Festo CMMO-ST Manual Download Page 128

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Control via Ethernet (CVE)

128

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

#60

Setpoint position

System

SINT32

R/-/-/-/-

Current Target Pos.

Unit: SINC

Values: –2147483648 … 2147483647

Default: 0

#61

Setpoint speed

System

SINT32

R/-/-/-/-

Current nominal speed

Unit: SINC/s

Values: –2147483648 … 2147483647

Default: 0

#62

Nominal current

System

SINT32

R/-/-/-/-

Current nominal current

Unit: mA

Values: –2147483648 … 2147483647

Default: 0

#63

Setpoint force

System

SINT16

R/-/-/-/-

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/s²

Values: –2147483648 … 2147483647

Default: 0

#72

Nominal acceleration

System

SINT32

R/-/-/-/-

Current nominal acceleration

Unit: SINC/s²

Values: –2147483648 … 2147483647

Default: 0

Summary of Contents for CMMO-ST

Page 1: ...Description Motor controller CMMO ST C5 1 DIO 8022056 1301a Motor controller CMMO ST ...

Page 2: ... prevent them Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries or serious material damage Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out in any order 1 Act...

Page 3: ...iew 13 2 2 Overview of CMMO ST 14 2 2 1 General properties 14 2 2 2 Commissioning options 14 2 2 3 Control profiles of the I O interface 14 2 2 4 Closed loop versus open loop operation 15 2 3 Overview of CMMO ST operating modes 15 2 3 1 Positioning mode 15 2 3 2 Speed mode 15 2 3 3 Force mode 15 2 4 Overview of drive functions 16 2 4 1 Jogging 16 2 4 2 Teach 16 2 4 3 Standstill monitoring 16 2 4 4...

Page 4: ...ethods to switch with without index search 23 2 7 4 Homing method current position 24 2 7 5 Automatic homing valve profile 24 2 7 6 Movement to zero 25 2 8 Monitoring functions 25 2 9 Safety aspects 26 3 Mounting 27 3 1 General instructions 27 3 2 Dimensions of the controller 28 3 3 Mounting the controller 29 3 3 1 Fitting 29 3 3 2 H rail mounting 30 4 Electrical installation 31 4 1 Overview 31 4 ...

Page 5: ...p file 50 5 4 Commissioning with FCT Festo Configuration Tool 51 5 4 1 Installing the FCT 51 5 4 2 Starting the FCT 52 5 5 I O interface 54 5 5 1 Profiles for selection 54 5 5 2 Properties of the valve profile 7 55 5 5 3 Properties of the binary profile 31 66 5 6 Structure of the records in the record table 77 5 6 1 Positioning mode 77 5 6 2 Speed mode binary profile only 79 5 6 3 Force mode only ...

Page 6: ...essages 90 6 4 3 Problems with the Ethernet connection 103 6 4 4 Other problems and remedies 105 6 4 5 Malfunction Index pulse too close on proximity sensor 2Eh 106 A Technical appendix 107 A 1 Technical data 107 B Control via Ethernet CVE 109 B 1 Basic principles 109 B 1 1 Communication principle 109 B 1 2 CVE protocol 110 B 1 3 Controlling the drive 116 B 2 Explanation of increments 124 B 3 List...

Page 7: ...s as follows Hardware version and firmware version in the Festo Configuration Tool FCT with an active online connection to the CMMO ST on the Controller panel Firmware version from What s new Which FCT plug in V 1 0 x Motor controller CMMO ST with I O interface supports the following drives EPCO For additional drives see Festo catalogue www festo com CMMO ST V 1 00 V 1 1 2 Advanced parameter setti...

Page 8: ...ription on CD ROM GDCP CMMO ST EA SY Installation commissioning and diagnostics of positioning systems with the CMMO ST with communication via I O interface Help system for software included in the FCT software Dynamic and static help for the Festo Configuration Tool Functional descriptions for the Festo Configuration Tool configuration software UL documentation CMMO ST_SPUL Requirements for obser...

Page 9: ...e and at high speed Collisions can lead to serious injury to people and damage to components Make sure that nobody can place body parts in the positioning range of the axes or other connected actuators and that there are no objects in the positioning path while the system is still connected to a power supply Warning Parameterisation errors can cause injury to people and damage to property Only ena...

Page 10: ...al environment in perfect technical condition in original status without unauthorised modifications only the conversions or modifications described in the documentation supplied with the product are permitted Observe the safety instructions and intended use in the documentation for all the components and modules Observe the standards specified in the relevant chapters as well as the regulations of...

Page 11: ...ments General conditions for the correct and safe use of the product which must be observed at all times Comply with the connection and environmental conditions specified in the technical data of the product appendix A 1 and of all connected components Only compliance with the limit values or load limits permits operation of the product in accordance with the relevant safety regulations Observe th...

Page 12: ...formity for this product can be found at www festo com Certain configurations of the product have been certified by Underwriters Laboratories Inc UL for the USA and Canada These configurations bear the following mark UL Listing Mark for Canada and the United States Note Observe the following if the UL requirements are to be complied with in your applica tion Rules for observing the UL certificatio...

Page 13: ...w 2 1 System overview 1 2 3 4 1 Higher order controller level PLC 2 Parameterisation and commissioning level Festo Configuration Tool FCT or web browser 3 Controller level CMMO ST 4 Drive level for example Electric cylinder with stepper motor Fig 2 1 System overview ...

Page 14: ...and commissioned as follows With the integrated web server using a mechanical drive of the OMS series optimised motion series diagnostics and parameterisation via standard web browser simple positioning section 5 3 with FCT the Festo Configuration Tool convenient full function range section 5 4 Control via Ethernet CVE It is possible to start records from a PC programme via the Ethernet interface ...

Page 15: ...with an encoder can also be parameterised so that no feedback from the encoder is required 2 3 Overview of CMMO ST operating modes Records Orders are stored in a record table in CMMO ST in the form of parameter records Each record contains all of the information required for a specific function depending on the selected mode During operation the higher order controller PLC then makes a successive ...

Page 16: ...l monitoring time the controller signals this to the higher order controller One of the freely assignable outputs no 6 or no 7 can be used for this purpose The position controller also tries to move the drive back into the position window 2 4 4 Brake If the drive is equipped with a brake it is controlled as follows Switch on delay When setting the release ENABLE the time set for the switch on dela...

Page 17: ...Only available in the binary profile Detailed description section 5 8 2 4 7 Record switching by PLC The record switching function enables the PLC to start a new record before an active record has been completed Detailed description section 5 7 2 4 8 Trace The trace oscilloscope function in FCT makes it possible to record drive data over a defined period in real time e g speeds and contouring error...

Page 18: ...es 3 seconds 2 4 12 Higher order control Higher order control is an exclusive access right Many motor controllers have multiple interfaces through which they can be controlled e g an I O interface and a CAN interface Simultaneous control by multiple interfaces however could result in uncontrollable behaviour of the drive Master control ensures that only one interface controls the drive i e it has ...

Page 19: ...ming run travel from the homing point to the axis zero point section 2 7 6 Homing method defines the way in which the reference point REF is ascertained Homing point REF binds the measuring reference system for example to a proximity sensor or a fixed stop depending on the homing method Axis zero point AZ is shifted by a defined distance from the reference point REF But this offset can also be 0 T...

Page 20: ...ct zero point SLN Negative software end position software limit negative e Usable stroke SLP Positive software end position software limit positive TP AP Target position actual position g Offset TP AP to PZ Tab 2 2 Measuring reference system 2 6 2 Calculation rules Dot Calculation rule Axis zero point AZ REF a Project zero point PZ AZ d REF a d Negative software end position SLN AZ b REF a b Posit...

Page 21: ...nly used units for length specifications such as millimetres or inches If you are using CVE objects you will need the so called interface increments SINC appendix B 2 2 7 Homing run A homing run must be performed every time the logic voltage supply is switched on in order to anchor the reference point and the measuring reference system in the positioning range of the axis A drive function cannot b...

Page 22: ... axis zero point AZ Tab 2 3 Homing to the stop Note Material damage due to moved measuring reference system In the event of greatly reduced dynamic values low maximum motor current combined with high travelling resistance e g due to frictional grip there is a danger that the drive will come to a standstill and the controller will recognise a stop incorrectly A movement to zero should be executed w...

Page 23: ...positioning speed to the axis zero point AZ Tab 2 4 Homing to switch For closed loop operation section 2 2 4 A distinction is made between the following options 1 At the start of the homing run the switch is already actuated In this case the drive runs counter to the parameterised homing direction 2 The switch is only found after the start of the movement In this case the drive initially runs in t...

Page 24: ...atures apply Stops are not detected An index search is not possible If a switch has not been found after a certain period of time the homing run is aborted with an error message This timeout time can be set in FCT Homing panel Settings tab The drive therefore must always be positioned before the start of a homing run so that it can find the switch 2 7 4 Homing method current position The current p...

Page 25: ... only appear after completion of the movement to zero Motion Complete remains inactive between the homing run and movement to zero A movement to zero should be executed when homing to the stop in order to exit the stop position Otherwise the drive could be driven continuously against an elastic stop which would result in a strong temperature increase and eventually lead to the controller shutting ...

Page 26: ...ENABLE signal on the I O interface Without brake clamping unit The drive brakes with the quick stop ramp Quick stop The controller output stage is then switched off The effective load could possibly slide down if mounted in a vertical inclined position When using a brake clamping unit If the drive moves when ENABLE is cancelled then it will initially be brought to rest using Quick Stop deceleratio...

Page 27: ...tion loads may fall and cause personal injury Check whether external safety measures are necessary e g toothed latches or moveable bolts This will prevent the work load from sliding suddenly if there is a voltage failure Note When mounting the controller on the machine Observe the IP protection class of the controller and the connectors cables Also observe the operating instruction s for the drive...

Page 28: ...3 Mounting 28 Festo GDCP CMMO ST EA SY EN 1301a English 3 2 Dimensions of the controller 108 mm 39 mm 113 mm Fig 3 1 Dimensions of the controller ...

Page 29: ...hers if necessary If a H rail clip is mounted you can remove it The following figure shows the location of the holes and recesses that can be used for mounting the controller 1 2 1 1 Mounting with 4 screws to the base lying flat 2 Mounting on the side with 3 screws vertical Fig 3 2 Mounting with screws When mounting on the side 2 To exchange the controller you only need to loosen the 3 screws by a...

Page 30: ...d Screw the H rail clip 1 to the side of the controller Fig 3 3 Note When using another screw Please observe the maximum permitted screw in depth of 5 mm 3 Hang the CMMO on the H rail as follows by inserting the top into the hooks in the clip first then press the H rail downwards until the CMMO clicks into place max 5 mm 1 2 1 H rail clip 2 Maximum screw in depth Fig 3 3 H rail mounting ...

Page 31: ...s accessories Tab 4 1 Lay all flexible lines so that they are free of kinks and free of mechanical stress if necessary use chain link trunking If unused plug connectors are touched there is a danger that damage may occur to the CMMO or to other parts of the system as a result of electrostatic discharge ESD Place protective caps on unused terminals to prevent such discharges Note To ensure complian...

Page 32: ...3 2 N LE25 Connection block NEBC S1G25 C2W25 S7 Plug NEBC S1G25 C2W25 S6 3 Ethernet X18 Standard network cable RJ45 plug connector category 5 or higher 4 Reference switch X1A See Festo catalogue 5 STO X3 To be prepared by the customer 6 Encoder X2 Encoder cable NEBM M12G8 W8 E LE G straight W angled 7 Motor X6 Motor cable NEBM S1W15 E Q7 for motors with 15 pin plug NEBM S1W9 E Q5 for motors with 9...

Page 33: ...on X9 5 1 5 1 1 Do not connect 2 Do not connect 3 Logic voltage 24 V supply of the control electronics 4 Reference potential 0 V reference potential for load voltage logic voltage STO and controller interface 5 Load voltage 24 V supply of the power output stage and the motor Tab 4 2 Port X9 Power power supply Caution Damage to the device With port X9 always pay attention to the correct pin number ...

Page 34: ...guarantee reliable electrical isolation of the operating voltage as per IEC DIN EN 60204 1 Caution Damage to the device The power supply inputs have no special protection against overvoltage Make sure the permissible voltage tolerance is never exceeded Technical data of the voltage supply appendix A 1 4 3 Functional earth The metal sub base of the CMMO ST is used as a functional earth It is galvan...

Page 35: ...14 15 16 17 18 19 20 21 22 23 24 25 I O 1 2 11 1 2 3 4 5 6 7 8 9 10 11 24 V 0 V Inputs Outputs Out GND Tab 4 3 Port X1 Pin 24 and pin 25 can be used to switch an input illustration in Tab 4 3 PNP version Pin 24 at input NPN version Pin 25 at input Caution Damage to the device Pin 24 and pin 25 are not short circuit proof The functional description of the I O interface dependent on the selected pro...

Page 36: ...ad protection Protected against short circuits Pin 24 24 V carried out Overload protection No not protected against short circuits Only use for switching inputs Max 0 1 A Tab 4 4 Specifications for the I O controller interface 4 5 Reference switch X1A Port Pin Function 1 3 1 3 X1A 1 24 V logic Voltage output for supplying the reference switch from X9 Not protected against short circuits 2 Signal V...

Page 37: ...n the manner described in this document Port Pin Function X3 1 5 1 5 1 24 V logic Logic voltage output from X9 2 STO 1 Channel 1 switch off the supply voltage 3 STO 2 Channel 2 switch off the supply voltage 4 Diagnostics 1 The diagnostic contacts are potential free The diagnostic contact is low impedance if the STO function has been requested and activated via two channels 5 Diagnostics 2 Tab 4 6 ...

Page 38: ...gnal B Negative polarity 5 N 1 Increment encoder signal zero pulse positive polarity 6 N 1 Increment encoder signal zero pulse negative polarity 7 5 V 10 Supply of the encoder Max 100 mA permissible Not protected against short circuits 8 0 V Reference potential 1 Each 5 V and Ri approx 120 Ω Tab 4 7 Connection X2 encoder 4 8 Motor X6 Port Pin Function X6 1 6 1 6 1 String A Connection of the two mo...

Page 39: ...MMO ST on the I O control interface Parameterise the entire system completely before activating the output stage with ENABLE Caution When control via the web browser or FCT is activated the drive cannot be stopped with the PAUSE STOP input or the ENABLE input of the I O control interface Caution The CMMO ST cannot detect if the connection to the web browser has been interrupted Movements that have...

Page 40: ... is modified Existing software end positions and the target positions in the record table will be shifted together with the axis zero point Adjust the software end positions and the target positions if necessary Note Damage to components when the permissible impact pulse is exceeded Operate the drive only with the permissible load operating instructions for the drive If necessary limit the maximum...

Page 41: ...ive Port Web browser 80 FCT 7508 CVE Control via Ethernet 49700 Subnet mask 255 255 255 0 Gateway 0 0 0 0 none Tab 5 1 Network settings delivery status 5 2 2 DHCP or fixed IP address Behaviour of the DHCP server The DHCP server of the CMMO ST is intended to establish a direct connection between the CMMO ST and an individual computer It is not intended to supply larger networks with IP addresses It...

Page 42: ...nt accidental access to the CMMO ST in FCT menu option Component Online Password 5 2 4 Timeout The CMMO ST detects if the connection to the FCT software has been interrupted and it behaves in accordance with the settings parameterised in FCT under Error management error number 0x32 The timeout period is typically 1 s but it can be longer in slow networks as the timeout period is dynamically adapte...

Page 43: ... detected automatically The DHCP server in the CMMO ST will now assign an IP address to your computer enabling you to access the CMMO ST requirement a DHCP client is active on your com puter default setting for most computers Fig 5 1 Initial start up via direct connection 2 Launch your web browser activate Internet Explorer 6 Firefox 3 JavaScript and type the IP address of the CMMO ST into the add...

Page 44: ...ections Teaching Teaching of up to 7 absolute target positions parametrisation of speed and acceleration of the result ing position records Relative target positions cannot be taught Corresponding position records however can be entered by hand Positioning Starting and stopping the 7 position records I O Display of the electro physical status of the inputs and outputs of the I O interface Diagnost...

Page 45: ...d 1 1 25 of the maximum speed 1 5 of the maximum speed 1 Dimensional reference system Position of the axis zero point Software limit switch negative Software limit switch positive 3 mm from the mechanical stop 3 mm stroke length 3 mm Jogging Speed phase 1 slow travel Duration of phase 1 Speed phase 2 fast travel 1 25 of the maximum speed 1 2 s 5 of the maximum speed 1 Condition for the Position re...

Page 46: ...MMO ST EA SY EN 1301a English 5 3 3 Initial start up with the web server If you have accessed the CMMO ST website in accordance with section 5 2 5 you will initially be presented with the diagnostics page Fig 5 2 Website diagnostics ...

Page 47: ...nctions uncontrolled behaviour and damage If you do not have a second network connection e g WLAN WiFi you can continue to step 4 and use the parameter file on the CD Fig 5 3 Website parameters 3 Click Save in the Windows dialogue window Download file to save the file to your computer 4 Click Browse and select the downloaded parameter file in the dialogue window Fig 5 4 Selecting a parameter file ...

Page 48: ...ting enable 9 First start a homing run by clicking the Start Homing button default setting negative stop motor side with movement to zero Tab 5 2 Then click the Jog neg or Jog pos buttons to move the drive in a negative or positive direction in this example to position 10 00 mm Fig 5 9 Jogging 10 Select Positioning to absolute position from the first drop down menu in the position record table and...

Page 49: ...missioning Festo GDCP CMMO ST EA SY EN 1301a English 49 Fig 5 11 Website Parameters Record Sets 1 13 Adjust the values for travel speed acceleration and force limit Fig 5 12 Website Parameters Record Sets 2 ...

Page 50: ...in the CMMO ST remove the check mark next to Control Enable and then click the Store button underneath the position record table Fig 5 14 Saving position records in the CMMO ST 5 3 4 Creating a parameter backup file When parameterisation is complete you can create a backup copy of your parameters by using the web browser If you ever need to replace the CMMO ST you can import this parameter file in...

Page 51: ...he I O interface force mode speed mode and record linking The following pages only describe the first few steps in FCT Implement all other steps in accordance with the instructions in the integrated FCT help system 5 4 1 Installing the FCT Note FCT plug in CMMO ST V 1 0 0 supports the motor controller CMMO ST IO with firm ware version V 1 0 x For later versions of the CMMO ST check whether an upda...

Page 52: ...ected to the PC This enables preparation for the actual commissioning process e g in the design office when a new system is being planned Additional information can be found in the plug in help command Help Contents of installed plug ins Festo manufacturer name CMMO ST plug in name Device control master control When the CMMO ST is switched on the I O interface is activated as standard Caution Unex...

Page 53: ...r all of the pages in a book directly from the Help contents by using the Print button in the Help window Print a prepared version of the help in Adobe PDF format Printed version Directory File FCT help framework FCT installation directory Help FCT_de pdf PlugIn help CMMO ST FCT installation directory HardwareFamilies Festo CMMO ST V Help CMMO ST_de pdf In order to use the printed version in Adobe...

Page 54: ...ry profile 31 The binary profile uses 5 binary coded inputs and can therefore select 31 records plus record 0 homing The following are also available jogging and teaching Force mode Speed mode Record Linking Initial start up During the initial start up phase the valve profile is active An initial start up is thereby possible with both a web browser and with FCT Change profile A change between prof...

Page 55: ...llowing error If the drive comes up against a physical stop it uses the parameterised torque to press against the stop until the input becomes inactive There is no following error monitoring in the valve profile Standstill monitoring There is no standstill monitoring in the valve profile i e after completion of a position record the drive can be shifted by external forces without it being reported...

Page 56: ...active 8 REF Starts a homing run in accordance with the parameterised method 9 BRAKE An active input overrides automatic brake control and opens the closed brake This input can be used to open a closed brake however it cannot be used to close an open brake prevention of brake wear as a result of faulty application 10 ENABLE After setting this enable signal the CMMO ST assumes control of the connec...

Page 57: ...ver the drive is pushed out of position and then returns the output remains inactive If another input is active then the current position is compared to its position zone and output 8 is set again depending on the result 9 Referenced After a successful homing run this output is set and remains set for as long as the drive is referenced 10 Ready Drive is ready for operation All requirements for sta...

Page 58: ...a English 1 Valve profile Switching on homing 0 t Vel t Pos1 t Pos2 t REF t ENABLE t RESET t Ready t Referenced t OnPos1 t OnPos2 1s 1 2 3 4 1 ENABLE 2 Start homing 3 Homing run ended 4 Reset REF Fig 5 16 Timing diagram Valve profile switching on homing ...

Page 59: ... time ENABLE is set after the switch on procedure the drive conducts a commutation angle search duration up to 2 seconds Wait for Ready output Start homing Start homing via REF input Homing run ended Following successful completion of the homing run the Referenced output is set Reset REF The REF input may only be reset after successful completion of the homing run ...

Page 60: ...le Terminate record 1 start record 2 0 t Vel t Pos1 t Pos2 t REF t ENABLE t RESET t Ready t Referenced t OnPos1 t OnPos2 1 2 3 4 1 Start record 1 2 Cancel record 1 3 Start record 2 4 Destination 2 reached Fig 5 17 Timing diagram Valve profile terminate record 1 start record 2 ...

Page 61: ...ate record 1 Record 1 is terminated if input Pos1 is removed The output OnPos1 is not set in this example as the target position has not yet been reached Start record 2 Record 2 is started by setting input Pos2 Destination 2 reached After reaching the parameterised target position window and after expiration of the parameterised damping time the output OnPos2 is set ...

Page 62: ...N 1301a English 3 Valve profile Record switching 0 t Vel t Pos1 t Pos2 t REF t ENABLE t RESET t Ready t Referenced t OnPos1 t OnPos2 1 2 3 1 Start record 1 2 Switching 3 Destination 2 reached Fig 5 18 Timing diagram Valve profile record switching ...

Page 63: ...ecord 1 Record 1 is started by setting input Pos1 Switch over While record 1 is being executed input Pos2 is set The drive switches immediately to record 2 Destination 2 reached After reaching the parameterised target position window and after expiration of the parameterised damping time the output OnPos2 is set ...

Page 64: ... profile Acknowledging errors 0 t Vel t Pos1 t Pos2 t REF t ENABLE t RESET t Ready t Referenced t OnPos1 t OnPos2 1 2 3 4 5 1 Start record 1 2 Error 3 Acknowledge error 4 Restart record 1 5 Destination 1 reached Fig 5 19 Timing diagram Valve profile acknowledging errors ...

Page 65: ...ut is reset The drive brakes with the quick stop ramp and remains stationary Acknowledge error The error is acknowledged by setting the RESET input After setting this input the parameterised time for the switch on delay of the holding brake starts to run When this time has expired the Ready output is set again Restart record 1 When the input Pos1 has been reset record 1 can be restarted by setting...

Page 66: ... after the end of the current record section 5 8 Record switching While a command record is being executed another command record can be switched to at any time in this process the higher order controller PLC pre selects a new command record and sends a new START signal section 5 7 Pause intermediate stop An intermediate stop is triggered on the CMMO ST via the I O interface This works as follows ...

Page 67: ...Jog positive 5 JOG Jog negative 6 Start Starts a record TEACH Transfer current position in position record 7 PAUSE Removal of the physical signal stops the drive this input is inverted i e negative logic 8 Mode 0 Normal operation Mode 1 Jog teach 9 BRAKE Setting the input opens the brake Only relevant if the controller is not enabled i e not in a Ready state 10 ENABLE Activate enable the controlle...

Page 68: ...g The drive moves 5 1 Alarm Error An error has occurred 6 Configurable Different signals can be allocated to these outputs by using FCT 7 8 In Zone The drive is located within the configured position zone of the current position record i e within the position comparators 9 Referenced The drive is referenced 10 Ready The drive is ready for operation 11 Torque limit reached Target force reached Only...

Page 69: ...69 1 Switching on homing 0 t Vel t RECORD t ENABLE t PAUSE t START t RESET t Ready t Referenced t Error t Pause t Ack t MC 1s 2 1 3 4 5 1 PAUSE 2 ENABLE 3 Start homing 4 Reset START 5 Homing run ended Fig 5 20 Timing diagram Binary profile switching on homing ...

Page 70: ...ime ENABLE is set after the switch on procedure the drive conducts a commutation angle search duration up to 2 seconds Wait for Ready output Start homing Set record number 0 and start homing via the START input Reset START After the outputs Ack and MC have been reset the START input can also be reset again Homing run ended Following successful completion of the homing run the outputs MC and Refere...

Page 71: ... Vel t RecNr t ENABLE t HALT t START t RESET t Ready t Referenced t Error t Halt t Ack t MC 0 1 3 1 1 3 1 1 2 3 4 5 6 7 1 Record 1 2 Pre select record 3 3 Start record 3 4 Record 1 5 PAUSE 6 Delete remaining path 7 Drive is ready Fig 5 21 Timing diagram Binary profile switch pause delete remaining path ...

Page 72: ...ill processed Start record 3 Record 3 is only started after Motion complete appears for record 1 MC 1 Record 1 Pre select record 1 and then start PAUSE While record 1 is being processed the input PAUSE is reset PAUSE 0 The outputs Ready and Pause are reset The drive brakes and remains stationary Vel 0 Delete remaining path Set the RESET input The remaining path of record 1 is thereby deleted The r...

Page 73: ... English 73 3 Acknowledging errors 0 t Vel t RecNr t ENABLE t HALT t START t RESET t Ready t Referenced t Error t Halt t Ack MC t 1 2 3 4 1 Start record 2 Error 3 Acknowledge error 4 Restart Fig 5 22 Timing diagram Binary profile acknowledging errors ...

Page 74: ... a response a deceleration is effected with the quick stop ramp Quick stop The outputs Ready and Error are reset The drive brakes with the quick stop ramp and remains stationary Acknowledge error The error is acknowledged by setting the RESET input After setting this input the parameterised time for the switch on delay of the holding brake starts to run When this time has expired the outputs Ready...

Page 75: ...MMO ST EA SY EN 1301a English 75 4 Jogging 0 t VEL t ENABLE t HALT t START t Jog t Jog t RESET t Ready t Referenced t Error t Halt t Ack t MC 1 2 3 1 Start jogging 2 End jogging 3 MC Fig 5 23 Timing diagram Binary profile jogging ...

Page 76: ...BLE PAUSE and MODE are set as are the outputs Ready and Pause Start jogging After the input Jog has been set the drive starts moving in a negative direction Motion complete MC is reset End jogging When the jogging signal is removed the drive brakes and remains stationary MC MC is set upon expiration of the MC damping time ...

Page 77: ...distinction is made between the following record types Travel to absolute position related to the project zero point Travel relative to the last target position Travel relative to the actual position Parameter overview objects for record table positioning mode v t 1 2 3 4 5 FCT Record type absolute relative x Target position x Speed 2 x End speed 4 for record linking only x Acceleration 1 x Decele...

Page 78: ...ur after target recognition In closed loop operation As long as no other drive function is executed the drive will stop at the target position in a position controlled manner Standstill monitoring is activated in the binary profile In open loop operation As long as no other drive function is executed the drive will stop at the target position with the parameterised holding force End speed 0 for re...

Page 79: ...e during speed mode Target recognition Motion complete MC The target of a speed record is deemed to have been reached if the following two conditions are fulfilled The actual speed is located in the target speed window identical for all positioning records FCT Messages page The first condition has at least been fulfilled over the specified time period MC damping time identical for all records FCT ...

Page 80: ... mode is only possible in the binary profile with positional feedback i e in closed loop operation Note Control of the motor force occurs indirectly via current regulation All force specifica tions refer to the rated motor torque relative to the rated motor current The actual force at the axis should be ascertained checked using external measurement devices and set during commissioning Parameter o...

Page 81: ... long as no other drive function is executed the drive will stop at the limit stroke in a position controlled manner Standstill monitoring is activated Stroke sum of the difference between the actual position and the position at the start of the record 5 7 Record switching by PLC binary profile This section explains how the record switching function operates in the binary profile Another record ca...

Page 82: ... as Running a speed profile Positioning and clamping in a motion sequence Executing a force profile for pressing procedures Overview of parameters for record linking FCT Step enabling condition e g a set comparator x Comparators as a step enabling condition position speed force time section 5 9 x MC signal between the individual records of a chain If the MC signal is too short to be evaluated you ...

Page 83: ...en fulfilled over the specified time period damping time In all other cases the message is inactive When the drive leaves the position zone again the message is reset immediately The position comparators can be used in all operating modes positioning mode speed mode force mode Overview of parameters for position comparators FCT Lower position limit minimum 1 x Upper position limit maximum 1 x Damp...

Page 84: ...he speed comparator is never fulfilled Tab 5 13 Parameters for speed comparators 5 9 3 Force comparators The message Force comparator active is set when the following two conditions are fulfilled The actual force calculated with the help of the measured current is within the parameterisable limits minimum and š maximum The first condition has at least been fulfilled over the specified time period ...

Page 85: ...m and š maximum In all other cases the message is inactive Overview of parameters for time comparators FCT Lower time limit minimum 1 x Upper time limit maximum 1 x Feedback You can allocate this signal to digital output 6 or 7 in FCT on the Digital I O panel 1 The limit values can only be positive If the minimum value is greater than the maximum value the condition for the time comparator is neve...

Page 86: ... prevent unauthorised or uninten tional overwriting or modification of parameters in the device you can set up a password in FCT online help for the plug in This password is also valid for the web browser Maintenance and care CMMO ST motor controllers are maintenance free However follow the maintenance instructions for the drive and the additional components Disposal and environment Note Observe t...

Page 87: ...pending on parametrisation 6 2 7 segment display The 7 segment display on the CMMO ST provides information about operating modes errors and warnings 4 characters are fundamentally displayed in succession followed by a space 1 1 Point for wave function Fig 6 1 7 segment display The numbers of error messages are displayed in hexadecimal format Table of error messages section 6 4 2 Wave function The ...

Page 88: ...ning 3 Warnings have a lower priority than errors and are not displayed if they occur if an error is already displayed Otherwise they are dis played 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 mode P070 Jog positive P071 Jog negative P1xx xx record no Positioning mode P2xx xx record no For...

Page 89: ...f power failure If the memory is full the oldest element will be overwritten ring buffer Fig 6 3 Diagnostic memory in FCT The diagnostic memory can also be read via the CMMO ST website section 5 3 Fig 6 4 Diagnostic memory on the website Deleting the diagnostic memory You can erase the diagnostic memory via FCT When deleting a switch on event malfunction 3Dh is generated The malfunction counter is...

Page 90: ... G Execute record to the end until Motion complete MC output stage then remains switched on Tab 6 2 Error responses 6 4 2 Table of error messages Explanations for table of error messages Can be parameterised as E W I Error Warning Information refer to section 6 1 Types of malfunctions Specifies which parameterisation options are available for an error message The factory setting is in bold Error i...

Page 91: ...tiffen 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 search one after the other Controller parameters have been set incorrectly Determine the controller parameters and set the correct value To do this you may have to perform a commutation point search witho...

Page 92: ...between the controller and PC and run the firmware update again The previous firmware version remains active until successful completion of the firmware update If this error is still present the hardware may be defective Acknowledgement option Cannot be acknowledged software reset required Parameterisable error response s A 0Dh Overcurrent Can be parameterised as E Diagnostic memory always Short c...

Page 93: ...r response s A B C E F 12h Softwarelimit negative Can be parameterised as E Diagnostic memory optional The setpoint position value reached or exceeded the relevant software limit switch Check the target data Check positioning area This error can only be acknowledged if the drive is within the valid movement range If necessary start a corresponding position set or move the drive by using the jog fu...

Page 94: ...dged if the temperature is within the permissible range Check cylinder sizing Check motor and cabling for short circuits Check the mechanics for sluggishness Reduce the ambient temperature improve heat dissipation Acknowledgement option Error can be acknowledged Parameterisable error response s A B C D 16h Output stage temperature too low Can be parameterised as E Diagnostic memory optional The am...

Page 95: ...edgement option Error can be acknowledged Parameterisable error response s A B 1Ah Intermediate circuit voltage exceeded Can be parameterised as E Diagnostic memory always Load voltage not within the permissible range Braking resistor is overloaded too much braking energy which cannot be dissipated quickly enough Braking resistor defective or not connected Check the load voltage measure voltage di...

Page 96: ...ledgement option Cannot be acknowledged software reset required Parameterisable error response s B C E F 24h Drive function is not supported in operated mode Can be parameterised as E W Diagnostic memory optional Function is not supported in this mode The request has been ignored Change the operating mode or select a different drive function For parameterisation as an error The error can only be a...

Page 97: ...d successfully For parameterisation as an error The error can only be acknowledged after eliminating the cause Parameterisable error response s B C D E F G For parameterisation as a warning The warning disappears if the homing run has been completed successfully 29h Target position behind negative software end position Can be parameterised as E Diagnostic memory optional The start of a positioning...

Page 98: ...ears if the I t integral is below 80 2Eh Index pulse too close on proximity sensor Can be parameterised as E Diagnostic memory optional The switching point of the proximity sensor is too close to the index pulse In some cases this can mean that no reproducible homing position can be determined Observe the special section 6 4 5 for this error Move the homing switch limit switch to the axis You can ...

Page 99: ...Temperature of output stage increased Check cylinder sizing Check motor and cabling for short circuits Check the mechanics for sluggishness Reduce the ambient temperature improve heat dissipation For parameterisation as a warning The warning disappears if the temperature is back below the danger threshold 34h Save Torque Off STO Can be parameterised as E W I Diagnostic memory optional The Safe Tor...

Page 100: ...error response s B C E F 3Bh Homing method invalid Can be parameterised as E Diagnostic memory optional Homing error A homing method block has been set for example in open loop operation Select a permissible homing method Acknowledgement option Error can only be acknowledged after eliminating the cause Parameterisable error response s E F 3Ch Two edges in one cycle Can be parameterised as E Diagno...

Page 101: ...ing the cause Parameterisable error response s B C D E F G 40h Last Teaching not successful Can be parameterised as W I Diagnostic memory optional Teaching of the current positioning record is not possible The current positioning record must be of the type position record For parameterisation as a warning The warning disappears if the following Teach test is success ful or a switch takes place fro...

Page 102: ...the firmware of the device As much data as possible is automatically taken over from the parameter file Parameters that are not initialised through the parameter file are imported from the default parameter file If new firm ware software is required not all parameters may have to be written Enter a valid parameter set in the device For parameterisation as a warning The warning disappears if a new ...

Page 103: ...a Connection Click on Properties in the Local Area Connection Status dialogue window and select Internet Protocol Version 4 in the following dialogue window To activate the DHCP client click on Properties and select the setting in the image below Fig 6 5 DHCP settings The factory settings of the CMMO ST can be found in section 5 2 1 Check the network settings of your computer For Windows XP Window...

Page 104: ...scan by using the FCT plug in for the CMMO ST See menu Component FCT Interface Search button Fig 6 6 Network scan with the Festo Device Tool Select Network Settings from the context menu of one of the devices that has been found You can assign a fixed IP address to this device You can also specify whether the CMMO ST functions as a DHCP server or client Fig 6 7 Adapting network settings ...

Page 105: ...e Internal short circuit completely replace the controller Controller does not achieve the specified performance data Incorrect control signals from master controller incorrect signals incorrect level Observe the timing diagrams in the Commissioning chapter Incorrect controller setting Observe the information in the online help section of the FCT plug in for the correct settings of the controller ...

Page 106: ...oint of the proximity sensor and the index pulse lie very close to one another If the switching point moves e g due to temperature influence so that it lies behind the index pulse then the controller will use the index pulse after that as a reference point The entire measuring reference system could then be shifted for example by a rotary drive by a full motor revolution 1 Check the distance of th...

Page 107: ... severity level 2 With H rail mounting severity level 1 Shock Checked in accordance with DIN EN 60068 part 2 27 With wall mounting severity level 2 With H rail mounting severity level 1 Continuous shock test Checked in accordance with DIN EN 60068 part 2 29 With wall and H rail mounting Severity level 1 1 The component is solely intended for use in industrial environments Maximum length of the ind...

Page 108: ... system architecture up to 9 4 A Protection against electric shock Protection against direct and indirect contact in accordance with IEC DIN EN 60204 1 Through PELV circuit Protected Extra Low Voltage Encoder for EPCO type drives unless otherwise specified 2000 increments revolution i e theoretical positioning accuracy 0 18 The effective level of accuracy depends on the mechanical system used mech...

Page 109: ...amage 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 ord...

Page 110: ...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 length...

Page 111: ...esponse 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 This field always remains blank for the request 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 rea...

Page 112: ...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 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 Al...

Page 113: ...08 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 This field always remains blank for the request initialise with 0 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder initialise with 0 0x0E 0x0F Object index UINT16 Index ...

Page 114: ... 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 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 made ...

Page 115: ...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 higher order control Assign higher order control to the CVE interface Use CVE object 3 for this purpose 0xA9 The CVE object cannot be written as the value is lower than the minimum value Correct the value 0xAA The CVE object ca...

Page 116: ...n 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 homi...

Page 117: ...ne 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 118: ...the 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 st...

Page 119: ...ion 0 CW QS Quick Stop 1 CW EV Enable Voltage 1 CW SO Switch on 1 4 Switched on 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 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 Ready to switch on CW FR Error Reset 0 CW QS Q...

Page 120: ...ent of the control signals currently being sent 14 Error reaction active Error Execution of the error response is complete Automatic change of state to Error 15 Error 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 bits is...

Page 121: ...rror 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 Abbreviation Description 0 CW SO Switch on 1 CW EV Enable voltage 2 CW QS Quick sto...

Page 122: ...ion enabled The drive is ready for operation 3 SW F Error At least one error is active 5 SW QS Quick Stop If this bit is inactive 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 target...

Page 123: ...g the control word 0x0000000F As soon as this status has been reached the status word has 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 124: ... 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 u...

Page 125: ...tem 70 Actual acceleration System 72 Nominal acceleration System 96 Position deviation contouring error System 97 Deviation velocity 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 126: ... The object is protected by the administrator password Tab B 11 Access rights Detailed descriptions of objects 1 Status word Finite state machine UINT32 R separate description in section B 1 3 Values 0 4294967295 Default 0 2 Control word Finite state machine UINT32 R W1 W2 separate description in section B 1 3 Values 0 4294967295 Default 0 3 Higher order control System UINT08 R W1 W2 W3 The master...

Page 127: ...selection Record UINT08 R W1 W2 Number of the preselected positioning 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 normal records Values 1 31 57 Actual speed System SINT32 R Current actual velocity Unit SINC s Values 2147483648 2147483647 Default 0 58 Actual cu...

Page 128: ...ystem SINT32 R Current nominal current Unit mA Values 2147483648 2147483647 Default 0 63 Setpoint force System SINT16 R 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 a...

Page 129: ... R Current deviation of the current controller comparable to following error with position actual current target current Unit mA Values 2147483648 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 Nomin...

Page 130: ...no error is present Values 0 65535 Default 65535 194 Error with top priority acknowledgement ability 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 eliminated 0x02 The error can be eliminated immediately 0xFF There is not error Val...

Page 131: ... position 1 axis zero point 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 this is deactivated comparable to jogging For record linking the target position of the current positi...

Page 132: ...tected in closed loop operation i e when positional feedback is provided by an encoder closed loop Homing Overview of measuring reference system section 2 6 Homing Switch Proximity sensor used for defining the reference point I O Input output Inputs and outputs Statuses Observe the difference between the electrical physical and the logical status of an input or output Inputs When the circuit is cl...

Page 133: ...section 2 7 6 PLC IPC Programmable logic controller industrial PC PZ Project Zero point Project zero point section 2 6 Record Record of parameters defined in the record table consisting of target position speed acceleration etc dependent on the operating mode REF REFerence point Reference point section 2 6 Software limit Overview of measuring reference system section 2 6 Teach mode Overview of dri...

Page 134: ...n is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach D 73726 Esslingen Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de Version 1301a ...

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