Festo CMMO-ST-C5-1-LKP Original Instructions Manual Download Page 30

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Sequence control and I/O data

Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English

5.2

FHPP finite state machine

T7* always has the
highest priority.

Switched off

Motor controller
switched on

Drive
enabled

Drive
blocked

SA1

Ready

SA5

Jog
positive

SA6

Jog
negative

SA4

Homing is being
carried out

SA2

Positioning job
active

SA3

Intermediate stop

Reaction
to malfunction

Fault

From all statuses

S4
Operation enabled

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1

TA2

T7*

T10

T11

Fig. 5.1

Finite state machine

You can find the explanation of the control and status bytes (CCON, SCON, ...) in

section 5.3.

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

Page 1: ...Description Motor controller with interface for IO Link I Port Modbus TCP Device profile FHPP 8071674 2017 05b 8071676 CMMO ST C5 1 LKP Motor controller ...

Page 2: ...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 è Result of an action References to more detailed information Softwa...

Page 3: ... S7 1200 14 3 I Port 16 3 1 IO Link I Port and digital I O interface X1 16 3 2 Parameterisation of I Port device 17 3 2 1 Parameterisation with the FCT plug in CMMO ST 17 3 2 2 Parameterisation with the integrated web server 17 3 3 Configuration of I Port master 18 4 Modbus TCP 19 4 1 Modbus TCP interface X18 20 4 1 1 Pin allocation and cable specifications 20 4 2 Parameterisation of Modbus TCP us...

Page 4: ...ription of the control bytes 43 5 4 2 Description of the status bytes 47 6 Control via FHPP 52 6 1 Dimension reference system for electric drives 52 6 2 Homing run 52 6 2 1 Homing for electric drives 52 6 2 2 Methods of homing 53 6 3 Jogging 54 6 4 Teaching via fieldbus 55 6 5 Execute Record 57 6 5 1 Record selection flow diagrams 59 6 5 2 Record structure 62 6 5 3 Record linking PNU 402 63 6 6 Ex...

Page 5: ...93 B 4 Descriptions of FHPP parameters 96 B 4 1 Representation of the parameter entries 96 B 4 2 Device data version numbers 97 B 4 3 Device data identification 98 B 4 4 Device data MMI parameters 100 B 4 5 Diagnostic parameters 102 B 4 6 Process data general process data 110 B 4 7 Process data FHPP data 112 B 4 8 Record list record data 113 B 4 9 Record list record messages 122 B 4 10 Project dat...

Page 6: ...arameter Channel FPC 150 C 1 FPC for cyclical I O data 150 C 2 Overview of EFPC 150 C 2 1 EFPC structure 150 C 2 2 FPCC and FPCS transmission mode request and response ID 151 C 3 Parameter transmission PNUs internal objects 152 C 3 1 Structure of EFPC in parameter transmission 152 C 3 2 Sequence of parameter transmission 152 C 3 3 Example of parameter transmission 152 C 3 4 Error codes 153 C 4 Par...

Page 7: ... TCP Manual GDCP CMMO ST LK S1 Use of the STO safety function Safe Torque Off Help system for the FCT software 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 Special documentation CMMO ST_UL Requirements for operating the product in the USA and Canada in accor...

Page 8: ...e following details are displayed in the software with an active online connection Firmware version and MAC ID è Info tab of the integrated web server Hardware version firmware version è FCT Controller page If at this time there is no online connection the information from the most recent connection is displayed Additional version details e g amendment è product labelling of the motor controller N...

Page 9: ... devices To do this it defines for the user largely uniformly operating modes I O data structure parameter objects sequence control Bus communication Record selection Free access to parameters reading and writing Direct application Parameterisation Position Speed Torque 1 2 3 n Fig 1 1 Principle of FHPP Control and status data FHPP Standard Communication takes place via 8 byte control and status d...

Page 10: ...eldbus interfaces corresponding to Tab 1 1 Connection Interface Description IO Link X1 IO Link I Port and digital I Os è Chapter 2 I Port X1 IO Link I Port and digital I Os è Chapter 3 Modbus TCP X18 Ethernet interface è Chapter 4 Tab 1 1 Interfaces for FHPP 2 1 3 1 X1 IO Link I Port and digital I Os 2 X18 Ethernet interface 3 Link activity LED C Q Fig 1 2 Motor controller CMMO ST C5 1 LKP ...

Page 11: ...ort and digital I O interface X1 Connection Pin Function X1 1 11 1 11 1 24 V OUT Output 24 V1 e g supply of a poten tial free relay contact for the controller enable input 2 0 V GND Reference potential for output signals 3 DOUT2 Output 2 parameterisable 4 DOUT1 Output 1 parameterisable 5 READY Output Ready 6 ENABLE Controller enable input2 7 No function not connected internally3 8 9 L 0 volt GND 1...

Page 12: ...nd fieldbus Digital Input Enable and Fieldbus 4 On the fieldbus page Fieldbus determine the device profile Device Profile FHPP standard FHPP standard FPC 5 Establish an online connection 6 Activate device control Device Control 7 Download and save Store the parameters A restart is required after changing and storing the following parameters with the FCT plug in to make the settings active control ...

Page 13: ... xml FHPP standard FPC 16 I O bytes xxxxxxxx date Tab 2 2 IODD files The motor controller supports the IO Link specification V1 1 with the following characteristics Cyclical IO Link data 8 or 16 I O bytes Device specific errors and warnings are reported to the IO Link master through the Event manage ment SIO mode is not supported Transmission rate 230 4 KBaud No support of the parameter server of ...

Page 14: ...mally necessary to connect a CMMO ST to an S7 1200 as IO Link master 1 Create new project in the TIA Portal 2 Open project view 3 Add new device the S7 must support the IO Link master è documentation on the S7 4 Set IP address for the CPU 5 Select PLC then select slot in mounting rack for the IO Link master 6 In the Hardware catalogue window under Technology modules select the IO Link master and t...

Page 15: ...e catalogue under IO Link 1 1 Festo AG Co KG CMMO select the desired variant standard FHPP or with FPC and assign the IODD to the used port 12 Load configuration into the device 13 End DeviceTool save changes The IO Link connection is now active Subsequently load the FHPP_Positions_Library_TIA from Festo for example under Libraries and assign the addresses of the variables table to the module inpu...

Page 16: ...ontact for the controller enable input 2 0 V GND Reference potential for output signals 3 DOUT2 Output 2 parameterisable 4 DOUT1 Output 1 parameterisable 5 READY Output Ready 6 ENABLE Controller enable input2 7 No function not connected internally3 8 9 L 0 volt GND 10 C Q IO Link I Port signal 11 L 24 volt supply of the I Port IC not con nected to the logic supply at X9 1 Not overload proof max 10...

Page 17: ... Enable and fieldbus Digital Input Enable and Fieldbus 4 On the fieldbus page Fieldbus determine the device profile Device Profile FHPP standard FHPP standard FPC 5 Establish an online connection 6 Activate device control Device Control 7 Download and save Store the parameters A restart is required after changing and storing the following parameters with the FCT plug in to make the settings active...

Page 18: ...must be switched on before the CPX CTEL CTEU PB 2 x I Port each 16 bytes I and 16 bytes O Device description file GSD has module identifier for I Port CTEU EC 2 x I Port each 16 bytes I and 16 bytes O Device description file ESI has module identifier for I Port CTEU CO 2 x I Port each 16 bytes I and 16 bytes O Support in preparation Tab 3 2 Supported I Port master The I Port connection does not ha...

Page 19: ...urn these 2 bytes on the controller This applies to the operations function codes 0x03 0x10 0x17 è section 4 3 2 This already takes place through the module if provided by Festo Modbus telegram In general a Modbus telegram is constructed correspondingly è Tab 4 1 the higher value byte is always sent first If for example the CMMO is to be accessed by the computer via Modbus the transaction identifi...

Page 20: ...s a Modbus TCP user the motor controller can be reached via the same IP address as is used by FCT or the web server 4 1 1 Pin allocation and cable specifications Pin Specification 1 Transmission signal TX Wire pair 3 2 Transmission signal TX Wire pair 3 3 Receiver signal RX Wire pair 2 4 Wire pair 1 5 Wire pair 1 6 Receiver signal RX Wire pair 2 7 Wire pair 4 8 Wire pair 4 Housing Screening Tab 4 ...

Page 21: ...ut Enable and Fieldbus 4 On the fieldbus page Fieldbus operation parameters tab Operation Parameters determine Device profile Device Profile FHPP standard FHPP standard FPC Optionally change TCP Port factory setting TCP Port 502 Optionally activate timeout Timeout factory setting 100 ms not activated è section 4 3 4 5 Establish an online connection 6 Activate device control Device Control 7 Downlo...

Page 22: ...adress automatically Use the following IP adress fixed setting IP address subnet mask and standard gateway After parameterisation the Modbus master can be configured è section 4 3 4 3 Modbus master configuration 4 3 1 IP address The IP address of the motor controller as a Modbus TCP user is identical to the IP address set in the FCT or web server 4 3 2 Address assignment and Modbus operations The ...

Page 23: ...ndard FPC 15 16 Byte count write 1 0x08 FHPP standard 0x10 FHPP standard FPC 17 Registers values write 8 16 FHPP standard process output tele gram O FHPP standard FPC process out put telegram O 18 Read write multiple registers response 0x17 Field Bytes Values Byte no Function code 1 0x17 8 Byte count 1 0x08 FHPP standard 0x10 FHPP standard FPC 9 Register value 8 16 FHPP standard process input tele...

Page 24: ...f registers 2 0x0004 FHPP standard 0x0008 FHPP standard FPC 11 12 Read holding registers response 0x03 Field Bytes Values Byte no Function code 1 0x03 8 Byte count 1 0x08 FHPP standard 0x10 FHPP standard FPC 9 Register value 8 16 FHPP standard I O and FPC 10 Read holding registers exception 0x83 Field Bytes Values Byte no Error code 1 0x83 8 Exception code 1 0x01 illegal function 0x02 illegal data...

Page 25: ... FHPP standard 0x10 FHPP standard FPC 13 Register value 8 16 FHPP standard process output tele gram O FHPP FHPP standard FPC process output telegram O 14 Write multiple registers respone 0x10 Field Bytes Values Byte no Function code 1 0x10 8 Start address 2 0x0000 9 10 Quantity of registers 2 0x0004 FHPP standard 0x0008 FHPP standard FPC 11 12 Write multiple registers exception 0x90 Field Bytes Va...

Page 26: ...s Byte no Function code 1 0x07 8 Read exception status response 0x07 Field Bytes Values Byte no Function code 1 0x07 8 Output data 1 0x01 0xFF Exception status fault number 0x00 No fault 9 Read exception status exception 0x87 Field Bytes Values Byte no Error code 1 0x87 8 Exception code 1 0x01 illegal function 0x02 illegal data address 0x03 illegal data value 0x04 server device failure 9 ...

Page 27: ...e 0x2B Field Bytes Values Byte no Function code 1 0x2B 8 MEI Type 1 0x0E 9 Read device ID code 1 Same as request field 10 Conformity level 1 0x01 basic device identification 0x02 regular device identification 11 More follows 1 0x00 no more objects 12 Next object ID 1 0x00 13 No of objects 1 Number of objects in this message 14 Object 1 1 è Section 4 3 3 Tab 4 4 15 Object n 1 Read device identifica...

Page 28: ...unctions TCP IP connection monitoring node guard timeout The motor controller supports the TCP IP connection monitoring Node guarding is connection monitoring at the application level The node guard timeout is reset with each Modbus client message If the client application no longer reacts or no more new messages are received within the timeout the error reaction Timeout MODBUS TCP IP is triggered...

Page 29: ...5 1 2 Record selection Each motor controller has a specific number of records which contain all the information needed for one positioning job The record number that the motor controller is to process at the next start is trans ferred in the controller s output data The motor controller reports the last executed record number in the input data of the controller The positioning job itself does not ...

Page 30: ...ve blocked SA1 Ready SA5 Jog positive SA6 Jog negative SA4 Homing is being carried out SA2 Positioning job active SA3 Intermediate stop S5 Reaction to malfunction S6 Fault From all statuses S4 Operation enabled T6 TA11 TA12 TA9 TA10 TA3 TA6 TA4 TA5 TA7 TA8 TA1 TA2 T2 T5 T3 T4 T1 T7 T8 T10 T9 S5 T11 Fig 5 1 Finite state machine You can find the explanation of the control and status bytes CCON SCON ...

Page 31: ...ed T6 T2 T5 T3 T4 T1 T7 T8 T10 T9 S5 T11 S4 Fig 5 2 Finite state machine equivalent circuit diagram Reaction to malfunctions T7 malfunction recognised has the highest priority T7 is then executed from S5 S6 if an error with a higher priority occurs This means that a serious error can displace a less serious error 5 2 1 Create ready status If parameterised è PNU 128 the digital input signal ENABLE ...

Page 32: ...owledge malfunction CCON RESET 0 1 CCON ENABLE 0 è CCON xxx0 Pxx1 T11 Malfunction still exists Acknowledge malfunction CCON RESET 0 1 è CCON xxx0 Pxxx 1 Key P rising edge positive N falling edge negative x any Tab 5 2 Status transitions while achieving ready status 5 2 2 Positioning In principle The transitions T4 T6 and T7 always have priority T Internal conditions Actions of the user 1 TA1 Homin...

Page 33: ...ning job has arrived and is to interrupt the existing job New positioning task interrupts the existing one CPOS START 0 1 CPOS HALT 1 è CPOS 0xx0 00P1 Direct application A new positioning task has arrived New positioning task interrupts the existing one CPOS START 0 1 CPOS HALT 1 è CPOS 0xxx xxP1 TA6 Delete remaining path CPOS CLEAR 0 1 è CPOS 0Pxx xxxx TA7 Start homing CPOS START 0 1 CPOS HALT 1 ...

Page 34: ...xP 0xx1 TA12 End jogging negatively Either CPOS JOGN 1 0 è CPOS 0xxN xxx1 or CPOS HALT 1 0 è CPOS 0xxx xxxN 1 Key P rising edge positive N falling edge negative x any Tab 5 3 Status transitions at positioning FHPP operating mode Notes on special features Record selection No restrictions Direct application TA2 The condition that no new record may be processed no longer applies TA5 A new record can ...

Page 35: ... bytes response 1 1 1 Basic status CCON 0000 0x00b SCON 0001 0000b CPOS 0000 0000b SPOS 0000 0100b 1 2 Block device control for FCT optional CCON LOCK 1 SCON FCT MMI 0 CCON 0010 0x00b SCON 0001 0000b CPOS 0000 0000b SPOS 0000 0100b 1 3 Enable drive enable operation CCON ENABLE 1 SCON ENABLED 1 CCON STOP 1 SCON OPEN 1 CCON OPM1 0 SCON OPM1 0 CCON OPM2 0 SCON OPM2 0 CPOS HALT 1 SPOS HALT 1 CCON 0010...

Page 36: ... on Step 2 2 or 2 3 2 2 Block device control for FCT Optionally acceptance of device control by the FCT can be blocked with CCON LOCK 1 Step 2 3 2 3 Enable drive in direct application Homing Example 4 Tab 5 8 If there are malfunctions after switching on or after setting CCON ENABLE Fault handling è example 3 Tab 5 7 Warnings do not have to be acknowledged these are automatically deleted after some...

Page 37: ...tes job 1 Status bytes response 1 4 1 Start reference travel CCON ENABLE 1 SCON ENABLED 1 CCON STOP 1 SCON OPEN 1 CPOS HALT 1 SPOS HALT 1 CPOS HOM P SPOS ACK 1 SPOS MC 0 4 2 Reference travel is running CPOS HOM 1 SPOS MOV 1 4 3 Reference travel ended SPOS MC 1 SPOS REF 1 1 Key P rising edge positive N falling edge negative x any Tab 5 8 Control and status bytes Homing Description of the steps 4 1 ...

Page 38: ...OS START 0 SPOS ACK 0 SPOS MC 1 SPOS MOV 0 1 Key P rising edge positive N falling edge negative x any Tab 5 9 Control and status bytes Positioning record selection Description of the steps Steps 5 1 5 4 conditional sequence When the ready status is established and homing has been carried out a positioning job can be started 5 1 Preselect record number Byte 3 of the output data 0 Homing 1 64 Progra...

Page 39: ...SPOS MOV 0 1 Key P rising edge positive N falling edge negative x any S travel condition 0 absolute 1 relative Tab 5 10 Control and status bytes for Positioning direct application Description of the steps Step 6 1 6 4 conditional sequence When the ready status is achieved and homing has been carried out a setpoint position must be preselected 6 1 The setpoint position SINC is transferred in bytes ...

Page 40: ...he cyclic data additional data are permissible to transmit parameters in accordance with the FPC protocol A controller exchanges the following data via FHPP Control and status data 8 bytes Control and status bytes Record number or setpoint position in the output data Feedback of actual position and record number in the input data Additional mode dependent setpoint and actual values If required add...

Page 41: ...SB Current position Direct application Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data CCON CPOS CDIR Setpoint value1 Setpoint value2 Input data SCON SPOS SDIR Actual value1 Actual value2 Optional extended I O data byte 9 16 for parameterisation in accordance with EFPC èsection C 1 EFPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data FPCC Control and user da...

Page 42: ...iv ate stroke limit value Control mode position force speed Absolute relative Tab 5 12 Overview assignment of the control bytes Assignment of the status bytes overview SCON All B7 OPM2 B6 OPM1 B5 FCT MMI B4 VLOAD B3 FAULT B2 WARN B1 OPEN B0 ENABLED Feedback on FHPP operating mode FCT device control Load voltage applied Fault Warning Opera tion en abled Drive enabled SPOS All B7 REF B6 STILL B5 FOL...

Page 43: ...ler is blocked As soon as the controller is enabled it has priority over the brake control system B3 RESET Acknowledge malfunction Reset Fault A malfunction is acknowledged with a rising edge and the malfunction value is deleted B4 Reserved must be at 0 B5 LOCK Block FCT access Lock FCT Access Controls access to the local integrated parameterisa tion interface of the motor controller 1 The softwar...

Page 44: ... specified speed or rotational speed in the direction of larger actual values as long as the bit is set The movement begins with the rising edge and ends with the falling edge B4 JOGN Jog negative Jog negative The drive moves at the specified speed or rotational speed in the direction of smaller actual values as long as the bit is set The movement begins with the rising edge and ends with the fall...

Page 45: ...ode torque current 2 1 0 Speed mode rotational speed 3 1 1 Reserved B3 Reserved must be at 0 B4 Reserved must be at 0 B5 XLIM Deactivate stroke limit value stroke X LIMit inactive 1 Stroke monitoring not active 0 Stroke monitoring active Considered only with force mode or speed mode COM1 2 01 or 10 B6 Reserved must be at 0 B7 Reserved must be at 0 Tab 5 16 Control byte 3 direct application Control...

Page 46: ...number Torque Torque Setpoint torque of the basic value è PNU 555 Preselection in speed mode 32 bit number Speed Velocity Speed SINC s è appendix A 2 Tab 5 18 Control bytes 5 8 direct application Control byte 3 setpoint value 1 record selection Bit DE EN Description B0 7 Record number Record number Preselection of the record number Tab 5 19 Control byte 3 record selection Control bytes 4 8 reserve...

Page 47: ...ng present B3 FAULT Fault Fault 1 Fault present 0 Fault not present or fault reaction active B4 VLOAD Load voltage applied Load Voltage is Applied 1 Load voltage applied 0 Load voltage not applied B5 FCT MMI Device control by FCT MMI Software Access by FCT MMI Device control refer to PNU 125 section B 4 4 1 Device control through fieldbus not possible 0 Device control through fieldbus possible B6 ...

Page 48: ...vice is switched on status Drive blocked B3 TEACH Acknowledge teach sampling Acknowledge Teach Sampling 1 Teaching carried out actual value has been trans ferred 0 Ready for teaching B4 MOV Axis is moving Axis is Moving 1 Speed of the axis limit value 0 Speed of the axis limit value B5 FOLERR Following error FOLowing ER Ror 1 Following error active 0 No following error B6 STILL Standstill monitori...

Page 49: ... 2 1 0 Speed mode rotational speed 3 1 1 Reserved B3 Reserved 0 B4 VLIM Speed limit reached velocity V LIMit reached 1 Speed limit reached 0 Speed limit not reached B5 XLIM Stroke limit reached stroke X LIMit reached 1 Stroke limit reached 0 Stroke limit not reached B6 Reserved 0 B7 Reserved 0 Tab 5 23 Status byte 3 direct application Status byte 4 actual value 1 direct application Bit DE EN Descr...

Page 50: ...ord number Feedback of record number Tab 5 26 Status byte 3 record selection Status byte 4 RSB record selection Bit DE EN Description B0 RC1 1st record chaining executed 1st Record Chaining Done 1 The first step enabling condition has been achieved 0 A step enabling condition was not configured or not achieved B1 RCC Record chain ing completed Record Chain ing Complete Valid as soon as MC is prese...

Page 51: ...esto GDCP CMMO ST LK C HP EN 2017 05b English 51 Status bytes 5 8 position record selection Bit DE EN Description B0 31 Position Position Feedback of position SINC è appendix A 2 32 bit number Tab 5 28 Status bytes 5 8 record selection ...

Page 52: ...of a homing method with travel to the zero pulse or through travel to a project zero point off set away from the stop Procedure 1 Search for the homing point of the configured homing method 2 Set axis zero point current position 0 offset project zero point 3 Optional parameterisation Run relative to the reference point around the Offset axis zero point Overview of parameters and I Os in homing Hom...

Page 53: ...ition index negative direction 34 Current position index positive direction 17 Stop negative direction 18 Stop positive direction Motor with encoder in controlled operation closed loop with reference switch 35 Current position 33 Current position index negative direction 34 Current position index positive direction 17 Stop negative direction 18 Stop positive direction 27 Reference switch positive ...

Page 54: ... for longer than the parameterised period phase 1 acceleration takes place until the parameterised fast speed max speed is reached In this way large strokes can be traversed quickly 3 If the signal changes to 0 the drive will be braked with the maximum set deceleration 4 Only if the drive is referenced If the drive reaches a software end position it will stop automatically The software end positio...

Page 55: ... teaching Of course imprecisions of several millimetres are possible even at low speeds due to the normal cycle times of the motor controller data transmission and the higher order controller The speed must be set during teaching in such a way that the position is detected accurately enough Sequence 1 The drive will be moved to the desired position via the jogging mode or manually This can be ac c...

Page 56: ...rs must be permanently stored by writing PNU 127 2 with the value 1 so they will be secure in case of power failure Overview of parameters and I Os when teaching Parameters involved è Sections B 4 8 B 4 10 Parameter PNU Teach target 520 Record number 400 Offset project zero point 500 Software end positions 501 Axis zero point offset electric drives 1010 Start FHPP CPOS TEACH N falling edge negativ...

Page 57: ...ecord number and starts the position ing job 3 The motor controller signals with the rising edge at SPOS ACK that the output data of the controller has been taken over and the positioning task is now active The positioning command continues to be executed even if CPOS START is reset to zero 4 When the record is concluded SPOS MC is set Causes of errors in application Homing has not been carried ou...

Page 58: ...tion 6 5 2 Tab 6 7 401 442 Start FHPP Record number in control byte 3 CPOS START rising edge start Jogging and referencing have priority Acknowledgement FHPP SPOS MC 0 Motion Complete SPOS ACK rising edge acknowledge start SPOS MOV 1 Drive moves Requirement Device control through controller fieldbus Motor controller in the status Operation enabled Valid record number is present Tab 6 6 Parameters ...

Page 59: ... 0 1 0 Axis is moving SPOS MOV Start CPOS START N 1 5 4 3 2 1 6 1 Requirement Start acknowledgment 0 2 Rising edge at Start causes the new record number N to be accepted and Start acknow ledgment to be set 3 As soon as Start acknowledgement is re cognised by the controller Start may be set to 0 again 4 The motor controller reacts with a trailing edge at Start acknowledgment 5 As soon as Start ackn...

Page 60: ...MC Actual record number input data N 1 N N 1 N 1 N 1 0 1 0 1 0 1 0 1 0 1 0 Axis is moving SPOS MOV Halt CPOS HALT 1 0 Start CPOS START 1 0 Acknowledge halt SPOS HALT 1 2 1 Record is stopped with halt actual record number N is retained Motion Complete remains reset 2 Rising edge at Start starts record N again Confirm halt is set Fig 6 4 Stop and continue flow diagram for record with halt ...

Page 61: ...owledge start SPOS ACK Motion complete SPOS MC Actual record number input data N 1 N N 1 N 1 N 1 0 1 0 1 0 1 0 1 0 1 0 Axis is moving SPOS MOV Halt CPOS HALT N 1 1 0 Start CPOS START Delete remaining path CPOS CLEAR 1 0 1 0 Acknowledge halt SPOS HALT 1 Stop record 2 Delete remaining path Fig 6 5 Flow diagram for stop record with halt and delete remaining path ...

Page 62: ...l byte 3 Specific behaviour of the record during ongoing position ing 423 Final speed Setpoint value of the final speed at the end of the record 424 Max deviation Setpoint value for max deviation 425 MC with record sequencing Signal status Motion Complete MC with record se quencing 426 Start delay Setpoint value for the start delay time 427 Stroke limit Setpoint value for the path related to the s...

Page 63: ...umerical value 0 128 step enabling condition as a list è Tab 6 9 Bit 7 Reserved Tab 6 8 Settings for record chaining Step enabling condition for automatic record chaining bit 0 6 Value Com mand Condition Description 0 Inactive End of the sequence No record sequencing 1 MC active Motion Complete The preselection value from PNU 426 is interpreted as a delay in milliseconds Continuing takes place onc...

Page 64: ...s Overview of parameters and I Os in direct application of positioning mode Parameters involved Parameter PNU FHPP direct mode è B 4 13 FHPP setpoint actual values 523 Settings of the FHPP direct mode 524 Direct mode position è B 4 15 Basic value speed1 540 Acceleration 541 Deceleration 542 Jerk acceleration 543 Load 544 Jerk deceleration 547 Final speed 548 Following error direct mode position 54...

Page 65: ...general è B 4 18 Start delay 582 Start condition 583 Electric drives è B 4 23 Nominal motor torque 1036 Start FHPP CPOS START rising edge start CDIR ABS absolute relative setpoint value CDIR COM1 2 control mode è section 5 3 Acknowledgement FHPP SPOS MC 0 Motion Complete SPOS ACK rising edge acknowledge start SPOS MOV 1 Drive moves Requirement Device control through controller fieldbus Motor contr...

Page 66: ...age window for deviation speed adjustment 568 FHPP direct mode general è B 4 18 Torque limitation not force mode 581 Start delay 582 Start condition 583 Start FHPP CPOS START rising edge start CDIR ABS absolute relative setpoint value CDIR COM1 2 control mode è section 5 3 Acknowledgement FHPP SPOS MC 0 Motion Complete SPOS ACK rising edge acknowledge start SPOS MOV 1 Drive moves Requirement Devic...

Page 67: ...ob is not finished Interrupt After the start a new setpoint value can be started at any time It is not necessary to wait for the Motion Complete MC signal Wait Start of the new job after Motion Complete 4 Once the last setpoint value has been reached the signal MC SPOS MC is set Start of the job Setpoint value output data Start CPOS START Acknowledge start SPOS ACK Motion complete SPOS MC 1st setp...

Page 68: ...it and the active position control mode is displayed via the SDIR COM1 2 bits The signal Motion Complete MC reports Position reached in this control mode Speed mode speed adjustment The speed mode is specified by determination of the control mode with the bits CDIR COM1 2 The speed setpoint value is always absolute CDIR ABS is ignored The setpoint values are specified as follows Bytes Content Valu...

Page 69: ...values dependent on the parameterisation è PNU 523 Status byte 4 Actual value 1 Speed of the basic value è PNU 540 Torque of the basic value è PNU 555 factory setting Status bytes 5 8 Actual value 2 Position SINC è appendix A 2 factory setting Torque of the basic value è PNU 555 Tab 6 15 Setpoint and actual values direct application speed adjustment After the setpoint specification with the start ...

Page 70: ...otion Complete Fig 6 7 Motion Complete example of velocity mode Overview of parameters and I Os in Motion Complete Parameters involved Parameters PNU Force direct mode è B 4 16 Force reached message window target window for force mode in record selection direct mode 552 Direct mode speed è B 4 17 Speed reached message window target window for speed mode in record selection direct mode 561 Controll...

Page 71: ...is enabled after the damping time has expired if the difference between the setpoint and actual value of the current controlled variable path speed lies outside the permitted difference Target position t1 Damping time Start Following error Message 2Fh 1 2 3 s t1 Damping time for following error 1 Setpoint positioning process 2 Max following error PNU 424 549 568 3 Actual positioning process Fig 6 ...

Page 72: ...unction checks in positioning mode if the actuator is within the standstill window of the target position for the duration of the damping time è Fig 6 9 Standstill monitoring is automatically activated after the target position is reached Motion Com plete Standstill monitoring can be suppressed if required by setting the standstill window to the value 0 During standstill monitoring if the actual p...

Page 73: ...g example Overview of parameters and I Os in standstill monitoring Parameters involved Parameters PNU Controller parameter positioning mode direct mode è B 4 22 Target reached message window time window Mo tion Complete 1022 Target reached damping time Motion Complete damp ing time 1023 Standstill monitoring è B 4 24 Standstill message window standstill window 1042 Standstill delay time damping ti...

Page 74: ...it value the comparator message is never active The limits are specified for negative ranges of values with algebraic symbol That algebra ic symbol indicates the direction Example Position comparator 50 mm minimum š actual position š 40 mm maximum Comparator Description Time The message is enabled if the elapsed time since the start of the order lies within the window Position The limit values mus...

Page 75: ...ection è B 4 9 Direct mode è B 4 18 Position comparator min 430 585 Position comparator max 431 586 Position comparator damping time 432 587 Speed comparator min 433 588 Speed comparator max 434 589 Speed comparator damping time 435 590 Force comparator min 436 591 Force comparator max 437 592 Force comparator damping time 438 593 Time comparator min 439 594 Time comparator max 440 595 Tab 6 20 Pa...

Page 76: ... and elimin ate it The SCON WARN bit is set If the cause has been eliminated the bit is automatic ally deleted again Information Information Information messages have no influence on the behaviour of the drive and do not need to be acknowledged Tab 7 1 Classification of the diagnostic messages Error response Description Free run out Free wheeling The output stage is switched off The drive then gra...

Page 77: ...s error designation Web server Status error Warning 7 segment Hex code FCT Online tab device status status warning designation Web server Status warning Tab 7 3 Display of a diagnostic message Information on current messages can be read via FHPP PNU Description 205 Device fault Read the active fault with the highest priority 220 Current fault messages Read all existing faults 221 Current warning m...

Page 78: ...itional information Additional Info 203 Additional information for Festo Service in case of complex faults 1 Not available via FHPP Tab 7 5 Structure of diagnostic messages The diagnostic messages are written one after the other in the diagnostic memory The entry is optional for parameterisable diagnostic messages è 7 2 2 If the diagnostic message has reached the maxi mum capacity the oldest diagn...

Page 79: ...ed immediately e g following error Acknowledge error via FCT Button Brake Web server Button Reset Error FHPP Rising edge at the control byte CCON RESET Tab 7 7 Acknowledge error Non acknowledgeable errors For non acknowledgeable errors the ready status can be restored after elimination of the cause of error only through a restart of the motor controller Restart via FCT or FHPP software reset Alter...

Page 80: ...tor controller software reset Alternatively Switch logic voltage off and back on 2 Error response For every diagnostic message provides the parameterisable error responses as Code letters A to G è Tab 7 10 Code letters for the factory response settings are printed in bold 234 242 1 Permitted values bit mask current values 2 Not available via FHPP Tab 7 9 Parameterisation of the diagnostic messages...

Page 81: ...ent SINC is established in the factor group object powers of ten expo nent PNU 600 and unit of measurement PNU 601 Factor group objects Factor Group Name PNU Object Type Access Position powers of ten exponent Position Notation Index 600 Var int8 rw2 Position unit of measurement Position Dimension Index 601 Var uint8 rw2 Tab A 1 Factor group overview During parameterisation in FCT you can use commo...

Page 82: ...ical data of the axis parameter and used for determining the internal conversion factor Name PNU Object Type Access Reversal of direction Polarity 1000 Var int8 rw2 Encoder resolution Encoder Resolution 1001 Array uint32 ro Gear ratio Gear Ratio 1002 Array uint32 rw2 Feed constant Feed Constant 1003 Array uint32 rw2 Axis parameter Axis Parameter 1005 Array uint32 rw2 Tab A 2 Overview of parameters...

Page 83: ...g event 86 Process data 300 399 Current setpoint and actual values local digital in puts and outputs e g status data 87 Record list 400 499 A record includes all the setpoint value parameters required for a positioning procedure 88 Project data 500 599 Fundamental project settings e g maximum speed acceleration deceleration project zero point offset These parameters are the basis for the record li...

Page 84: ...ive execute homing etc The controller is programmed not to issue this release until the user carries out the corresponding ac tion This generally causes exit from automatic operation This means that the controller programmer can ensure that the controller always knows when it has control over the drive Important The lock is active if the CCON LOCK has a logic 1 The user who does not need this type...

Page 85: ...rdware Version 100 1 uint16 Firmware design of the manufacturer Manufacturer Firmware Version 101 1 4 uint16 FHPP version Version FHPP 102 1 uint16 Required software version Required Software Version 104 1 uint16 Identification è B 4 3 page 98 Type of controller Controller Type 115 1 5 uint8 Manufacturer s device name Manufacturer Device Name 120 1 30 char User s device name User Device Name 121 1...

Page 86: ...stics Memory Parameter 204 3 4 uint8 Device fault Device Fault 205 1 uint16 Current fault messages Actual Malfunction Messages 220 1 32 uint32 Current warning messages Actual Warning Messages 221 1 32 uint32 Current fault acknowledgeable Actual Acknowledged Malfunction 230 1 uint8 Permitted error response 1 Permissible Error Reaction 1 234 1 255 uint16 Permitted fault handling 1 Permissible Malfun...

Page 87: ...ues 301 1 3 int16 Local digital inputs Local Digital Inputs 303 1 uint32 Local digital outputs Local Digital Outputs 304 1 uint32 Speed values Velocity Values 310 1 3 int32 Status of comparator outputs Status Comparator Outputs 312 1 uint8 FHPP data è B 4 7 page 112 FHPP status information FHPP State Information 320 1 2 uint32 int32 FHPP control information FHPP Control Information 321 1 2 uint32 ...

Page 88: ...eration 408 1 64 int32 Jerk acceleration Jerk Acceleration 409 1 64 uint32 Load Load 410 1 64 uint32 Record sequencing target Record Following Position 416 1 64 uint8 Jerk deceleration Jerk Deceleration 417 1 64 uint32 Torque limitation Torque Limitation 418 1 64 int16 Record control byte 3 Record Control Byte 3 421 1 64 uint8 End speed Final Velocity 423 1 64 int32 Max deviation Max Deviation 424...

Page 89: ... 1 64 int32 Velocity comparator max Velocity Comparator Max 434 1 64 int32 Velocity comparator damping time Velocity Comparator Window Time 435 1 64 uint16 Force comparator min Force Comparator Min 436 1 64 int16 Force comparator max Force Comparator Max 437 1 64 int16 Force comparator damping time Force Comparator Window Time 438 1 64 uint16 Time comparator min Time Comparator Min 439 1 64 uint32...

Page 90: ...ax permitted force Max Force 512 1 int32 Teach mode è B 4 12 page 127 Teach target Teach Target 520 1 uint8 FHPP direct mode è B 4 13 page 128 FHPP setpoint actual values FHPP Setpoint and actual values 523 1 12 uint32 FHPP direct mode settings FHPP Direct Mode Settings 524 1 uint8 Jog mode è B 4 14 page 130 Speed slow phase 1 Velocity Slow Phase 1 530 1 int32 Speed fast phase 2 Velocity Fast Phas...

Page 91: ...erk Deceleration 547 1 uint32 End speed Final Velocity 548 1 int32 Following error message window Following Error Window 549 1 int32 Force direct mode è B 4 16 page 132 Force message window reached Force Target Window 552 1 int16 Basic value force Base Value Force 555 1 uint32 Direct mode speed è B 4 17 page 133 Basic value acceleration Base Value Acceleration 560 1 int32 Speed message window reac...

Page 92: ...omparator Min 588 1 int32 Velocity comparator max Velocity Comparator Max 589 1 int32 Velocity comparator damping time Velocity Comparator Window Time 590 1 uint16 Force comparator min Force Comparator Min 591 1 int16 Force comparator max Force Comparator Max 592 1 int16 Force comparator damping time Force Comparator Windowime 593 1 uint16 Time comparator min Time Comparator Min 594 1 uint32 Time ...

Page 93: ...2 uint32 Feed constant Feed Constant 1003 1 2 uint32 Axis parameter Axis Parameter 1005 2 3 uint32 Homing parameters è B 4 21 page 140 Offset axis zero point Offset Axis Zero Point 1010 1 int32 Homing method Homing Method 1011 1 int8 Speeds Velocities 1012 1 3 int32 Acceleration deceleration Acceleration Deceleration 1013 1 int32 Max torque Max Torque 1015 1 int16 Speed limit stop detection Block ...

Page 94: ...ation 1029 1 int32 Electronic rating plate è B 4 23 page 145 Motor type Motor Type 1030 1 uint16 Max current Max Current 1034 1 int32 Motor nominal current Motor Rated Current 1035 1 int32 Motor nominal torque Motor Rated Torque 1036 1 int32 Standstill monitoring è B 4 24 page 146 Setpoint position Setpoint Position 1040 1 int32 Current position Position Actual Value 1041 1 int32 Standstill messag...

Page 95: ...in max temperature output stage Min Max Temperature Output Stage 1068 1 2 int8 General drive data è B 4 28 page 148 Tool load basic mass load Tool Load Ground Mass 1071 1 uint32 Current intermediate circuit voltage Actual Intermediate Circuit Voltage 1073 1 uint32 Current control section voltage Actual Control Section Voltage 1074 1 uint32 Current string currents Actual Phase Current 1075 1 3 int3...

Page 96: ... subindices of the parameter 1 no subindex simple variable 4 Class Class Var contains only one value Array contains several values Struct summary of several variables 5 Data type Data type Values without sign 8 16 32 bit uint8 0 255 uint16 0 65 535 uint32 0 4 294 967 295 Values with sign 8 16 32 bit int8 128 127 int16 32 768 32 767 int32 2 147 483 648 2 147 483 647 Character 8 bit char 0 255 ASCII...

Page 97: ...16 FW Access ro Reading of the firmware version Coding of the firmware version number of the device consists of the 4 numerals e g 1 2 3 4 of the subindexes Subindex 1 Main version number Major Version Number 1st numeral of the firmware version Subindex 2 Secondary version number Minor Version Number 2nd numeral of the firmware version Subindex 3 Revision number Revision Number 3rd numeral of the ...

Page 98: ...ype Controller Type Subindex 1 5 Class Array Data type uint8 FW Access ro Reading of the configuration of the motor controller Subindex 1 Motor technology Motor Technology Technology of the motor Value Significance 0x02 2 Stepper motor ST Subindex 2 Nominal current class Nominal Current Class Nominal current of the motor controller Value Significance 0x02 2 5 A C5 Subindex 3 Voltage class Voltage ...

Page 99: ...f the drive manufacturer Drive Manufacturer Name Subindex 1 30 Class Array Data type char FW Access ro Reading of the drive manufacturer s name ASCII 7 bit Fixed Festo AG Co KG Unused characters are filled with zero 00h 0 Tab B 16 PNU 122 PNU 123 HTTP address of manufacturer HTTP Drive Catalog Address Subindex 1 30 Class Array Data type char FW Access ro Reading of the manufacturer s Internet addr...

Page 100: ...following conditions must be fulfilled STO channels STO1 STO2 X3 2 3 24 V Controller enable corresponding to the parameterised enable logic only fieldbus or fieldbus and digital input è PNU 128 The controller can reserve master control exclusively with CCON LOCK 1 Reading Value Significance SCON FCT MMI 0x00 0 Master control with Festo Configuration Tool FCT or web server 1 0x01 1 Fieldbus has mas...

Page 101: ...ot pro cess after Power ON or controller restart FCT After deletion always carry out an initial commissioning Subindex 2 Store data Save Data By writing the object the data in EEPROM will be overwritten with the current user specific settings Value Significance 0x01 1 User specific data are stored in the EEPROM Subindex 3 Reset device Reset Device By writing the object the data are read from the E...

Page 102: ...th CCON ENABLE or FCT Freigabe Tab B 21 PNU 128 B 4 5 Diagnostic parameters For a description of how the diagnostic memory functions è section 7 1 3 PNU 200 Diagnostic event Diagnostics Event Subindex 1 200 Class Array Data type uint8 FW Access ro Reading of the type of diagnostic events in the diagnostic memory Value Significance 0x00 0 No malfunction or fault message deleted 0x01 1 Incoming faul...

Page 103: ...iagnostic message Subindex 3 200 Event 3 200 Event 3 200 3rd 200th saved diagnostic message Tab B 23 PNU 201 PNU 202 Time stamp Time Stamp Subindex 1 200 Class Array Data type uint32 FW Access ro Reading of the time ms of the diagnostic events since Power ON The time stamp has the format hh mm ss nnn hh hours mm minutes ss seconds nnn milliseconds In case of overflow the value of the timestamp jum...

Page 104: ...diagnostic message Tab B 25 PNU 203 PNU 204 Diagnostic memory parameter Diagnostics Memory Parameter Subindex 3 4 Class Struct Data type uint8 FW Access ro wo Reading or deleting of the diagnostic memory Subindex 3 Clear diagnostic memory Delete Memory Access wo Clearing the diagnostic memory Value Significance 1 Diagnostic memory is cleared Subindex 4 Number of entries Number of Entries Access ro...

Page 105: ... 0 31 Subindex 2 1st entry 1st Entry Diagnostic numbers 32 63 Subindex 4 31st entry 31th Entry Diagnostic numbers 992 1023 Tab B 28 PNU 220 PNU 221 Current warning messages Actual Warning Messages Subindex 1 32 Class Array Data type uint32 FW Access ro Read all existing warnings While the diagnostic memory depicts the history here it can be determ ined which warnings are now present Each diagnosti...

Page 106: ...aults 0 254 The parameter is implemented as a bitfield A value of 0x0037 means for example that the error responses 1 2 4 16 and 32 can be parameterised For unassigned diagnostic numbers the value 65535 0xFFFF is returned Value Significance Output stage OFF 0x0001 1 A No deceleration ramp 0x0002 2 B After quick stop deceleration ramp EMERGENCY STOP 0x0004 4 C After deceleration ramp HALT 0x0008 8 ...

Page 107: ...ory not parameterisable 1 Diagnostic memory parameterisable 8 15 Reserved Subindex 1 Fault number 0 Malfunction Number 0 Fault handling for the fault number 0 Subindex 2 Fault number 1 Malfunction Number 1 Fault handling for the fault number 1 Subindex 3 255 Fault number 2 254 Malfunction Number 2 254 Fault handlings for the fault numbers 2 254 Tab B 32 PNU 238 PNU 242 Error response 1 Error React...

Page 108: ... is parameterised as a warning 1 F Fault is parameterised as an error 6 0 Fault can be parameterised as an error or warning bit 5 1 I Fault is parameterised as information 7 0 No entry in the diagnostic memory 1 Save in diagnostic memory 8 15 Reserved Subindex 1 Fault number 0 Malfunction Number 0 Error response for the fault number 0 Subindex 2 Fault number 1 Malfunction Number 1 Error response f...

Page 109: ...s are required for operation Bit Value Significance 0 0 One or both STO channels 0 V 1 Both STO channels 24 V 1 Controller enable via fieldbus1 1 Always 1 Controller enable via digital input fieldbus1 0 ENABLE controller enable X1 6 0 V 1 ENABLE controller enable X1 6 24 V 2 7 Reserved 1 Note Only when all bits 1 can the status be switched to Ready 1 Parameterisation of the controller enable via è...

Page 110: ...of the position controller Tab B 36 PNU 300 PNU 301 Force values Force Values Subindex 1 3 Class Array Data type int16 FW Access ro Reading of the current force values force basic value PNU 555 of the force regulator Subindex 1 Current value Actual Value Current actual value of the force regulator Subindex 2 Current setpoint value Actual Setpoint Value Current setpoint value of the force regulator...

Page 111: ...eed Actual Velocity Current actual value of the speed regulator Subindex 2 Current setpoint speed Actual Nominal Velocity Current setpoint value of the speed regulator Subindex 3 Current deviation Actual Control Deviation Current setpoint value deviation of the speed regulator Tab B 40 PNU 310 PNU 312 Status of comparator outputs Status Comparator Outputs Subindex 1 Class Var Data type uint8 FW Ac...

Page 112: ... g SCON SPOS Subindex 2 FHPP status byte 5 8 FHPP State Byte 5 8 Data type int32 Status information on byte 5 8 actual value 2 Tab B 42 PNU 320 PNU 321 FHPP control information FHPP Control Information Subindex 1 2 Class Struct Data type uint32 int32 FW Access ro Reading of the control data output data Subindex 1 FHPP control byte 1 4 FHPP Control Byte 1 4 Data type uint32 Control information on b...

Page 113: ...tion int16 1 64 421 RCB3 record control byte 3 uint8 1 64 423 Final speed int32 1 64 424 Maximum Offset int32 1 64 425 MC with record sequencing uint8 1 64 426 Start Delay uint32 1 64 427 Stroke limit int32 1 64 428 Factor torque pilot control uint16 1 64 430 Position comparator min int32 1 64 431 Position comparator max int32 1 64 432 Position comparator damping time uint16 1 64 433 Velocity comp...

Page 114: ...ex 1 Setpoint record number Demand Record Number Access rw1 The entry includes the number of the target record in whose parameter the current position is entered as soon as the Teach bit is set è PNU 520 Subindex 2 Current record number Actual Record Number Access ro It is also valid if the drive is not in the record selection mode Teach In record selection mode this parameter is transmitted in th...

Page 115: ...is relative COM1 2 1 2 Bit 2 Bit 1 Selection of the control mode 0 0 Positioning mode 0 1 Force torque mode 1 0 Rotational speed speed mode 1 1 Invalid record 3 Reserved REL 4 Binary Selection of the point of reference for the setpoint value Considered only in positioning mode COM1 2 00 0 Setpoint value is relative to last setpoint value target 1 Setpoint value is relative to the last actual value...

Page 116: ... 0 Subindex 1 64 Record 1 64 Record 1 64 Record control byte 2 of the record 1 64 Tab B 47 PNU 402 PNU 404 Setpoint value Setpoint Value Subindex 1 64 Class Array Data type int32 FW Access rw1 Reading or writing of the target position Subindex 1 64 Record 1 64 Record 1 64 Setpoint value of the record 1 64 Tab B 48 PNU 404 PNU 406 Speed Velocity Subindex 1 64 Class Array Data type int32 FW Access r...

Page 117: ...d 1 64 Record 1 64 Max deceleration of the record 1 64 Tab B 51 PNU 408 PNU 409 Jerk acceleration Jerk Acceleration Subindex 1 64 Class Array Data type uint32 FW Access rw1 Reading or parameterisation of the max jerk SINC s3 10 during acceleration The value 0 is inter preted as max jerk Subindex 1 64 Record 1 64 Record 1 64 Max jerk acceleration value of the record 1 64 Tab B 52 PNU 409 PNU 410 Lo...

Page 118: ...eleration Subindex 1 64 Class Array Data type uint32 FW Access rw1 Reading or parameterisation of the max jerk SINC s3 10 during deceleration The value 0 is inter preted as max jerk Force record no function Subindex 1 64 Record 1 64 Record 1 64 Max jerk deceleration value of the record 1 64 Tab B 55 PNU 417 PNU 418 Torque limitation Torque Limitation Subindex 1 64 Class Array Data type int16 FW Ac...

Page 119: ... job 1 1 Reserved 2 7 Reserved Subindex 1 64 Record 1 64 Record 1 64 Record control byte 3 of the record 1 64 Tab B 57 PNU 421 PNU 423 End speed Final Velocity Subindex 1 64 Class Array Data type int32 FW Access rw1 Reading or parameterisation of the speed SINC s at the end of the record Position record end speed Speed record setpoint speed Force record no function Subindex 1 64 Record 1 64 Record...

Page 120: ...ng or parameterisation of the start delay times ms The time is started with the Start com mand After the time has elapsed the record starts to travel Subindex 1 64 Record 1 64 Record 1 64 Start delay of the record 1 64 Tab B 61 PNU 426 PNU 427 Stroke limit Stroke Limit Subindex 1 64 Class Array Data type int32 FW Access rw1 Reading or parameterisation of the max displacement stroke SINC relative t...

Page 121: ...Data type uint16 FW Access rw1 Reading or parameterisation of the torque pilot control proportion in the record mode 0 inactive 1000 fully active The torque pilot control is added to the current controller setpoint value The value is calculated from the acceleration Compare also è PNU 1080 Subindex 1 64 Record 1 64 Record 1 64 Factor of the record 1 64 Tab B 63 PNU 428 ...

Page 122: ...limit values SINC of the position comparator Subindex 1 64 Record 1 64 Record 1 64 Position comparator max of the record 1 64 Tab B 65 PNU 431 PNU 432 Position comparator damping time Position Comparator Window Time Subindex 1 64 Class Array Data type uint16 FW Access rw1 Reading or parameterisation of the damping times ms of the position comparator Subindex 1 64 Record 1 64 Record 1 64 Position c...

Page 123: ... the velocity comparator Subindex 1 64 Record 1 64 Record 1 64 Velocity comparator damping time of the record 1 64 Tab B 69 PNU 435 PNU 436 Force comparator min Force Comparator Min Subindex 1 64 Class Array Data type int16 FW Access rw1 Reading or parameterisation of the lower limit values of the force basic value PNU 555 of the force comparator Subindex 1 64 Record 1 64 Record 1 64 Force compara...

Page 124: ...s of the time comparator Subindex 1 64 Record 1 64 Record 1 64 Time comparator min of the record 1 64 Tab B 73 PNU 439 PNU 440 Time comparator max Time Comparator Max Subindex 1 64 Class Array Data type uint32 FW Access rw1 Reading or parameterisation of the upper limit values ms of the time comparator Subindex 1 64 Record 1 64 Record 1 64 Time comparator max of the record 1 64 Tab B 74 PNU 440 PN...

Page 125: ...404 Offset of the axis zero point SINC to the project zero point Tab B 77 PNU 500 PNU 501 Software end positions Software Position Limits Subindex 1 2 Class Array Data type int32 FW Access rw2 Reading or parameterisation of the software end positions SINC A setpoint specification position outside the software end positions is not permissible and will res ult in an error The offset to the axis zero...

Page 126: ...ith active force control With active force control the actual position relative to the start position must not change by more than the amount specified in this parameter In this way you can ensure that the axis will not perform an uncontrolled movement if force control is activated by mistake e g workpiece missing Monitoring can be deactivated with CDIR XLIM 1 Tab B 81 PNU 510 PNU 512 Max permitte...

Page 127: ...d memory è page 55 Value Significance 0x01 1 Setpoint position in position set1 è PNU 404 0x02 2 Axis zero point è PNU 1010 0x03 3 Project zero point è PNU 500 0x04 4 Lower software end position è PNU 501 1 0x05 5 Upper software end position è PNU 501 2 0x06 6 Position comparator lower limit1 è PNU 430 0x07 7 Position comparator upper limit1 è PNU 431 1 Record number in direct mode via PNU 400 1 S...

Page 128: ...er èappendix A 2 1 Reserved Actual value 1 3 0 Speed basic value è PNU 540 1 Reserved Actual value 2 4 0 Position SINC 32 bit number èappendix A 2 1 Reserved Force torque Setpoint value 1 5 2 Speed basic value è PNU 540 0 1 Reserved Setpoint value 2 6 0 Setpoint torque basic value è PNU 555 1 Reserved Actual value 1 7 0 Actual speed SINC s è appendix A 2 1 Torque force basic value è PNU 555 Actual...

Page 129: ...dex 1 Class Var Data type uint8 FW Access rw1 Reading or parameterisation of the characterististics for the FHPP direct mode Bit Value Significance 0 Binary Relative positioning type 0 Setpoint value is relative to the last setpoint target position 1 Setpoint value is relative to the current position default 1 7 Reserved Tab B 85 PNU 524 ...

Page 130: ...ndex 1 Class Var Data type int32 FW Access rw2 Reading or parameterisation of the acceleration deceleration SINC s2 during jogging Tab B 88 PNU 532 PNU 534 Time period phase 1 Time Phase 1 Subindex 1 Class Var Data type uint16 FW Access rw2 Reading or parameterisation of the time period ms for phase 1 Tab B 89 PNU 534 PNU 538 Following error message window Following Error Window Subindex 1 Class V...

Page 131: ...w1 Reading or parameterisation of the acceleration SINC s2 Tab B 93 PNU 541 PNU 542 Deceleration Deceleration Subindex 1 Class Var Data type int32 FW Access rw1 Reading or parameterisation of the deceleration SINC s2 Tab B 94 PNU 542 PNU 543 Jerk acceleration Jerk Acceleration Subindex 1 Class Var Data type uint32 FW Access rw1 Reading or parameterisation of the max jerk SINC s3 10 during accelera...

Page 132: ...ror Window Subindex 1 Class Var Data type int32 FW Access rw1 Reading or parameterisation of the permitted following error SINC in positioning mode Tab B 99 PNU 549 B 4 16 Project data force direct mode PNU 552 Force message window reached Force Target Window Subindex 1 Class Var Data type int16 FW Access rw2 Reading or parameterisation of the min max force of the force comparator in force basic v...

Page 133: ...int speed max difference between set point speed and actual speed Tab B 103 PNU 561 PNU 566 Stroke limiter Stroke Limitation Subindex 1 Class Var Data type int32 FW Access rw1 Reading or parameterisation of the max permitted displacement stroke SINC with active speed adjustment With active speed adjustment the actual position relative to the start position must not change by more than the amount s...

Page 134: ...nd After the time has elapsed travel is started Tab B 107 PNU 582 PNU 583 Start condition Start Condition Subindex 1 Class Var Data type uint8 FW Access rw1 Reading or parameterisation of the start condition for start commands during active jobs Value Significance 0x00 0 Ignore Ignore start command 0x01 1 Interrupt Switch immediately to the new job 0x02 2 Wait Start of the new job after Motion Com...

Page 135: ...ype int32 FW Access rw1 Reading or parameterisation of the upper limit value SINC s of the velocity comparator Tab B 113 PNU 589 PNU 590 Velocity comparator damping time Velocity Comparator Window Time Subindex 1 Class Var Data type uint16 FW Access rw1 Reading or parameterisation of the damping time ms of the speed comparator Tab B 114 PNU 590 PNU 591 Force comparator min Force Comparator Min Sub...

Page 136: ... ms of the force comparator Tab B 117 PNU 593 PNU 594 Time comparator min Time Comparator Min Subindex 1 Class Var Data type uint32 FW Access rw1 Reading or parameterisation of the lower limit value ms of the time comparator Tab B 118 PNU 594 PNU 595 Time comparator max Time Comparator Max Subindex 1 Class Var Data type uint32 FW Access rw1 Reading or parameterisation of the upper limit value ms o...

Page 137: ...1 basic unit value Example Power of 10 exponent 7 Basic unit 0x01 metre Calculation 1 SINC 1 10 7 m 0 1 μm 10 000 SINC 10 000 10 7m 1 mm Tab B 120 PNU 600 PNU 601 Position unit of measurement Position Dimension Index Subindex 1 Class Var Data type uint8 FW Access rw2 Reading or parameterisation of the system of measurement in relation to the basic unit Value Significance 0x00 0 Undefined user spec...

Page 138: ...ith reversal of direction of rotation all encoder values are negated Tab B 122 PNU 1000 PNU 1001 Encoder resolution Encoder Resolution Subindex 1 2 Class Array Data type uint32 FW Access ro Reading of the encoder resolution ratio of encoder increments to motor revolutions Calculation of the encoder resolution Encoder resolution Encoder increments Motor revolutions Subindex 1 Encoder increments Enc...

Page 139: ...ed so that a whole number results Subindex 1 Motor revolutions Motor Revolutions Numerator of the gear ratio Subindex 2 Spindle rotations Shaft Revolutions Denominator of the gear ratio Tab B 124 PNU 1002 PNU 1003 Feed constant Feed Constant Subindex 1 2 Class Array Data type uint32 FW Access rw2 Reading or parameterisation of the feed constant SINC Lead of the drive spindle per revolution è page ...

Page 140: ...ro point Offset Axis Zero Point Subindex 1 Class Var Data type int32 FW Access rw1 Reading or parameterisation of the offset axis zero point SINC The offset for the axis zero point home offset defines the axis zero point AZ as a dimension refer ence point relative to the physical reference point REF The axis zero point AZ is the point of reference for the project zero point PZ and for the software...

Page 141: ...n Acceleration Deceleration Subindex 1 Class Var Data type int32 FW Access rw2 Reading or parameterisation of the acceleration deceleration SINC s2 in reference mode Tab B 130 PNU 1013 PNU 1015 Max torque Max Torque Subindex 1 Class Var Data type int16 FW Access rw2 Reading or parameterisation of the max permitted torque force basic value PNU 555 via cur rent limiter in homing If the value is reac...

Page 142: ... or parameterisations of the target SINC by which the current position may deviate from the target position while still interpreted to be within the target window The range of the message window is double that of the parameterised value The setpoint target position is in the centre of the window Tab B 134 PNU 1022 PNU 1023 Damping time for target reached Position Target Window Time Subindex 1 Clas...

Page 143: ... the speed controller Subindex 3 I proportion of speed I Fraction Velocity Data type uint32 I proportion of the speed controller Subindex 4 Current gain Gain Current Data type uint32 Gain of the current regulator Subindex 5 I proportion current I Fraction Current Data type uint32 I proportion of current regulator Subindex 6 Time constant speed filter Time Constant Velocity Filter Data type uint32 ...

Page 144: ...d to the motor nominal current è PNU 1035 Tab B 137 PNU 1025 PNU 1026 I2t limit values I2t Limits Subindex 1 2 Class Struct Data type uint16 FW Access rw2 ro Reading or parameterisation of the limit threshold values of the I t monitoring Subindex 1 I t warning threshold I t Warning Level Access rw2 Warning threshold of the I t monitoring of the motor Subindex 2 I t error limit I t Error Limit Acce...

Page 145: ... Class Var Data type int32 FW Access ro Reading of the max motor current mA The value is always positive Internally this limits the max positive and negative current Tab B 142 PNU 1034 PNU 1035 Motor nominal current Motor Rated Current Subindex 1 Class Var Data type int32 FW Access ro Reading of the motor nominal current mA rating plate specification Tab B 143 PNU 1035 PNU 1036 Motor nominal torqu...

Page 146: ...INC of the drive Tab B 146 PNU 1041 PNU 1042 Standstill position window Standstill Position Window Subindex 1 Class Var Data type int32 FW Access rw2 Reading or parameterisation of the standstill position window SINC Amount of the position by which the drive may move after MC until the standstill monitoring responds Tab B 147 PNU 1042 PNU 1043 Standstill delay time Standstill Window Time Subindex ...

Page 147: ... Reading of the current motor current mA Tab B 150 PNU 1059 B 4 27 Axis parameters electric drives 1 temperature data PNU 1063 Current temperature CPU Actual Temperature CPU Subindex 1 Class Var Data type int8 FW Access ro Reading of the current temperature C of the main CPU Tab B 151 PNU 1063 PNU 1065 Min Max temperature CPU Min Max Temperature CPU Subindex 1 2 Class Array Data type int8 FW Acces...

Page 148: ...drives 1 general drive data PNU 1071 Tool load basic mass load Tool Load Ground Mass Subindex 1 Class Var Data type uint32 FW Access rw2 Reading or parameterisation of the tool load basic mass load Linear axis moving basic mass load g Rotative axis basic mass moment of inertia at the gear unit output kgm2 10 7 Tab B 155 PNU 1071 PNU 1073 Current intermediate circuit voltage Actual Intermediate Cir...

Page 149: ...iting of PNU 1080 basic factor or weight dependent factor can lead to higher motor currents which can result in oversteering during accelerations in the torque pilot control Greater loads are hereby applied to the drive The factors are calculated from the parameters motor gear unit feed constant of the Festo Configuration Tools FCT and written to PNU 1080 and should not be changed PNU 1080 Torque ...

Page 150: ...dingly è section C 2 C 2 Overview of EFPC The EFPC extended parameter channel permits automated transmission of parameters and larger data sets in the form of a parameter file Modules with which transmission can be easily implemented are available for some selec ted controllers at è www festo com sp C 2 1 EFPC structure The EFPC extended parameter channel uses the 8 bytes of the FPC The structure ...

Page 151: ...nse ID è Tab C 4 and Tab C 5 FPCC2 Value Function Permitted with mode Parameter File xxxx0000 0 No job x x xxxx0100 4 Parameter file upload x xxxx0101 5 Parameter file download x xxxx0110 6 Request parameter value array x xxxx1000 8 Modify parameter value array double word x 2 Values not stated reserved Tab C 4 FPCC coding request ID FPCS3 Value Function Permitted with mode Parameter File xxxx0000...

Page 152: ...s send task identifier 0 no job zero request and response identifier 0 no reply This ensures that an old response is not interpreted as a new response Parallel to the transmission the controller must evaluate possible errors Before and after the parameter transmission the telegram no job is exchanged cyclically between the controller and motor controller Written parameters must be permanently stor...

Page 153: ...the user data Error code Error 0 0x00 Invalid PNU 1 0x01 Parameter value cannot be altered 2 0x02 Lower or upper value limit exceeded 3 0x03 Faulty sub index 11 0x0B No supervising access 17 0x11 Task cannot be carried out in the operating status 101 0x65 Festo ReqID is not supported 102 0x66 Festo Parameter is write only Tab C 7 Error codes in parameter transmission ...

Page 154: ...n parameter file transmission is shown in è Tab C 8 Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 O data FPCC Package ID User data package 3 control ler bits 5 bit sequence number I data FPCS Package ID User data package 3 status bits 5 bit sequence number Tab C 8 Structure of EFPC for parameter file transmission C 4 2 Package ID The package ID is divided into 2 areas The first 3 bi...

Page 155: ...he motor controller If the parameters of the motor controller were changed during execution time although they are active they are not stored in the permanent memory of the motor controller and so are lost after a restart With PNU 127 2 the current parameterisation can be stored in the permanent data memory User data package The parameter file is divided into 6 byte blocks for transmission and put...

Page 156: ...er Component Online Restart Controller Setting of PNU 127 subindex 4 Load parameter values from parameter file But with this method changed parameters of the error management are not taken over C 4 5 Sequence of parameter file transmission Parameter file transmission takes place in the following sequence 1 Start data transmission The sequence number begins with 0 2 Transmit user data packages and ...

Page 157: ...1000011 Package ID 000 00001 Data parameter file Request package 2 FPCC 01000100 Package ID 000 00010 No data Send package 2 FPCS 01000011 Package ID 000 00010 Data parameter file Send package 31 FPCS 01000011 Package ID 000 11111 Data parameter file Request package 32 FPCC 01000100 Package ID 000 00000 No data Send package 32 FPCS 01000011 Package ID 000 00000 Data parameter file Request package ...

Page 158: ...1 Package ID 000 00001 No data Send package 2 FPPC 01000101 Package ID 000 00010 Data parameter file Receive package 2 FPCS 01000011 Package ID 000 00010 No data Receive package 31 FPCS 01000011 Package ID 000 11111 No data Send package 32 FPPC 01000101 Package ID 000 00000 Data parameter file Receive package 32 FPCS 01000011 Package ID 000 00000 No data Send complete FPCC 01000101 Package ID 010 ...

Page 159: ...ackage ID 000 00001 No data Send package 1 FPCS 01000011 Package ID 000 00001 Data parameter file Request package 2 FPCC 01000100 Package ID 000 00010 No data Send package 2 FPCS 01000011 Package ID 000 00010 Data parameter file Package 2 faulty FPCC 01000100 Package ID 011 00011 Data error code Confirm error FPCS 01000011 Package ID 011 00011 No data Controller Motor controller Parameter file Div...

Page 160: ...kage ID 000 00010 Data parameter file Package 2 faulty FPCS 01000011 Package ID 011 00010 Data error code Controller Motor controller Parameter file Divide parameter file into 6 byte blocks here into 32 6 bytes Fig C 6 Error in parameter download Parameter file download FPCC is not supported Request parameter download FPCC 01000001 Package ID 001 00000 Data large parameter file Error FPCS 01000111...

Page 161: ...Data large parameter file Error FPCS 01000111 Package ID 001 00000 Data error code 0x11 Job cannot be carried out due to operating status Controller Motor controller Fig C 8 Error EFPC is blocked Certain functions are blocked during active parameter transmission e g switching to download is not allowed during an upload and vice versa before transmission is stopped by the controller ...

Page 162: ...r the motor controller error results in interruption of parameter file transmission this is stored as information in the diagnostic memory of the motor controller The controller does not send an error number in the user data The motor controller answers the controller with the error status without an error text in the user data Error code Error 0 0x00 Error message from the controller 1 0x01 Incor...

Page 163: ...sion is interrupted In this case the user data are not evaluated Differentiation between different error causes is optionally foreseeable on the controller If transmission is interrupted the data transmitted to the controller up to then are discarded This should also be planned in the controller Error type 2 is reported in package ID 0 0x00 Error message from the controller 2 0x02 Timeout between ...

Page 164: ...tic messages 164 Festo GDCP CMMO ST LK C HP EN 2017 05b English D Diagnostic messages Explanation of the parameterisable classification error response diagnostic memory options and acknowledgement option è 7 2 2 ...

Page 165: ...e drive 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 p...

Page 166: ...equently 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 para...

Page 167: ...ced If 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 th...

Page 168: ...as occurred 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 di...

Page 169: ...e range 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 stil...

Page 170: ... Definable 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 a...

Page 171: ...tch is 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 p...

Page 172: ...ion Check 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 posi...

Page 173: ... 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 The warning disappears if the following error...

Page 174: ...During a parameter file procedure all other reading and writing routines for the parameter file are blocked Wait until the process is complete The time between 2 parameter file downloads should not be less than 3 s Acknowledgement option Error can only be acknowledged after eliminating the cause Definable error response s F G 39h Trace warning Definable as W Diagnostic memory optional An error has...

Page 175: ... The device has been switched on or was switched on for longer than 48 days This event also occurs when deleting the diagnostic memory The start up event does not occur if the preceding entry in the diagnostic memory has already been a start up event This event is used only for better documentation of the diagnostic messages that occurred 3Eh Diagnostic memory Definable as F Diagnostic memory alwa...

Page 176: ...ction without master control Definable 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 ...

Page 177: ...e controller is re established 48h Modbus connection without master control Definable as W I Diagnostic memory optional There is no longer a connection to the controller e g the cable was disconnected Check the connection and perform a reset For parameterisation as a warning The warning disappears if the connection to the controller is re established 4Ch Value is out of range Definable as F Diagno...

Page 178: ...as occurred 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 d...

Page 179: ... of the Festo Parameter Channel FPC e g for transmission of parameter files Festo Configuration Tool FCT Software with uniform project and data management for supported types of equipment The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plug ins Festo Handling and Position ing Profile FHPP Uniform fieldbus data profile for position c...

Page 180: ...ition set or a direct positioning task with position control closed loop position control Project zero point PZ Project Zero point Point of reference for all positions in positioning tasks The project zero point PZ forms the basis for all absolute position specifications e g in the position set table or with direct control via control inter face The PZ is defined by an adjustable distance offset f...

Page 181: ...81 IO Link 11 IODD files 13 J Jogging 178 M Master 18 Message Following error 71 Motion Complete 70 Standstill monitoring 72 Motor controller 179 N Notes on the documentation 7 O Operating mode 179 Homing 178 Positioning mode 179 Profile torque mode see force mode 178 Speed adjustment 179 Teaching 179 Operating mode FHPP operating mode Direct application 29 Record selection 29 P Parameter file tra...

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Page 183: ...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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