Festo CMMO-ST-C5-1-DION Original Instructions Manual Download Page 156

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Control via Ethernet (CVE)

156

Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English

B.1.3

Controlling the drive

The CMMO-ST has a finite state machine that executes the operating modes of the drive in accordance

with the user's specifications. Fig. B.1 shows the possible states. These are described in detail in

Tab. B.7. T ab. B.8 shows the possible transitions between the states.

The finite state machine is based on the CANopen standard CiA402.

Control word

The control word, as a bit field, is used to switch back and forth between the statuses

(CVE object #2,

Tab. B.9).

Status word

The status word, as a bit field, provides feedback about the current status

(CVE object #1,

Tab. B.10).

A drive function can only be started in the “Operation enabled” status.

The desired drive function must be selected via CVE object #120. Before starting a homing run the

value 6 must be written into this CVE object; before starting a position record the value 1 must be writ

ten into this CVE object. The current or last executed drive function can be read via CVE object #121.

Summary of Contents for CMMO-ST-C5-1-DION

Page 1: ...Description Motor controller with I O interface CMMO ST C5 1 DIOP CMMO ST C5 1 DION 8071657 2017 05c 8071659 CMMO ST DION DIOP Motor controller ...

Page 2: ...at can cause minor injuries or serious material damage Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out in any order 1 Activities that should be carried out in the order stated General lists Software markings xx...

Page 3: ...rque Off 12 2 Product description 13 2 1 System structure 13 2 2 Product overview 14 2 2 1 Components 14 2 2 2 Product identification 14 2 2 3 Scope of delivery and accessories 16 2 2 4 Product features 17 2 2 5 Supported motor configurations 18 2 3 Software for configuration and commissioning 20 2 3 1 FCT Festo Configuration Tool 20 2 3 2 Web servers 22 2 3 3 Password protection 23 2 4 Parameteri...

Page 4: ... 3 Mounting on a mounting plate 67 4 Electrical installation 68 4 1 EMC compliant wiring 68 4 2 Functional earth FE 68 4 3 Connections and cables 69 4 3 1 X1 I O interface 71 4 3 2 X1A Reference switch 73 4 3 3 X2 Encoder 74 4 3 4 X3 STO 75 4 3 5 X6 Motor 76 4 3 6 X9 Power supply 77 4 3 7 X18 Ethernet interface 78 5 Commissioning 79 5 1 Notes on commissioning 79 5 2 Establish an Ethernet connectio...

Page 5: ...ntrol unit profile binary 105 5 6 1 Digital inputs outputs 106 5 6 2 Establish ready status READY 110 5 6 3 Change between record selection and jog teach MODE 111 5 6 4 Acknowledge error RESET 112 5 6 5 Controller enable CONTROL ENABLE 113 5 6 6 Carrying out homing REF 114 5 6 7 Teaching TEACH 115 5 6 8 Execute command records RECORD 117 5 7 Instructions on operation 120 5 7 1 Recording of trace d...

Page 6: ...Environmental Conditions 145 A 1 3 Product conformity and certifications 146 A 2 Connection data 147 A 2 1 General connection data 147 A 2 2 X1 I O interface 147 A 2 3 X1 Logic auxiliary power supply 24 V OUT X1 24 GND X1 25 147 A 2 4 X9 power supply 148 A 2 5 X18 Ethernet interface 148 B Control via Ethernet CVE 149 B 1 Basic principles 149 B 1 1 Communication principle 149 B 1 2 CVE protocol 150...

Page 7: ...ata Help system for the FCT software2 Descriptions of the Festo Configuration Tool FCT for commissioning and parameterisation of Configurable axis motor combinations Positioning systems in Festo s Optimised Motion Series OMS Description GDCP CMMO ST EA S1 2 Use of the STO safety function Safe Torque Off Parameter lists2 OMS_Parameter_xxxx_de_en pdf List with default settings of the parameter files...

Page 8: ...for EPCO electric cylinders Festo actuators with stepper motor EMMS ST user defined actuators CMMO ST from V 1 0 x From V 1 1 x Advanced parameter settings for positioning systems via web browser CMMO ST from V 1 1 x From V 1 2 x The motor controller supports additional positioning systems such as Toothed belt axis ELGR CMMO ST from V 1 2 1 Electric semi rotary drive ERMO Electric cylinder EPCO KF...

Page 9: ...ure switching off the power supply Switching off the output stage During installation of the actuator in an inclined or vertical position falling loads Secure loads through external safety measures e g toothed pawls or moved pivot pins This especially applies to vertical axes without automatic locking mechanics clamping units or counterbalancing Prevent movement of the passive motor in particular ...

Page 10: ...orm any repairs on the motor controller In the event of a defect Replace the complete motor controller 1 1 2 Use for intended purpose The motor controller CMMO ST is intended for controlling the following actuators Positioning systems in the Optimised Motion Series OMS with axis motor units from Festo e g EPCO electric cylinder Configurable actuators with the following components Festo 2 phase ste...

Page 11: ...ditional notes in the manual for the GDCP CMMO ST EA S1 1 2 2 Transport and storage conditions Protect the product during transport and storage from excessive stress factors such as mechanical loads impermissible temperatures moisture aggressive atmospheres Store and transport the product in its original packaging The original packaging offers sufficient protection from typical stresses 1 2 3 Tech...

Page 12: ... are labelled with the symbol shown here UL Listing Mark for Canada and the United States Rules for observing the UL certification can be found in the separate UL special documentation The technical data stated therein take priority The technical data in this documentation may show values deviating from this Additional information Certificates and the declaration of conformity for this product è w...

Page 13: ...nd diagnostics with software support by the web server or FCT Festo Configuration Tool integrated in CMMO ST 3 Higher order controller SPS IPC for control via I O interface e g CECC 4 PELV power supply unit for 24 V supply voltage 5 Actuator here electric cylinder EPCO with encoder 6 Functional earth with earth plate protective ground è Special documentation CMMO ST_SPUL Fig 2 1 System structure e...

Page 14: ...g surface 1 2 3 4 5 6 7 8 9 aA aJ Fig 2 2 Components of the CMMO 2 2 2 Product identification Product labelling Example Function MAC ID 00 0E F0 40 C5 49 CMMO ST C5 1 DIOP 1512316 CD02 Rev 03 234567 00000001 24 V DC max 5 7 A CMMO ST C5 1 DIOP Type code è Tab 2 2 1512316 Part number CD02 Serial number è Tab 2 3 Rev 03 Revision hardware firmware status on delivery MAC ID 00 0E F0 40 C5 49 MAC Media...

Page 15: ...l operating voltage 1 24 V DC Activation DIOP Digital I O interface PNP switching logic DION Digital I O interface NPN switching logic Tab 2 2 Type codes Serial number On the type plate both characters of the serial number indicate the production period in encrypted form Example serial number CD è Year of manufacture C 2012 month of manufacture D Decem ber 1st character year of manufacture X 2009 ...

Page 16: ...H rail clip pre assembled Tab 2 5 Scope of delivery Current information on accessories è www festo com catalogue You will for example need the following cables and components as accessories Control cable for the higher order controller I O interface Control cable 25 pin Sub D plug NEBC S1G25 K 3 2 N LE25 NEFC S1G25 C2W25 S6 Connecting the I O interface via a connection block Connection block Cable...

Page 17: ...imum motor current 5 7 A Mounting H rail Mounting plate Functions Process control with up to 31 parameterisable sets of commands Position linking for workflow sequences Acceleration with jerk limitation Monitoring of different process variables torque speed position time Commissioning Parameterisation via Ethernet interface TCP IP Software support FCT web server Open loop control Via I O interface...

Page 18: ...can be taught and saved automatically via the I O interface Do not use the TEACH function in combination with automatic storage in continu ous operation This would otherwise rapidly use up the permitted number of write cycles Disable automatic saving after saving via FCT è FCT Controller I O Configura tion 2 2 5 Supported motor configurations Step motor and holding brake The motor controller suppo...

Page 19: ...ontroller supports Step motors with encoder in closed loop operation optional in open loop operation Step motors without encoder in open loop operation Motor configuration Function Motor with encoder1 Controlled operation closed loop operation Only the energy needed to move the load is directed into the motor The motor works in an energy optimised way and produces less heat The motor is position c...

Page 20: ...d type of device The framework facilitates consistent project and data management of all supported types of device The plug ins are managed and started from the framework The PlugIn of a type of device supports the structured delivery of all necessary steps to commission the actuator The software Help system contains detailed manuals relating to the FCT The FCT online help also has information abo...

Page 21: ...ts of commands Type of record positioning mode power mode velocity speed mode Record Linking Import export of FCT parameter files for data backup data transmission during device replacement and data transmission to the web browser FCT Online Display of communication status device status I O signals Carrying out homing Manual movement of the actuator jog Teaching of sets of records with preconfigur...

Page 22: ...ning systems OMS are included in the scope of delivery on CD ROM More recent versions are available as downloads è www festo com sp Website Functions Profile Diagnosis Diagnostics Status information e g Display of device type and firmware version Display of IP and MAC address Identification on the network wave function Operating messages Motion Complete Referenced Actual Posi tion Record Set Numbe...

Page 23: ... Before the web browser is closed the cache buffer memory needs to be deleted as a precaution with Microsoft Internet Explorer menu Options command Delete browser Enabling password protection In delivery condition password protection is enabled To enable a password is defined in the FCT è Chapter 5 4 6 or via the web browser è Chapter 5 3 6 After input of a valid password the pass word protection ...

Page 24: ...e DHCP server The DHCP server of the motor controller facilitates a direct connection to a PC configured individually as a DHCP client DHCP IPv4 Addressing IP configuration Servers static IP address 192 168 178 1 private IP Subnet mask 255 255 255 0 Gateway Port Web browser 80 FCT 7508 CVE 49700 Tab 2 13 TCP IPv4 configuration of the motor controller factory setting Note The factory setting is gen...

Page 25: ...erver on the motor controller assigns the PC DHCP client an appropriate IP configuration IP addresses from the following range 192 168 178 110 to 192 168 178 209 Subnet mask 255 255 255 0 Gateway address is not issued 1 Dynamic Host Configuration Protocol Tab 2 14 Direct connection via Ethernet factory setting Connection Description Client Client Client Server The motor controller is connected to ...

Page 26: ... contain Valve Profile parameterisation Profile Description Valve è Chapter 5 5 I O control for a simple positioning mode optionally with reduced torque Based on the pneumatic valve pilot 7 position records can be selected directly through one input each 7 separate inputs Upon reaching the target position the output corresponding to the input is set 7 separate outputs Binary è Chapter 5 6 I O cont...

Page 27: ...e motor con troller 2 TCP IP connections 1 HTTP connection Protocol Connections TCP IP FCT CVE HTTP Web servers Tab 2 17 Maximum permitted simultaneous connections via Ethernet interface Where 2 TCP IP connections are created the first of those connections is the active one The 2nd con nection is the passive one A passive connection cannot become an active connection For that both connections woul...

Page 28: ...ntrol is disabled master control is restored to the I O interface Tab 2 19 Changeover of device control Inhibit switch over Device control can be adopted by an active connection if that process is not inhibited by CVE paramet er master control inhibit object 4 Return of device control to the I O interface in the FCT or web browser cannot take place if the block has been enabled 2 4 4 Time out char...

Page 29: ...diate stop pause with the option of deleting the remaining path Binary Actuate the holding brake Activation of holding brake on motors with integrated holding brake Valve Binary 2 5 6 Positioning mode Operating mode for travelling to a specified target position point to point positioning with the option of reduced torque3 Valve2 Binary 2 5 7 Profile Velocity Mode Operating mode to drive a distance...

Page 30: ...direction of rotation may be of benefit è FCT Application Data Environment Inverse Rotation Polarity Recommendation check direction of movement in job mode and if required reverse it increasing actual values positive direction decreasing actual values negative direction Example linear drive Ref AZ A b c PZ d e TP AP SLP SLN M 1 2 3 Ref Homing point reference point AZ Axis zero point PZ Project zer...

Page 31: ...position SW limit positive SP Target position AP Actual position a Offset axis zero point AZ b Offset project zero point PZ c Target actual position TP AP d Option software limit negative SLN 1 e Option software limit positive SLP 1 1 Usable range 2 Working area 3 Direction of rotation with factory setting viewing front surface of motor shaft 1 On rotary shafts with unlimited configuration no end ...

Page 32: ...h away from the mechanical stops The controller checks if the target position of the set of commands is located between the software limits SNL and SLP If a target position lies outside this range the positioning record is not executed and the reaction parameterised in the FCT error management is triggered è FCT Controller Error Management Before the software limit is reached the actuator is brake...

Page 33: ...ntrol mode after a reversal in the direction of rotation Recommendation for repeating the homing operation after system faults during which the homing point can be lost after a step loss during open loop operation Start the homing run Device control Start function Profile FCT FCT online tab Homing Valve binary Web servers Parameters website Valve I O interface DIN8 REF Valve DIN1 DIN5 RECORD 0 DIN...

Page 34: ...ve automatically to the parameterised axis zero point Reference travel option travel to the axis zero point Active1 After reaching the homing point the actuator automatically moves on to the axis zero point actual position 0 offset PZ Inactive When the homing point is reached reference travel homing is completed actual position 0 offset AZ offset PZ 1 Default setting è FCT Axis Homing Settings In ...

Page 35: ...ctual Value Homing Switch Stop Axis zero point Axis Zero Point The distance of the axis zero point from the reference point in positive or negative direction offset Stop recognition closed loop operation Force torque limit Force Limit Torque Limit Percentage figure for force related to maximum current at which a stop is detected Stop Damping time Message Delay Time period during which the force mu...

Page 36: ...ful the position of the switch becomes the homing point Positive direction Negative direction 17h 1Bh 23 27 Homing Switch with Index3 2 The reference switch is sought during the homing process When successful the actuator moves in the opposite direction to homing as far as the next index point for the sensor The position reached becomes the homing point Positive direction Negative direction 07h 0B...

Page 37: ...1 Search for the index of the encoder with search speed in the parameterised direction The position of the next index is taken as the homing point 2 Optional travel to the axis zero point Direction positive method 22h 34 Direction negative method 21h 33 Index Index Tab 2 31 Homing method homing to index ...

Page 38: ...sign on the offset direction away from stop Note Homing to a stop protect delicate stops by reducing the search velocity Note Material damage due to moved dimensional reference system The controller wrongly detects a stop if the actuator stops while homing e g In the event of greatly reduced dynamic values low maximum motor current combined with high travelling resistance e g due to frictional gri...

Page 39: ... position at crawling speed in opposite direction until the reference switch is disabled This position is taken as the homing point 3 Direction positive Direction negative Homing Switch Time out 0x22 Homing Switch Time out 0x22 Controlled operation 1 Search for the reference switch with search speed in the parameterised direction Switch not found position to stop search in opposite direction Switc...

Page 40: ...pted as the homing point 2 Direction positive Direction negative Index pulse Homing Switch Index pulse Homing Switch 1 If the reference switch is enabled when a homing run starts step 2 is executed immediately 2 Homing option Position to axis zero point è Tab 2 26 Tab 2 34 Homing method reference switch with index The angle position of the encoder index impulse must be far enough from the referenc...

Page 41: ...oming is not required for jogging The positioning range differs depending on the status of the referencing operation Status not referenced positioning range between the stops The software limits are not monitored Status referenced positioning range between the software end positions The actuator stops automatically when it reaches a software end position Normally the software end position is not p...

Page 42: ...he end of slow moving time Acceleration Acceleration Setpoint value for acceleration phases and the retardation phase Max permitted following error Maximum Following Error Value for the permissible following error for jog movement Damping time Message Delay A fault is generated if the following error is present for longer than the time parameterised here Tab 2 35 Parameter for influencing the trac...

Page 43: ...rocess always runs in the following steps 1 The parameter è Tab 2 36 is selected and or addressed 2 The actuator is moved into the desired position e g through jogging è Section 2 5 3 3 A teach command is triggered to adopt the current position Teaching with FCT or web server The taught position is displayed after successful teaching in the software Parameterisation in the controller becomes effec...

Page 44: ... standstill Open loop operation the drive is held at the position reached by the holding current setting Closed loop operation the actuator remains stationary and position controlled at the position reached Standstill mon itoring is activated Motion complete is not set Continued The order can be continued using the corresponding signal to the control interface Delete remaining path The remaining p...

Page 45: ... the controller is blocked Controller enable Open loop control via output X6 5 BR BR CONTROL ENABLE 0è1 Open holding brake CONTROL ENABLE 1è0 Close holding brake Tab 2 38 Automatic brake control The mechanical inertia of the holding brake means that it takes a certain length of time to open and close it The behaviour of the motor controller during control enable is adapted to the mechanical inerti...

Page 46: ...ined or vertical position falling loads Prevent unauthorised access Inform operating and maintenance staff about any potential hazards Secure loads before disabling the holding brake When the closed loop controller is blocked the holding brake can be opened Via I O interface X1 9 DIN BRAKE CONTROL 1 With FCT Project output window device control disable Brake After opening the holding brake the act...

Page 47: ... the end of the order While carrying out an order the deviation between setpoint position based on path characteristics and the actual position should be calculated and monitored è Chapter 2 7 1 following error Parameters Description Position Target specification variants è Tab 2 40 Velocity Maximum value for velocity speed Acceleration Maximum value for acceleration Retardation1 deceleration Maxi...

Page 48: ... without coming to a stand still è Tab 2 54 Target recognition Behaviour after target recognition The actual position is in the tar get window for the paramet erised damping time The Motion Complete signal is set Open loop operation the actuator remains at the target position and is maintained in position with the predefined holding current Closed loop operation the actuator remains stationary and...

Page 49: ...he calculated path track remains unchanged until the end of the order While carrying out an order the deviation between setpoint speed based on path characterist ics and the actual speed should be calculated and monitored è Chapter 2 7 1 following error Parameters Description Velocity Target specification for the speed Acceleration Maximum value for acceleration Retardation deceleration 1 Maximum ...

Page 50: ...t The Stroke limitation signal is set The actuator is braked down to a stop using the parameterised Quick Stop deceleration function Although the target speed has not yet been reached the Motion Complete signal was set è Fig 2 6 and Fig 2 7 Open loop operation the actuator remains at the target position and is maintained in position with the predefined holding current Closed loop operation the act...

Page 51: ...n reached internal t t t t Target speed s Stroke limit Item Actual speed v Fig 2 6 Stroke limitation reached before target speed example Motion complete Stroke limitation reached internal t t t t s Target speed Stroke limit pos Actual speed v Fig 2 7 Stroke limitation reached after target speed example ...

Page 52: ... related to nominal motor current Speed Velocity Setpoint value for speed velocity Tab 2 47 Parameters in force mode Target recognition The characteristics when the target position are reached target recognition depends on the stroke limitation Target recognition Behaviour after target recognition without stroke limitation Force is reached i e the actual motor current is located in the time window...

Page 53: ...ning to the actual position PRA PA PRN PRA PA PRN PRA Profile Velocity Mode With stroke limitation VSL Without stroke limitation V VSL V Force mode With stroke limitation FSL Without stroke limitation F FSL F Tab 2 49 Record parameter record number record type Record selection via I O interface When activating via the I O interface the execution of a record differs depending on the open loop contr...

Page 54: ...pond to a start signal if the current order is not yet completed è Tab 2 51 record switching Condition Start Delay MC visible Final velocity Final Velocity Following Set Several records in the record table can be linked with one another These are executed directly after one another using a start signal if the applicable conditions for onward switching are satisfied è Tab 2 52 record linking Compar...

Page 55: ... once Motion Complete is enabled standard Binary Waiting Delay The current order is completed The subsequent order addressed by the last start signal is executed once the current order has been completed after Motion Complete Binary Interrupt Interrupt The current task is interrupted immediately and the newly ad dressed task is executed directly Valve Binary 1 With binary professional can be param...

Page 56: ...C is executed without another start signal Target position record A t t t Motion Complete Start record A B C Target position record C Fig 2 9 Start condition Waiting Example start condition Interrupt The current task here record A is interrupted immediately and the newly addressed task here record B is executed directly Target position record A t t t Motion Complete Start record A B Target positio...

Page 57: ...ng time that expires before the record is started from a record chaining MC visible MC visible Indicates whether the Motion Complete signal should occur between the individual records of a record sequence Final Velocity Final speed at which the record should be completed at the target position The final velocity must be less than or equal to the parameterised maximum speed of the order Following S...

Page 58: ... the next record starts End velocity 0 with record sequencing The actual position matches the target position or has exceeded it Open loop operation the actuator continues in open loop control mode at the final velocity of the positioning order without monitoring of the deviation The force continues to be limited to the maximum value defined in the order A subsequent order can start without the ac...

Page 59: ...er Final velocity on record sequencing Final and setpoint velocity for record A share the same value Record B is started without start delay when record A reaches setpoint position t Motion Complete MC visible t t Start record sequence t Setpoint speed record A Final velocity record A Setpoint speed record B Position A Position B v s Fig 2 11 Subsequent record with final velocity v 0 ...

Page 60: ...ors 2Fh monitors the closed loop control characteristics while an order is in positioning and velocity mode è Fig 2 13 Binary Standstill monitoring 37h 1 in closed loop operation monitors the characteristics after Motion Complete Stop or Pause è Fig 2 14 Binary 1 The error management functionality of FCT makes it possible to parameterise the response to this message è FCT error management Tab 2 55...

Page 61: ...eterisation The message is enabled if the difference between the setpoint and actual value of the current variable displacement velocity the time parameterised here lies outside the permitted difference Target position t1 Damping time Start Following error Message 2Fh Warning 1 2 3 s t1 Damping time for following error 1 Nominal positioning characteristics 2 Max Following Error 3 Actual positionin...

Page 62: ...e diagnostic message Actual position lies outside the standstill window enabled 1 Axis has left the standstill window disabled 0 Axis in standstill window The position controller attempts to return the actuator to the standstill window Motion Complete Standstill monitoring enabled 1 disabled 0 t t t t s Quit standstill window message Target position t1 t2 t2 1 2 t1 Damping time Motion Complete t2 ...

Page 63: ...rs1 Description Minimum Min Lower limit of the window Maximum Max Upper limit of the window Time2 Minimum dwell time within the window 1 Parameterisation takes place via FCT Controller Record Table Record Messages 2 Time parameter for the comparators position velocity force Tab 2 56 Parameter for the comparator Comparator Parameter Description Profile Time Min Max The message is enabled if the ela...

Page 64: ...nd positions è Chapter 2 5 1 I2t motor current 2Dh 0Eh If the maximum value of the current time in tegral of the closed loop controller is ex ceeded a message is issued Current is lim ited to the nominal current to protect the mo tor from overheating Logic voltage 17h 18h Undervoltages and overvoltages Intermediate circuit voltage 1Ah 1Bh Output stage temperature 15h 16h 33h The output stage tempe...

Page 65: ... the power supplies against accidental reactivation Note Damage to the product from incorrect handling Never remove or insert interconnecting cables when the motor controller is powered Observe the handling specifications for electrostatically sensitive devices 3 1 Installation dimensions Fig 3 1 Installation dimensions Dimension B1 B2 H1 H2 H3 H4 L1 L2 L3 mm 39 20 118 7 113 103 1 90 115 108 8 96 ...

Page 66: ...rol è Fig 3 2 1 Use original screw When using another screw Please observe screw in depth max 5 mm 3 Attach motor controller from above to hook on bracket 4 Press motor controller against the H rail until the bracket engages 5 When installing several controllers maintain the specified minimum distance max 5 mm 1 Fig 3 2 H rail installation Dimension L1 H1 mm 41 61 35 Tab 3 2 Minimum distance of mo...

Page 67: ...rews If necessary use washers spring washers When replacing the controller Unfasten 3 x M4 screws a few turns Swivel out the controller Horizontal assembly For horizontal installation there are 2 recesses and 2 bores on the mounting surface è Fig 3 3 4 Bolt device into place using 4 x M4 screws If necessary use washers spring washers 1 2 3 4 5 6 1 Remove the H rail clip 2 Mounting surface 3 Recess...

Page 68: ... not run signal cables parallel to power cables Minimum distance of signal cables to power cables is 25 m Avoided crossing power cables or running them at a 90 angle Note permitted cable lengths max length 30 m On shielded lines with unshielded connector housings Make the length of the unshiel ded cores at the end of the cable as short as possible 4 2 Functional earth FE The lower base plate of th...

Page 69: ...om ponents ESD protection At unassigned plug connectors there is the danger that damage may occur to the device or to other system parts as a result of ESD electrostatic discharge Observe the handling specifications for electrostatically sensitive devices Seal unassigned plug connectors with protective caps Earth system parts prior to installation Use appropriate ESD equipment e g shoes earthing s...

Page 70: ... 28 X6 6 pin 3 5 0 081 1 31 8 9 CAGE AWG16 28 X9 5 pin 3 5 0 081 1 31 8 9 CAGE AWG16 28 Tab 4 2 Overview of connectors accessories Connection Cable length m Cable version X1 I O 30 unshielded1 X1A Homing Switch 30 unshielded1 X2 Encoder 10 Screened1 X3 STO 30 Screened2 X6 motor 10 Screened1 X9 Power supply 30 unshielded2 X18 Ethernet 30 Screened3 1 This cable is available as an accessory è www fes...

Page 71: ...outing of inputs outputs depends on the control unit profile employed binary valve Description of the control unit profiles è Chapter 5 5 and Chapter 5 6 Connection 1 1 14 25 13 X1 Pin 1 2 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Digital inputs DIN Digital outputs DOUT LOGIC Out GND 01 02 11 01 02 03 04 05 06 07 08 09 10 11 24 V 0 V Tab 4 4 Connection X1 Note Damage to the device in the event ...

Page 72: ...D Switches Pin 11 24 25 DIN1 DOUT1 DIN2 DIN10 DIN11 DOUT2 DOUT10 DOUT11 X1 PNP Fig 4 2 Connection of interface variant PNP CMMO DIOP PLC GND Switches Inputs Outputs Pin X1 NPN 1 2 10 11 DIN1 DIN2 DIN10 DIN11 12 13 21 22 GND 24 V OUT 24 25 DOUT1 DOUT2 DOUT10 DOUT11 Fig 4 3 Connection of interface variant NPN CMMO DION ...

Page 73: ...Voltage output for supplying the reference switch No overload protection 2 SIGNAL REF CMMO DIOP Input for PNP switch switches to 24 V NO NC version1 CMMO DION Input for NPN switch switches to ground NO NC version1 3 0 V GND Reference potential ground 1 NO NC Normally Opened Normally Closed Tab 4 5 Connection X1A reference switch Note Damage to the device in the event of an overload Pin 1 24 V Out ...

Page 74: ...nents Connection Pin Function X2 1 8 1 8 1 A 1 Incremental encoder signal A 2 A 1 Incremental encoder signal A 3 B 1 Incremental encoder signal B 4 B 1 Incremental encoder signal B 5 N 1 Incremental sensor signal zero impulse 6 N 1 Incremental sensor signal zero impulse 7 5 V Supply of the sensor 5 V 10 Max 100 mA No overload protection 8 GND Reference potential 0 V 1 At each pin 5 V and Ri approx...

Page 75: ...of the STO safety function The STO safety function Safe Torque Off is described in detail in the documentation GDCP CMMO ST EA S1 The STO function should only be used in the manner described in this document Connection Pin Function X3 1 5 1 5 1 24 V DC1 LOGIC OUT Logic voltage output Supply via X9 Max 100 mA No overload protection 2 STO 1 Control ports for STO function 3 STO 2 4 DIAG 1 Feedback co...

Page 76: ...s as well as screening of the motor encoder cable with earth contact on both sides for connec ted components Connection Pin Function X6 1 6 1 6 1 String A Connection of the two motor strings 2 String A 3 String B 4 String B 5 BR Connection of the holding brake 24 V Max 1 4 A 33 W Short circuit proof and overload proof BR GND BR is switched 24 V load 6 BR Tab 4 8 Motor connection X6 ...

Page 77: ...ice in the event of a connection fault Pay attention to the correct pin numbers corresponding to the plug location X9 on the device Do not connect up Pin 1 and Pin 2 Note Damage to the device caused by overvoltage The inputs for the power supply do not have any protection against overvoltage Comply with permitted voltage tolerance Connection Pin Function X9 5 1 5 1 1 Do not connect 2 Do not connec...

Page 78: ...SO IEC 27001 Note Faulty installation and high transmission rates may cause data transmission errors as a result of signal reflections and attenuations Transmission errors can be caused by faulty screened connection branches transmission over distances which are too long Unsuitable cables cable specification è Chapter A 2 5 Connection Pin Function X18 8 1 1 TD Transmitted data 2 TD Transmitted dat...

Page 79: ...the application must be ensured through other appropriate measures Circuitry with use of the STO safety function The STO safety function Safe Torque Off is described in detail in the document GDCP CMMO ST EA S1 The STO function should only be used in the manner described in this document Safety instructions For use of safety function STO check the STO function è Documentation GDCP CMMO ST EA S1 Ma...

Page 80: ...ge the IP configuration of the motor controller with FCT è Chapter 5 7 4 Fig 5 1 Initial start up via direct connection point to point connection Ethernet direct connection Prerequisites The PC is configured as a DHCP client usually the default setting for PCs The motor controller is configured as a DHCP server factory setting Connection to be established 1 Connect the Ethernet interface of the mo...

Page 81: ...Pv4 settings on the Ethernet interface used on the PC è Windows System Settings Assign IP address automatically Obtain DNS server address automatically For setting up the network configuration Windows administrator rights are required Establish the current address of the motor controller with FCT è FCT menu Component FCT Interface Scan ...

Page 82: ...eters can if necessary be displayed with FCT e g maximum values for speed accelera tion force Alternatively the settings can be modified using FCT and saved in the parameter file Prerequisites for commissioning The application requires a simple positioning actuator with max 7 sets of commands valve profile The appropriate parameter file fpf for each actuator is available The web page parameters is...

Page 83: ...password needs to be entered to change pages the Username box in the query dialogue on the browser can remain empty because it is not evaluated è Chapter 2 3 3 pass word protection Website Sections1 Description Diagnosis Status2 Status information about the device and identification of the motor controller wave function adjustment to the dimensional system unit mm inch inc E A Interface2 Signal st...

Page 84: ... Device Control Enabling via web browser Caution Faults during configuration or parameterisation can lead to unexpected behaviour from the motor controller if the controller is approved Only enable the controller if the motor controller has been configured and paramet erised by downloading the relevant parameter file Do not operate the positioning system with unknown settings The documentation of ...

Page 85: ...file from the Festo Parameter Cloud is saved to the PC 1 Calling Parameters website in the web browser 2 Enter the complete OMS ID under Parameter upload download With OMS systems without OMS ID enter the complete type code 3 Search for file Parameter upload download Search 4 Save file Parameter upload download Save Alternatively you can search for the file in the Festo Support Portal and save it ...

Page 86: ...r is completely configured and parameterised by a parameter file With homing on a reference switch the inputs for the reference switch are enabled Carrying out homing 1 Approval by web server Enable Parameters section Control Device Control Enable Parameters section Control Control Enable 2 During initial start up check functionality of the actuator Move actuator manually with Jog neg or Jog pos i...

Page 87: ...nally with record type Positioning to absolute position Teaching position First move the actuator to the desired position with Jog neg or Jog pos Then click Teach Pos for the set of commands The position is displayed in the set of commands 4 Enter or adapt the record parameters e g travel speed Velocity acceleration Acceleration and force limitation Torque in the input fields For testing select 10...

Page 88: ...r enable 2 With Store below the table of sets of commands the sets of commands can be saved perman ently to the motor controller 3 Interrogate parameter file from the permanent memory of the controller with Upload parameter set to CMMO 4 Save parameter file fpf to data carrier via the displayed Windows dialogue Transferring a backup file To transfer a backup file from the PC to the motor controlle...

Page 89: ...red controller profile valve or binary profile è Chapter 2 4 2 Signals required from the STO interface Input signals STO1 and STO2 on X3 First commissioning For initial start up the following steps can be performed 1 Configure and parameterise è Chapter 5 4 2 2 Perform homing è Chapter 5 4 4 3 Create and test command records è Chapter 5 4 5 4 Conclude commissioning è Chapter 5 4 6 5 4 1 Installing...

Page 90: ...ues on the basis of the application PlugIn workflow Configuration and parameterisation of the actuator is supported by a workflow which can also be used to prepare for commissioning without a connection to a controller offline 1 Start workflow in Workstation window with FCT Configuration Check details and call up the Configuration Assistant if necessary Use Change to select other drive components ...

Page 91: ...lease signal of the I O interface DIN CONTROL ENABLE stops being evaluated The current parameterisation of the motor controllers is compared against the FCT project and the data can be synchronised 1 Create an online connection with the FCT menu Component Online Login 2 In the FCT online tab enable FCT at Device Control 3 Synchronise data upload download comparison Enabling via FCT Caution Faults ...

Page 92: ... Requirements The actuator is completely configured The dimensional reference system is parameterised è FCT Axis Measurements Homing has been parameterised è FCT Axis Homing When homing on reference switch The inputs for the reference switch are enabled The type of switch used is configured correctly in the FCT All parameter settings were transferred with FCT Download to the controller Carry out h...

Page 93: ...meters FCT Controller Record Table basic data FCT Controller Record Table limitations For testing select low values for travel speeds and acceleration 4 Enter other sets of commands Testing command records 1 Enabling via FCT 2 With Download command records are temporarily transferred to the motor controller 3 Conduct a test run of records using the Start button for the record number Optional creat...

Page 94: ...ice to commission several actuators quickly with the same parameterisation to restore the parameterisation of the motor controller When creating a backup file the complete parameter file is loaded from the motor controller and is saved on the PC If no valid parameter file is present in the controller the default parameter file is loaded and saved 1 Adopt device control in the FCT reset controller ...

Page 95: ...et controller enable 2 Enter the password for the FCT menu Component Online Password Maximum length of password 16 characters Permitted characters a Z A Z 0 9 _ The password is case sensitive 3 Save the password with Accept After that the password is permanently stored in the motor controller To create a compatible parameter file for firmware V1 1 2 4 Save parameter file in the controller via FCT ...

Page 96: ...ced torque Automatic homing Record changeover start condition Interrupt Power limitation of command record to maximum permitted force Comparator position Message Motion Complete Non supported functions Jogging and teaching the position via I O Operating modes for speed force operation Record Linking Drag error monitoring stationary monitoring Asymmetric acceleration and deceleration ramp 5 5 1 Dig...

Page 97: ...omplete stop by the parameterised braking ramp deceleration record DIN8 Ref 0è1 Start of a homing run If an input RECORD 1 7 is active at the same time an error is reported 1è0 If the input becomes inactive during execution the homing run is terminated After establishing the homing point the output DOUT9 REFERENCED is enabled After that the input can be disabled DIN9 BRAKE CONTROL 1 Opens the hold...

Page 98: ...put remains enabled If however the actuator is pushed out of position and then returns the output remains disabled If another input RECORD 1 7 is enabled then the current position is compared to its position zone and output 8 is reset depending on the result DOUT9 REFERENCED 1 After a successful homing run this output is set and remains set for as long as the drive is referenced DOUT10 Ready 1 The...

Page 99: ...osed 1 2 t2 t1 t3 Power supply On Off Faults No error 3 Switch on time t1 1s Delay times t2 depending on the parameterised switch on delay t3 depending on the mechanical inertia of the holding brake 1 Switch on the power supply 2 Request controller enable 3 Ready for operation Fig 5 5 Valve profile establish ready status The response time t2 between requesting controller enable and ready status le...

Page 100: ... possible immediately e g with a drag error In other cases the troubleshooting must be remedied first e g temperature error load voltage error Shortly after acknowledging the error RESET 0è1 the error is reset To enable the controller a rising flank CONTROL ENABLE 0è1 is required After that the motor controller is once again ready for op eration READY 1 RESET DIN11 Ready DOUT10 t CONTROL ENABLE DI...

Page 101: ...ed down to a stop using the parameterised Quick Stop deceleration function READY 0 is used to signal that ready status has been disabled In this status no further orders will be accepted On motors without a holding brake the axis can be offset manually On motors with a holding brake the holding brake can be opened by 1 signal on the BRAKE CONTROL input Further information about the holding brake è...

Page 102: ...ut is not set until that axis datum point is reached Only after that can the REF input be disabled The REFERENCED output remains enabled while the actuator is being homed 1 3 Ready DOUT10 Ref DIN8 REFERENCED DOUT9 2 RECORD 1 7 DIN1 7 Homing Switch X1A 2 1 Start homing 2 Homing point found 3 Axis zero point reached Fig 5 8 Valve profile homing to reference switch The input for reference switch sign...

Page 103: ...witching Start record by enabling an input RECORDx the command record is addressed and the order is started The input RECORDx must remain enabled until the specified target has been reached Stop record during execution of the order if input RECORD x is disabled the actuator is slowed down to a complete stop by the parameterised record delay The order is discontinued The output RECORDx is not enabl...

Page 104: ...ECORD 2 REACHED 1 2 DIN2 RECORD 2 START STOP DIN1 RECORD 1 START STOP Ready DOUT10 3 4 5 1 Start record 1 2 Stop record 1 3 Start record 2 4 Record changeover from record 2 to record 1 Start condition record 1 interrupt 5 Target for record 1 reached Fig 5 9 Valve profile e g record selection with record switching ...

Page 105: ...20 Bit 22 21 20 Record Coding mode 0 Record Coding mode 1 01 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 2 0 0 0 1 0 2 0 1 0 3 0 0 0 1 1 3 0 1 1 4 0 0 1 0 0 4 1 0 0 5 0 0 1 0 1 5 1 0 1 6 0 0 1 1 0 6 1 1 0 7 0 0 1 1 1 7 1 1 1 31 1 1 1 1 1 1 Homing Tab 5 8 Binary coding of the record number via digital inputs Supported functions Open loop control mode positioning mode velocity speed mode Closed loop control mode ...

Page 106: ... 8 IN ZONE X1 19 9 REFERENCED X1 20 10 Ready X1 21 11 TORQUE LIMIT REACHED X1 22 Tab 5 9 Binary profile overview of digital inputs outputs The inputs are scanned at intervals scanning rate tmax 1 ms That enables the controller to re spond to an input signal after a delay Logical status of inputs outputs Note the difference between the electrical level High Low and the logical status 1 0 of an inpu...

Page 107: ...ued Optional delete remain ing path DIN11 Stop 0 Actuator stops 1 JOG JOG can be per formed X1 7 8 MODE Switch over mode 0è1 mode 1 1è0 mode 0 X1 8 9 BRAKE CONTROL 1 Opens the holding brake via X6 5 BR whenever the closed loop control is closed Makes manual offset of the axis possible The hold ing brake remains opened while the 1 signal is present regardless of CONTROL ENABLE 0 Automatic brake con...

Page 108: ...nfiguration Digital Outputs X1 17 7 X1 18 8 IN ZONE The drive is located within the configured position zone of the current position record i e within the position comparators X1 19 9 REFER ENCED The drive is referenced X1 20 10 Ready The drive is ready for operation X1 21 11 TORQUE LIMIT REACHED Force compensation reached Only for positioning and speed mode X1 22 Tab 5 12 Binary profile function ...

Page 109: ... in the record has been reached Stationary monitoring 0x37 1 signal whenever the Standstill monitoring message is active 1 Homing Homing Homing active 1 signal whenever homing is being carried out Reference position valid 1 signal whenever the homing position is valid Comparators Comparators Position Comparator2 1 signal whenever the corresponding compar ator is active 1 Velocity Comparator Force ...

Page 110: ...t3 Power supply On Off ERROR DOUT5 PAUSE STOP DIN7 PAUSED STOPPED DOUT10 Switch on time t1 1s Delay times t2 depending on the parameterised switch on delay t3 depending on the mechanical inertia of the holding brake 1 Switch on the power supply 2 Request controller enable 3 Ready for operation Fig 5 10 Binary profile establish ready status The response time t2 between requesting controller enable ...

Page 111: ...incides with an order being executed the current order is braked to a stop by Quick Stop Pin Inlet DIN8 Description X1 8 MODE 0 Mode 0 Record selection 1 Mode 1 Jog teach Tab 5 14 Mode for the I O interface To avoid malfunctions during mode changeover the time delay of t 5 ms must be ob served Then enable the inputs Mode 1 active Ready DOUT10 MODE DIN8 Mode 0 active t t Time delay t 5 ms Fig 5 11 ...

Page 112: ...nt is possible immediately e g with a drag error In other cases the troubleshooting must be remedied first e g temperature error load voltage error Shortly after acknowledging the error RESET 0è1 the error is reset To enable the controller a rising flank CONTROL ENABLE 0è1 is required After that the motor controller is once again ready for op eration READY 1 RESET DIN11 Ready DOUT10 t1 CONTROL ENA...

Page 113: ...s with a holding brake the holding brake is closed automatically during the switch off delay After that the closed loop controller is switched off and READY 0 disables ready status In ENABLE 0 status no orders are accepted On motors without a holding brake the axis can be offset manually On motors with a holding brake the holding brake can be opened by 1 signal on the BRAKE CONTROL input Further i...

Page 114: ...ed 1 2 Start DIN6 Motion complete DOUT1 Ready DOUT10 START ACK DOUT2 RECORD BIT 0 4 DIN1 5 t MODE DIN8 t t Record 0 homing REFERENCED DOUT9 Homing Switch X1A 2 Time delay t 2 ms 1 Start homing 2 Drive is referenced Fig 5 14 Binary profile mode 0 homing to reference switch The input for reference switch signal to X1A 2 signals that the homing position has been reached The type of switch used NC NO ...

Page 115: ...signal was set and if the process cannot be ex ecuted the TEACH signal needs to be reset A new process cannot be started until after that 1 2 3 4 Ready DOUT10 t MODE DIN8 t t PAUSE STOP DIN7 Motion complete DOUT1 CONTROL ENABLE DIN10 JOG DIN4 TEACH DIN6 RECORD BIT 0 2 DIN1 3 TEACH ACK DOUT2 Time delay t 2 ms 1 Jog JOG started 2 Jog JOG was stopped 3 Establish teach readiness 4 Current position was...

Page 116: ...automatically in the addressed record The motor controller signals via a rising flank to DOUT2 TEACH ACK that the position was accep ted successfully Automatic saving Automatic saving of the taught position can either be temporary or permanent Option set factory specification the taught position is saved permanently Option not set the taught position is effective temporarily and is then lost when ...

Page 117: ...of the order if input PAUSE STOP is disabled the actuator is slowed down to a complete stop by the parameterised record delay The order is interrupted pause The output MOTION COMPLETE is not enabled In this condition the set of commands can be continued with START or the remaining path can be deleted Delete remaining path The remaining path can be deleted using the corresponding signal to the cont...

Page 118: ... t PAUSE STOP DIN7 Motion complete DOUT1 CONTROL ENABLE DIN10 Start DIN6 START ACK DOUT2 RECORD BIT 0 4 DIN1 5 RESET DIN11 t PAUSED STOPPED DOUT10 Time delay t 2 ms 1 Start record 2 Stop record PAUSE 3 Delete remaining path 4 Signal for order complete target reached Fig 5 16 Binary profile Mode 0 e g record selection delete start stop with remaining path ...

Page 119: ...N8 t t PAUSE STOP DIN7 CONTROL ENABLE DIN10 RECORD BIT 0 4 DIN1 5 Motion complete DOUT1 t Record x Record x 1 PAUSED STOPPED DOUT10 Time delay t 2 ms 1 Record x start 2 Record changeover from record x to record x 1 Start condition record x 1 interrupt 3 Target reached record X 1 Fig 5 17 Binary operation mode 0 record switching with start condition interrupt ...

Page 120: ...sp Enter the part number or order code of the product in accordance with the product labelling Check to see that an appropriate version of the firmware is available Check to find out if an updated plug in is available for the firmware When loading the firmware with the FCT first only transmit identification data to the motor controller The motor controller checks if the firmware is compatible with...

Page 121: ...27001 Prior to integration in a network the IP addressing of the device must be changed with FCT The IP configuration on the device can be changed without the current IP configura tion of the device matching that of the PC DHCP IPv4 Addressing Description Client Automatic The device obtains its IP configuration from a DHCP server in your network This method is necessary for network operation if an...

Page 122: ...messages with a lower priority and must be acknowledged Axxx1 Warning 3 Warnings have a lower priority than errors and are not displayed if they occur when an error is already displayed Otherwise they are displayed twice in succession Warnings do not have to be confirmed acknowledged HHHH STO Safe torque off 4 The STO function has been requested P000 Homing 5 Normal operation P070 Jog positive P07...

Page 123: ...ntrollers The point flashes in the display of the selected motor control ler the motor controller nods Enable waving function with web server Diagnosis website click option box Identify this CMMO on Enable waving function with FCT FCT menu Component FCT Interface open the window FCT Interface With Search start the Festo Field Device Tool Netscan program All reachable motor controllers are displaye...

Page 124: ...gnostic memory è Diagnosis memory Diagnostic Memory The most recent diagnostic message is displayed in the top row Deleting the diagnostic memory The diagnostic memory can also be cleared using FCT When deleting a Start up event message 3Dh is generated and is logged in the diagnostic memory The counter is not reset Information Description Counter Counter Counter number of diagnostic message The m...

Page 125: ...sequent disconnection of the output stage Error response Description Free run out Free weeling The output stage is switched off The drive gradually comes to a standstill Quick stop deceleration QS deceleration The movement is stopped immediately with the parameterised quick stop deceleration function There is the option of shutting down the output stage Satz Verzögerung Deceleration record The mov...

Page 126: ...an be parameterised in FCT Acknowledgement option Contains information about the scope for acknowledgement Acknowledgement can be performed by FCT web server or I O interface DIN11 RESET Software reset If the fault cannot be acknowledged a restart must be performed Restart FCT with the command Component Online Restart controller or switch device on and off Error response For every diagnostic messa...

Page 127: ...ve is blocked Ensure freedom of movement Excessively high load Reduce load The axis is not fastened stiffly enough Stiffen the axis mounting The effective load is not fastened stiffly enough on the axis Stiffen the connection Effective load can vibrate Form a stiffer load modify the natural frequency of the load If several drives are fitted in a system that can vibrate Carry out commutation point ...

Page 128: ...tly contact Festo Service Resettable Error can be reset immediately Definable error response s B 0Bh Parameter file invalid Definable as F Diagnostic memory always No valid parameter set stored After creation of the parameter file a firmware update is performed if necessary As much data as possible is automatically loaded from the parameter file Parameters that are not initialised by the parameter...

Page 129: ...f the error only occurs when the motor cable is connected check the motor and cable for short circuits e g with a multimeter Resettable Cannot be reset software reset is necessary Definable error reaction s A 0Eh I t malfunction motor Definable as F Diagnostic memory always The I t limit for the motor is reached The motor or the drive system may be insufficient for the re quired task Check the lay...

Page 130: ...curred and subsequent positioning in the blocked direction has been initiated Check target data Check positioning area This error can be reset immediately Afterwards start a corresponding positioning record or move the drive by using the jogging function Movements in a positive direction are blocked Resettable Error can be reset immediately Definable error response s A B C E F 14h Negative directi...

Page 131: ...ge Resettable Error can only be reset after the cause of the error has been eliminated Definable error response s A B C D 17h Logic voltage exceeded Definable as F Diagnostic memory optional The logic power supply monitor has detected an overvoltage This is either due to an internal defect or an excessive supply voltage Check external supply voltage directly on the device If the error is still pre...

Page 132: ...nable error response s A B 1Bh Intermediate circuit voltage too low Definable as F W Diagnostic memory optional The load voltage is too low Voltage drops under load power supply unit too weak supply line too long cross section too small If you intentionally want to operate the device with a lower voltage parameterise this malfunction as a warning or information Measure load voltage directly at the...

Page 133: ...s made to a valid drive function 25h Path calculation Definable as F Diagnostic memory optional The positioning target cannot be reached through the positioning options or the edge conditions During record sequencing The end speed of the last record was higher than the target speed of the following record Check the parameterisation of the affected records Also check the actual values of the previo...

Page 134: ...heck target data Check positioning area Check position set type absolute relative Resettable Error can be reset immediately Definable error response s B C E F 2Ah Target position behind positive software limit Definable as F Diagnostic memory optional The start of a positioning task was suppressed because the target lies behind the positive software limit position Check target data Check positioni...

Page 135: ...ry optional The following error has become too great This error can occur during positioning and speed modes Enlarge error window Acceleration speed jerk or load too great Mechanics stiff Motor overloaded current limitation from I t monitoring active If defined as an error The error can only be reset after the cause is eliminated Definable error response s B C E F For parameterisation as a warning...

Page 136: ... warning The warning disappears if the STO is no longer requested 37h Standstill monitoring Definable as W I Diagnostic memory optional The actual position is outside the downtime window Parameterisation of the window may be too narrow Check parameterisation of the downtime window If defined as a warning The warning is no longer active when the actual position is within the standstill window again...

Page 137: ...o that two records or a record and homing run are not started in the same pulse In the event of manual control only operate one switch after the other Resettable Error can be reset immediately Definable error response s B C E F 3Dh Start up event Definable as I Diagnostic memory always The device has been switched on or was switched on for longer than 48 days This event also occurs when deleting t...

Page 138: ...inable as W I Diagnostic memory optional There is no longer a connection to the FCT e g the cable was disconnected Check the connection and perform a reset if necessary For parameterisation as a warning The warning disappears if the connection to the FCT is re es tablished 44h Parameter file not compatible with firmware Definable as W I Diagnostic memory always The parameter file that was just wri...

Page 139: ...curred to an external 24 V supply voltage of the device Check wiring of the STO interface reference switches and digital inputs and outputs Acknowledgement option Error can only be acknowledged after the cause is eliminated Definable error response s A B 4Fh System information Definable as I Diagnostic memory always A device specific system event has occurred This event is used for extended diagno...

Page 140: ...owing dialog window Internet protocol Version 4 4 Select the command Properties After that in the Properties of Internet protocol version 4 the IP configuration of the corresponding Ethernet interface of the PC is displayed 5 Set an IP configuration suitable for the motor controller èfollowing example s Example Matching IP configurations to suit one another The ex factory IP configuration is parti...

Page 141: ...cables and plugs used Burned through internal fuse internal short circuit Replace the motor controller Motor controller fails to achieve the specified performance data Incorrect control signals from the higher order controller Check control program Controller incorrectly set Check controller parameters Observe the information in the online help section of the FCT plug in to ensure correct settings...

Page 142: ...use burn injuries This can scare people and cause them to act in an unpredictable manner This can lead to other forms of secondary damage Protect the motor controller to prevent accidental touching Inform operating and maintenance staff about any potential hazards Before touching the product e g for mounting or installation Allow the motor con troller to cool down to room temperature 7 1 Maintenan...

Page 143: ...ver or with FCT backup file After installation of the new motor controller download backup file to motor control ler from the web server or with FCT download Disassemble in reverse order of installation è Chapter 3 Before dismantling 1 Ensure that there is no voltage 2 Secure the system against being switched back on 3 Loosen all electrical system lines 7 4 Disposal Observe the local regulations f...

Page 144: ...tical Operating and fault signal 7 segment display Operating modes Open loop operation Operating mode for motor without encoder Optionally adjustable also for motor with encoder Closed loop operation Operating mode for motor with encoder Parameterisation interface Ethernet interface TCP IP Parameterisation with Festo Configuration Tool FCT via web server Control interface1 Digital I O Control prof...

Page 145: ...er EN 50178 Permissible setup altitude above sea level m 2000 Vibration and shock resistance in accordance with IEC 60068 Vibration part 2 6 Shock part 2 27 Continuous shock part 2 27 Severity level SL 1 for wall or H rail mounting Wall SG2 H rail SG1 Wall SG2 H rail SG1 Wall and H rail SG1 1 Explanation of the severity level è Table Explanation on vibration and shock severity level Explanation on...

Page 146: ...ective 2014 30 EU1 Approvals UL Listing Mark for Canada and the United States RCM Regulatory Compliance Mark 1 The component is intended for industrial use Outside of industrial environments e g in commercial and mixed residential areas actions to suppress interference may have to be taken Requirements for observing the certified UL conditions if the product is operated in the USA or Canada can be...

Page 147: ... on EN 61131 2 2008 04 type 1 Max cable length m 30 Digital inputs Nominal voltage related to 0 V V DC 24 Maximum permitted input voltage V DC 29 Nominal current per input mA 2 typical Scanning rate ms 1 Reaction time to input ms 2 typical Galvanic isolation no Digital outputs Maximum current per output mA 100 Overload protection No overload protection not short circuit proof Only use for switchin...

Page 148: ...y pin 3 Nominal voltage V DC 24 15 Nominal current2 A 0 3 Overvoltage error 0x1A V DC 31 0 Undervoltage error 0x1B V DC 19 0 1 The value can be parameterised with FCT 2 Figure without power supply to the digital outputs è Chapter A 2 2 A 2 5 X18 Ethernet interface Bus interface IEEE802 3 10BaseTx Transmission rate 100 MBit s Connection of plug connector RJ45 8 pin Supported protocols TCP IP UDP Ca...

Page 149: ... dam age The CVE interface is not real time capable Controlling the CMMO ST via Ethernet requires among other things a risk assessment by the user ambient conditions that are free of interference and reliability of data trans mission e g via the control programme of the higher order controller Only use the CVE function in applications in which the lack of real time capability cannot pose risks In ...

Page 150: ...o read a CVE object a request must be sent to the CMMO ST in accordance with Tab B 2 This sends back a response Tab B 3 Write object In order to write a CVE object a request must be sent to the CMMO ST corresponding to Tab B 4 This sends back a response Tab B 5 As both directions concern an endless TCP data stream the individual messages must be filtered out Strict compliance with the message leng...

Page 151: ... response This enables a clear assignment of the request and response The message ID can be used but is not mandatory 0x05 0x06 0x07 0x08 Data length UINT32 Always 4 for this request 0x09 Acknowledge UINT08 In the request this field always remains empty initialise with 0 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder initialise with 0 0x0E 0x0F Object index UINT16 Index of the CVE object to be re...

Page 152: ... The following applies Data length 4 bytes data type length Example for UINT32 Data length 4 bytes 4 bytes 8 bytes 0x09 Acknowledge UINT08 0 if everything is ok All other values mean that the object could not be read A list of possible causes of the error è Tab B 6 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder 0x0E 0x0F Object index UINT16 Index of the read CVE object 0x10 Object subindex UINT08...

Page 153: ...0x08 Data length UINT32 The data length depends on the data type of the CVE object to be written The following applies Data length 4 bytes data type length Example for SINT08 Data length 4 bytes 1 byte 5 bytes 0x09 Acknowledge UINT08 In the request this field always remains empty initialise with 0 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder initialise with 0 0x0E 0x0F Object index UINT16 Index...

Page 154: ...for this response 0x09 Acknowledge UINT08 0 if everything is ok All other values mean that the object could not be written A list of possible causes of the error è Tab B 6 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder 0x0E 0x0F Object index UINT16 Index of the written CVE object 0x10 Object subindex UINT08 Always 0 0x11 Data type UINT08 Data type of the written CVE object If an attempt has been ...

Page 155: ...en 0xA6 The CVE object cannot be written while the drive is in an Operation enabled status Quit the Operation enabled status 0xA7 The CVE object must not be written without mas ter control Assign master control to the CVE inter face Use CVE object 3 for this pur pose 0xA9 The CVE object cannot be written as the value is lower than the minimum value Correct the value 0xAA The CVE object cannot be w...

Page 156: ... standard CiA402 Control word The control word as a bit field is used to switch back and forth between the statuses CVE object 2 è Tab B 9 Status word The status word as a bit field provides feedback about the current status CVE object 1 è Tab B 10 A drive function can only be started in the Operation enabled status The desired drive function must be selected via CVE object 120 Before starting a h...

Page 157: ...hine power disabled A start H error reaction active B not ready to switch on C switch on disabled D ready to switch on E switched on F operation enabled Error power enabled I error G quick stop active 19 15 13 14 0 12 10 11 16 1 2 7 3 6 4 5 8 9 17 18 Fig B 1 Finite state machine of the CMMO ST ...

Page 158: ...he Switched On status a commutation angle search is executed if required open E Switched on The output stage is active open F Operation enabled The drive waits for positioning tasks and executes them Normal operating status after successful initialisation open G Quick Stop active The Quick Stop function has been activated The drive brakes with the parameterised Quick Stop deceleration and then sto...

Page 159: ...ion 0 CW QS Quick Stop 1 CW EV Enable Voltage 1 CW SO Switch on 1 4 Switched on è Operation enabled CW FR Error Reset 0 CW EO Enable Operation 1 CW QS Quick Stop 1 CW EV Enable Voltage 1 CW SO Switch on 1 5 Operation enabled è Switched on CW FR Error Reset 0 CW EO Enable Operation 0 CW QS Quick Stop 1 CW EV Enable Voltage 1 CW SO Switch on 1 6 Switched on è Ready to switch on CW FR Error Reset 0 C...

Page 160: ...dent of the control signals currently being sent 14 Error reaction active è Error Execution of the error response is complete Automatic change of state to Error 15 Error è Switch on disabled The cause of the error must be eliminated e g overheat ing temperature reduced to permissible level Positive edge for FR Error Reset CW PSOn output stage on after Error Reset 0 At least one of the following bi...

Page 161: ...Error è Switched on The cause of the fault must be eliminated e g over temperature reduced to permissible value Positive edge for FR Error Reset CW PSOn output stage on after Error Reset 1 CW EO Enable Operation 0 CW EV Enable Voltage 1 CW SO Switch on 1 Tab B 8 Description of transitions Control word CVE object 2 bit abbrevi ation Description 0 CW SO Switch On 1 CW EV Enable voltage 2 CW QS Quick...

Page 162: ...tion enabled The drive is ready for operation 3 SW F Error At least one error is act ive 5 SW QS Quick Stop If this bit is inact ive a quick stop is executed 6 SW SOD Switch on disabled The output stage cannot be switched on 7 SW W Warning At least one warning is active 8 SW MOV Move The drive moves 10 SW TR Target reached Motion complete The target of a positioning motion has been reached e g tar...

Page 163: ...ng the control word 0x0000000F When this status has been reached the status word exhibits the value 0x00060427 Example starting homing Assumption the Operation enabled status is active Homing has been parameterised correctly via FCT 1 Select the homing drive function by writing the value 6 into CVE object 120 2 Start the homing run by writing the control word 0x0000001F At the end of the homing ru...

Page 164: ...n interface increments SINC and encoder increments EINC is established via the following conversion factors Transmission ratio of the gear unit Feed constant Size of a SINC Interface increments are at first dimensionless i e they have no defined unit or size The unit i e the size of an SINC is specified in objects 218 Unit of measurement and 217 Power of ten During parameterisation in FCT you can ...

Page 165: ...System 70 Actual acceleration System 72 Nominal acceleration System 96 Position deviation contouring error System 97 Deviation speed System 98 Current deviation System 99 Force deviation System 120 Nominal operating mode Finite state machine 121 Actual operating mode Finite state machine 141 Current record number Record 191 Error with top priority Error handler 194 Error with top priority acknowle...

Page 166: ...bject is protected by the administrator password Tab B 11 Access rights Detailed descriptions of objects 1 Status word Finite state machine UINT32 R è separate description in section B 1 3 Values 0 4294967295 Default 0 2 Control word Finite state machine UINT32 R W1 W2 è separate description in section B 1 3 Values 0 4294967295 Default 0 3 Higher order control System UINT08 R W1 W2 W3 The master c...

Page 167: ...ioning record At the controller interface a new positioning record can already be preselected while an old one is still active Note The active positioning record is in object 141 Record 1 xx è normal records Values 1 31 57 Actual speed System SINT32 R Current actual velocity Unit SINC s Values 2147483648 2147483647 Default 0 58 Actual current System SINT32 R Current motor current Unit mA Values 21...

Page 168: ...Current nominal force in one tenth of one percent of the maximum motor current calculated from the nominal current Unit Values 32768 32767 70 Actual acceleration System SINT32 R Current calculated actual acceleration Unit SINC s Values 2147483648 2147483647 Default 0 72 Nominal acceleration System SINT32 R Current nominal acceleration Unit SINC s Values 2147483648 2147483647 Default 0 96 Position ...

Page 169: ...3648 2147483647 99 Force deviation System SINT16 R Current deviation of the current controller converted into force comparable to following error with position actual force target force Unit per mill of maximum motor current Unit Values 32768 32767 120 Nominal operating mode Finite state machine SINT08 R W1 W2 Permissible values are 0 No operating mode selected 1 Positioning mode 3 Speed mode 4 Fo...

Page 170: ...ity acknowledgement option Error handler UINT08 R Specifies whether the currently top priority error is erasable 0x00 The error cannot be acknowledged 0x01 The malfunction is still active the error can be deleted only after the malfunction is elimin ated 0x02 The error can be eliminated immediately 0xFF There is not error Values 0 255 213 Warning with top priority Error handler UINT16 R Specifies ...

Page 171: ...int Jog positive positive software end position if this is activated otherwise 231 1 Jog negative negative software end position if this is activated otherwise 231 Speed force record Absolute position specified through the stroke limit braking begins at the stroke limit If the stroke limit is deactivated target position is calculated from the software limit positions For record linking the target ...

Page 172: ...B Control via Ethernet CVE 172 Festo GDCP CMMO ST EA SY EN 2017 05c English ...

Page 173: ......

Page 174: ...ization 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 Ruiter Straße 82 73734 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 E mail service_international festo com Internet www festo com ...

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