connection Analogue output The connection diagram shows the analogue output for the analogue monitor CMMS CMMD 14 Analogue load Analogue moni...

Page 203: ...t 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 analogue monitor parameter to the analogue output signal 0 10 V Fig 9 7 Offset Value for the height of the ...

Page 204: ... 6 4 V 100 200 300 400 100 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 The diagram shows the course of the analogue monitor signal with offset adjustment and active numer ic overflow limitation 2 200 300 400 10 8 6 4 V 100 200 300 400 100 mm S 1 2 1 Offset 4 V ...

Page 205: ...e 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 Note 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 Take into...

Page 206: ...tative 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 For endless positioning only the relative positioning types RA RN can be used position record list parameter Mode page 128 The minimum or maximum absolute posi...

Page 207: ...G2 with open loop without motor encoder open loop Resonance oscillations of the drive can be avoided with the resonance filter In the motor controller three resonance speed ranges can be parameterised via the parameters speed and band width If the drive reaches the parameterised resonance speed range during oper ation this range will be skipped Speeds that have been parameterised as a resonance sp...

Page 208: ...d deceleration Quick Stop FCT The output stage is switched off after the rest state has been reached or after expiration of the parametrised monitoring time Quick Stop FCT c Warn Output of a warning no further reaction Exception Reaction to limit switch error number 430 431 439 The drive is decelerated here with the para metrised stop deceleration limit switch d Ignore No reaction The following mo...

Page 209: ...it takes effect as soon as the intermediate circuit voltage falls below the operating voltage range The output stage is switched off if it exceeds or falls below this range 10 1 4 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...

Page 210: ...nd motor grows with the square of the flowing current the squared current value is assumed as the dimension of the power loss Note I2t monitoring is designed for a uniform temperature increase of all motor phases At low speed frequency the individual phases of the motor are energised differently This can result in the permissible temperature being exceeded in the energised phases Avoid low speeds ...

Page 211: ...t Nominal current I2t monitoring Motor output stage Motor current Error management t t t t t Error acknowledgment Controller enable DIN5 X1 9 1 t1 t1 1 The motor current is not limited to the nominal current if after the message 310 311 the I2t monitoring has reached the value 0 2 The message has been configured as a warning by way of example 3 The message has been configured as an error by way of...

Page 212: ...ile xxx DCO memory card is being read written CAN1 Bus2 Yellow The LED illuminates when communication is taking place on the CAN bus 1 Motor controller CMMS AS 2 Motor controller CMMS ST CMMD AS Tab 10 2 LED indicators 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 ...

Page 213: ...ting outside segments Speed mode speed adjustment Display changes corresponding to rotor position and speed Middle segment Controller enable active motor is energised I Force torque mode current control Safety function H Two channel safety function requested DIN4 X1 21 and Rel X3 2 Error warning messages E x x y Error E error Number Two position main index x x single position sub index y Example E...

Page 214: ...ecreasing edge of the controller enable signal DIN5 Controller enable DIN5 X1 9 1 Error active 1 5 ms Fig 10 2 Timing diagram Acknowledge errors Diagnostic events that are parameterised as warnings are displayed for approx 5 seconds and do not need to be acknowledged 10 3 1 Diagnostic messages The errors warnings and their causes and remedies are described in the diagnostic messages appendix A ...

Page 215: ... motor controller is reset to the factory setting status Before replacing or repairing the motor controller back up the device data to the Festo Configuration Tool FCT Upload Synchronisation or save the current para meter set of the motor controller to the memory card FCT Controller SD as para meter file DCO After installing the new or repaired motor controller load the device data from the Festo ...

Page 216: ...le causes for the message Action Action by the user Reaction The Reaction column includes the error response default setting partially configurable PS off block output stage QStop fast stop with parameterised ramp Warn warning Ignore Tab A 1 Explanations on the diagnostic messages For a complete list of the diagnostic messages that correspond to the firmware versions used at the time of printing t...

Page 217: ...ermediate circuit voltage falls below the parameterised threshold Action 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 th...

Page 218: ...ect 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 Action Check 24 V logic supply 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 2 5116h 12 V electronics supply fault...

Page 219: ...istor positioning drives resistance value may be too great Check the connection to the braking resistor internal external Error group 08 Angle encoder No Code Message Reaction 08 0 7380h Encoder supply error PS off Cause CMMS ST only Encoder supply outside the permissible range too high too low Action Test with another encoder Test with another encoder cable Test with another motor controller 08 6...

Page 220: ...ithdrawal of controller enable Reference switch is beyond the limit switch External stop signal termination of a homing phase Action 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 No Code Message Reaction 12 0 8181h CAN General error configurable Cause Other CAN error Triggered by the CAN controller i...

Page 221: ... Action 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 Action Re start CAN controller Check CAN configuration in the controller SYNC telegram must be parameterised Check wiring Error group 14 Motor ...

Page 222: ...toring active Error group 18 Output stage temperature monitoring No Code Message Reaction 18 1 4280h Output stage temperature 5 C below maximum configurable Cause The output stage temperature is greater than 90 C Action Check installation conditions cooling through the housing surface integrated heat sink and back wall Error group 19 I T monitoring No Code Message Reaction 19 0 2380h I t at 80 con...

Page 223: ...or controller and firmware are not compatible Action Update the firmware Error group 26 Data flash No Code Message Reaction 26 1 5581h Checksum error PS off Cause Checksum error of a parameter set Action Load factory setting If the error is still present the hardware may be defective Error group 29 SD card No Code Message Reaction 29 0 7680h No SD configurable Cause An attempt was made to access a...

Page 224: ...of the controller has been triggered Action Check power dimensioning of drive package Error group 32 Intermediate circuit No Code Message Reaction 32 0 3280h Intermediate circuit charging time exceeded PS off Cause Only CMMS AS CMMD AS The intermediate circuit could not be charged after the mains voltage was applied Fuse possibly defective Internal braking resistor defective In operation with exte...

Page 225: ...a Check positioning area 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 Action Check the target data Check positioning area 40 3 8612h Target position lies behind the positive software limit switch configurable Cause The start of a positioning t...

Page 226: ...ta 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 Action Check parameterisation and sequence control and correct if necessary Error group 43 Limit switch error No Code Message Reaction 43 0 8612h Negative limit switch er...

Page 227: ...hing 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 45 2 8000h Error in driver supply PS off Cause The driver supply is not active again although STO is no longer required Action If the error occurs ag...

Page 228: ...iceNet communication error PS off Cause Bus off Action Check that the network is connected correctly and does not malfunction 64 6 7582h DeviceNet communication error PS off Cause Overflow in the CAN controller Action Increase the baud rate Reduce the number of nodes Reduce the scan rate Error group 65 DeviceNet error No Code Message Reaction 65 0 7584h DeviceNet general error configurable Cause C...

Page 229: ...meout during transmission Action Check wiring Check whether the screening of the motor cables is correctly applied EMC problem If SSIO communication is not absolutely necessary e g no field bus interface is used and the axes are controlled separately over I Os this error may be ignored 76 1 8100h Error SSIO communication axis 2 configurable Cause Only CMMD AS SSIO partner has error 76 0 Action The...

Page 230: ...ics supply fault PS off 5115h 05 1 10 Error in 24 V supply PS off 5116h 05 2 9 12 V electronics supply fault PS off 5210h 21 0 12 Error offset current measurement PS off 5581h 26 1 62 Checksum error PS off 6081h 25 1 11 Incorrect firmware PS off 6180h 01 0 61 Stack overflow internal error PS off 6183h 16 3 60 Unexpected status programming error PS off 6187h 16 2 63 Initialization fault PS off 6191...

Page 231: ... plausibility error PS off 8100h 76 0 41 Error SSIO communication axis 1 axis 2 Configurable 76 1 40 Error SSIO communication axis 2 Configurable 8130h 12 4 23 CAN Time out nodeguarding Configurable 8181h 12 0 54 CAN General error Configurable 12 1 54 CAN Error bus off Configurable 12 2 54 CAN Error when transmitting Configurable 12 3 54 CAN Error receiving Configurable 12 5 54 CAN Error in the IP...

Page 232: ... 22 2 PROFIBUS communication error configurable 14 unknown 12 0 CAN General error configurable 12 1 CAN Error bus off configurable 12 2 CAN Error when transmitting configurable 12 3 CAN Error receiving configurable 12 5 CAN Error in the IPO mode configurable 15 E790 RS232 communication error 79 0 RS232 communication error configurable 16 E761 SSIO communication 76 1 Error SSIO communication axis 2...

Page 233: ... 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 I t error motor I t at 100 configurable 43 E311 I2t error ...

Page 234: ...ircuit 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 Excess low temperature of power electronics configurable 61 E086 SINCOS RS485 communication 08 6 Angle encoder communication error PS off 62 E088 SINCOS track signals 08 8 Int...

Page 235: ...ST G2 HW B 1 2 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...

Page 236: ...d via theFCT 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 the motor controller For communication with the interface RS232 only use a cable that corresponds to the pin allocation interface RS232 For additional information Mounting and installation description GDCP CMMS AS G2 HW GDCP...

Page 237: ...00 VERSION MMMM SSSS MMMM Main version 16 Bit hexadecimal format SSSS Subversion 16 Bit hexadecimal format Tab B 3 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 parameterised and controlled Command sy...

Page 238: ...rtion 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 p...

Page 239: ... 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 Comm...

Page 240: ...S AS G2 HW GDCP CMMD AS HW GDCP CMMS ST G2 HW C 1 2 Connection X5 Pin allocation of the RS485 interface Collision with interface RS232 If the control interface RS485 is activated interface RS232 remains active If the pins 2 and 3 in the cable are contacted on both plugs this can result in the interfaces RS232 and RS485 simultaneously accessing the motor controller For communication with the contro...

Page 241: ...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 con figuration permanently 8 Produce a reset to activate the configuration FCT Press the Restart controller button Men...

Page 242: ...out 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 ...

Page 243: ...modules 50 Digital input signals 53 Digital output signals 57 DIL switches 82 Dimension reference system 76 linear drives 76 rotative drives 77 E Encoder emulation 199 Encoder interfaces Encoder input 68 Encoder output 69 Forward reverse signals 72 CW CW CCW CCW 72 Incremental signals 70 A A B B N N 70 Pulse direction signals 71 CLK CLK DIR DIR 71 Endless positioning 206 Error message 214 F FCT 79...

Page 244: ...0 Interpolated positioning mode 153 Jog mode 172 Record linking mode 137 Teach mode 178 Speed mode 183 Synchronisation 193 Overload current and short circuit monitoring 210 Overvoltage and undervoltage monitoring 210 P Parameter file DCO 93 Position control 113 Power ON 98 R Relative positioning 115 Resonance Filter 208 S SD 22 30 38 Service 9 Seven segment display 213 Short circuit monitoring 210...

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Page 246: ...ation is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach 73726 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de ...

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