Festo CMMS-AS-G2 Series Description Download Page 121

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Speed mode and force/torque mode

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

121

7.2.2

Function: force/torque mode

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

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

analogue setpoint value (analogue input), the current control (torque) receives the current setpoint

value.

No homing is required with force/torque mode.

7.2.3

Activate force/torque mode via fieldbus/analogue input

CMMS-AS-...-G2

CANopen

PROFIBUS DP

RS485

Analogue input

Fieldbuses

Control section

EXT

DeviceNet

Input

Direct application

Analogue setpoint value

Current regulation

Fig. 7.6

Overview: activate force/torque mode via fieldbus or analogue input

Summary of Contents for CMMS-AS-G2 Series

Page 1: ...Description Functions Firmware design from 1 4 0 2 6 8026161 1310NH Motor controller CMMS AS G2 ...

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

Page 3: ...ng mode function 17 2 2 2 Positioning mode 18 2 2 3 Speed mode and force torque mode 19 2 2 4 Synchronisation 20 2 2 5 Encoder emulation flying measurement analogue monitor and endless positioning 21 3 Control interfaces 22 3 1 Digital inputs outputs X1 22 3 1 1 Select operating mode via mode bits 22 3 1 2 Digital inputs DIN0 13 25 3 1 3 Digital outputs DOUT0 3 29 3 2 Analogue inputs outputs X1 32...

Page 4: ...er regulation 44 5 2 Data interfaces parameter firmware 45 5 3 Festo Configuration Tool FCT 46 5 3 1 Installing the FCT 46 5 3 2 Starting the FCT 47 5 3 3 FCT help 47 5 3 4 Download synchronise FCT project firmware parameter data data in the motor controller 48 5 3 5 Data backup upload synchronise FCT project parameter data data from the motor controller 48 5 3 6 Memory card 49 5 3 7 Parameter fir...

Page 5: ...ode 75 6 4 Single position operation 76 6 4 1 Function single position operation 76 6 4 2 Actuate individual record operation via fieldbus or digital inputs 76 6 4 3 Connection digital inputs outputs 77 6 4 4 Timing diagram start cancel individual record 78 6 4 5 Parameterise individual record operation 79 6 5 Record linking operation 80 6 5 1 Function record linking operation 80 6 5 2 Actuate rec...

Page 6: ...eed mode speed adjustment 115 7 1 2 Function speed mode 116 7 1 3 Activate speed mode via fieldbus analogue input 116 7 1 4 Connection analogue and digital I O modules 117 7 1 5 Parameterise speed mode 118 7 2 Force torque mode 120 7 2 1 Overview force torque mode current control 120 7 2 2 Function force torque mode 121 7 2 3 Activate force torque mode via fieldbus analogue input 121 7 2 4 Connect...

Page 7: ...sitioning 138 9 4 1 Function endless positioning 138 9 4 2 Relative positioning records 139 10 Service 140 10 1 Protective and service functions 140 10 1 1 Overview 140 10 1 2 Overload current and short circuit monitoring of the motor output 140 10 1 3 Monitoring of interruption and failure of the mains supply 140 10 1 4 Overvoltage and undervoltage monitoring for the intermediate circuit 141 10 1...

Page 8: ... allocation of the interface RS232 163 B 2 Commands syntax of the RS232 interface 163 B 2 1 General commands 163 B 2 2 Control motor controller via CAN Interpreter CI 164 C Serial interface RS485 control interface 167 C 1 Activate motor controller via the interface RS485 167 C 1 1 Master data of the interface RS485 167 C 1 2 Factory setting of the interface RS485 167 C 1 3 Connection X5 pin alloca...

Page 9: ... 04 Firmware from Version 1 4 0 2 6 Software for configuration parameterisation Festo Configuration Tool FCT plug in CMMS AS from Version 2 0 0 x Note Before using a newer firmware version check whether a newer version of the FCT plug in or user documentation is available for it Support portal http www festo com sp Service Please consult your regional Festo contact if you have any technical proble...

Page 10: ...MS AS G2 FW EN 1310NH English Type codes CMMS Interfaces AS C4 3A G2 CMMS Motor controller standard Motor technology AS AC synchronous Nominal cur rent C4 4A Input voltage 3A 230 V AC Generation G2 2nd generation Fig 1 Type codes ...

Page 11: ...faces and device profiles Description of device profile FHPP P BE CMM FHPP SW Control and parameterisation of the motor controller via the device profile FHPP from Festo Description of device profile CiA 402 P BE CMMS FHPP CO SW Description of the CAN interface of the motor controller Control and parameterisation of the motor controller via the device profile CiA 402 DS 402 PROFIBUS description P ...

Page 12: ... 1 Switch off power to the electrical equipment via the mains switch and secure it against being switched on again 2 After switch off wait at least 5 minutes discharge time and check that power is turned off before accessing the controller Caution Danger of burns from hot surfaces Dependent on the load of the motor controller housing temperatures 80 C are pos sible in operation Protect hot surface...

Page 13: ...function Safe Torque Off STO Category 3 PL d in accordance with EN ISO 13849 1 Use exclusively in faultless technical condition in original status without unauthorised modifications within the limits of the product defined by the technical data Hardware description GDCP CMMS AS G2 HW Appendix A 1 in an industrial environment as an installed device in a control cabinet In the event of damage caused...

Page 14: ...connected compon ents Compliance with the limit values and load limits permits operation of the product in compli ance with the relevant safety regulations Observe the instructions and warnings in this documentation 1 2 2 Qualification of the specialists requirements for the personnel The product may only be placed in operation by a qualified electrotechnician who is familiar with installation and...

Page 15: ...tputs X5 PC notebook M1 X9 Motor temperature sensor Motor Supply voltage X2 Encoder Control section 24 V DC Operating modes Controllers X1 Drives Limit switch Encoder Encoder input Parameter Firmware Digital inputs outputs Data interfaces Motor Flying measurement Analogue monitor Endless positioning X1 X6 Functions Synchronisation Synchronisation Shaft encoder motor X6 Holding brake Analogue input...

Page 16: ...AS G2 FW EN 1310NH English 2 1 2 Overview power section interfaces CMMS AS G2 X9 Load component 230 V AC External braking resistor Motor Power section Supply voltage X6 Motor Braking resistor Fig 2 2 Overview power section interfaces ...

Page 17: ... mode function X4 CMMS AS G2 CANopen PROFIBUS DP RS485 Control interfaces Connection EXT X5 DriveBus DeviceNet Synchronisation1 CiA4025 FHPP6 CI7 Device profile Functions Encoder emulation Flying measurement Analogue monitor Endless positioning Operating modes Positioning mode Speed mode Force torque mode Synchronisation X4 EXT X12 Digital I O modules Analogue input output X13 Fieldbus X12 X104 Op...

Page 18: ...Positioning mode position control page 63 Direct mode page 73 Direct application F C F F CI Individual record operation page 76 Record selection positioning record 1 63 DIN F F F Record linking operation page 80 Record selection positioning record 1 7 DIN Record selection positioning record 1 63 F F F Interpolated positioning mode page 87 Direct application C C Homing mode homing page 89 Direct ap...

Page 19: ...FIBUS DP DeviceNet RS485 Connection Terminal marking X1 X1 X10 X4 X4 EXT EXT X5 Device profile F FHPP Festo F F F C CiA 402 CANopen C C CI CAN Interpreter CiA 402 SDO CI Operating modes Speed mode speed adjustment page 115 Direct mode Direct application F C F F CI Analogue setpoint value Analogue input AIN Force torque mode current control page 120 Direct mode Direct application F C F F CI Analogu...

Page 20: ...CANopen PROFIBUS DP DeviceNet RS485 Connection Terminal marking X1 X1 X10 X4 X4 EXT EXT X5 Device profile F FHPP Festo F F F C CiA 402 CANopen C C CI CAN Interpreter CiA 402 SDO CI Synchronisation Synchronisation position control page 125 Incremental signal A A B B N N Incremental inputs IN Pulse direction signal CLK DIR Incremental inputs IN Digital inputs DIN Forward reverse signal CW CCW Increm...

Page 21: ...ontrol CANopen PROFIBUS DP DeviceNet RS485 Connection Terminal marking X1 X1 X10 X4 X4 EXT EXT X5 Device profile F FHPP Festo F F F C CiA 402 CANopen C C CI CAN Interpreter CiA 402 SDO CI Functions Encoder emulation page 131 Incremental outputs X X X X Flying measurement page 133 Digital input X X X X Analogue monitor AMON0 0 10 V page 135 Analogue output X X X X X X X X Endless positioning page 1...

Page 22: ... Homing mode Jog mode Teach mode Synchronisation mode 3 1 1 Select operating mode via mode bits The following operating modes can be selected through control of the digital inputs Mode bit 0 and Mode bit 1 Operating mode Mode Mode bit 1 DIN9 1 Mode bit 0 DIN12 2 Individual record homing mode Mode 0 0 0 Jog teach mode Mode 1 0 1 Record linking operation Mode 2 1 0 Synchronisation mode Mode 3 1 1 1 ...

Page 23: ...Mode bit 1 0 Mode bit 1 1 Mode bit 1 1 DIN10 X1 3 Record selection bit 4 Jog Record selection bit 4 NEXT1 DIN11 X1 16 Record selection bit 5 Jog Record selection bit 5 NEXT2 DIN12 AIN0 3 X1 2 Mode bit 0 0 Mode bit 0 1 Mode bit 0 0 Mode bit 0 1 DIN13 AIN0 3 X1 15 Stop DOUT0 X1 24 Controller ready for operation DOUT1 X1 12 Motion complete4 Rest reached DOUT2 X1 25 Start confirmed4 Teach confirmed St...

Page 24: ...IN9 X1 11 1 Motion complete 2 Rest reached DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Individual record mode 0 Jog teach mode 1 Record linking mode 2 Synchronisation mode 3 1 Start confirmed 2 Position synchronous DOUT2 X1 25 0 0 1 2 3 0 t1 t1 t1 t1 t1 1 Mode 0 2 2 Mode 3 1 t1 5 ms Fig 3 1 Timing diagram shifting of the operating mode via mode bit 0 1 ...

Page 25: ...tput stage is blocked after the speed has reached 0 rpm EN 60204 1 Stop category 1 High active Stop DIN13 X1 15 Low signal for cancellation of the current process The drive is braked with the Stop parametrised delay in a controlled way to speed 0 mm s and the position is maintained EN 60204 1 Stop category 2 Low active Limit switch Limit switch 0 DIN6 X1 22 Signal when the reference end position i...

Page 26: ... X1 23 Signal for starting the record sequence With the rising edge the record selection is evaluated and the parameters of the active record sequence are executed by the controller internal positioning controller drive High active Halt record sequence DIN3 X1 8 Signal for interrupting the record sequence With the low signal the record sequence is stopped With the high signal the record sequence i...

Page 27: ... travel is ended High active Jog DIN11 X1 16 Signal for control of the negative jog travel With the rising edge jog travel creep jog speed is started With the falling edge jog travel is ended High active Teach operation mode 1 Teach DIN8 X1 23 Signal for storing the teach actual position With the rising edge teaching is started The current actual position of the drive and the record selection bit ...

Page 28: ...motor controller CLK pulse signal CW forward signal Configur able DIR CCW_24 DIN3 X1 8 Encoder signals for synchronising the motor controller DIR direction signal CCW reverse signal Configur able Flying measurement Sampling DIN9 X1 11 Signal for storing the actual position With the configured edge of the sample signal the current actual position of the drive is taken over into the sample memory Th...

Page 29: ...ded Master control is issued High active Movement Start confirmed The signal becomes low with the start of a positioning record Low active Setpoint speed reached The signal is high as long as the actual speed is within the parametrised message window message Speed reached of the parametrised speed positioning mode High active Declared speed reached The signal is high as long as the actual speed is...

Page 30: ...ctive Teach Teach confirmed The signal is low as long as the teach signal is high The signal becomes high after the parametrised debounce time for jog operation parameters expires Low active Error warning Common error The signal becomes low if at least one error message is active Low active Collective warning message The signal becomes high if at least one warning message is active High active Fol...

Page 31: ...er messages behave identically regarding the timing pro cess Speed Motion complete DOUT1 X1 12 Damping time start Positioning path t1 Positioning record parameter Position s s t1 Damping time termination s Linear axis mm Rotational axis R FCT dependent on the parameter Message window in the message Target reached t1 ms FCT dependent on the parameter Damping time in the message Target reached Fig 3...

Page 32: ...ositioning mode synchronisation as digital inputs for mode bit 1 DIN12 and stop signal DIN13 Tab 3 5 Overview analogue input output 3 2 1 Analogue inputs AIN0 AIN0 Function Description Analogue input positive AIN0 X1 2 Differential analogue signal for control of the motor controller in the speed mode or force torque mode Positive setpoint value signal max 10 V 12 bit resolution Analogue input nega...

Page 33: ...controller The following encoder signals are available at the connections Encoder input signal Control interfaces Encoder input X10 Differential signals in accordance with RS422 5 V TTL Digital input X1 Mode 3 24 V HTL Incremental signal A A B B N N X10 1 6 X10 2 7 X10 3 8 Pulse direction signal CLK CLK DIR DIR X10 1 6 X10 2 7 X1 20 X1 8 Forward reverse signal CW CW CCW CCW Tab 3 8 Overview encode...

Page 34: ...otor controller can determine the rotational speed direction The square evaluation fourfold is used for this N positive N negative Zero pulse signals for identification of a revolution The signals N N serve as a reference mark for a revolution In the Synchronisation operating mode these signals are used for counting the revolutions With each zero pulse passage counting of the signals A A B B is re...

Page 35: ...he rotations speed DIR DIR Direction signals for control of the direction of rotation DIR high direction of rotation positive DIR low direction of rotation negative Tab 3 10 Pulse direction signals CLK CLK DIR DIR Timing diagram pulse direction signals Pulse signal CLK Pulse signal CLK Direction signal DIR Direction signal DIR Pulse period Direction of rotation positive Direction of rotation negat...

Page 36: ...CW CW Forward signals for control of the positive direction of rotation CCW CCW Reverse signals for control of the negative direction of rotation Tab 3 11 Overview forward reverse signals CW CW CCW CCW Timing diagram forward reverse signals Forward signal CW Forward signal CW Reverse signal CCW Reverse signal CCW Pulse period Direction of rotation positive Direction of rotation negative Rotor posi...

Page 37: ...implemented as the device profile communication protocol in the motor controller For every fieldbus a factor group can be used so that application data can be transferred in user specif ic units Overview fieldbus and device profile The fieldbus documentation is included in the following media CD ROM of the motor controller CMMS AS G2 scope of delivery Support Portal www festo com sp Fieldbus Conne...

Page 38: ...tch 0 DIN6 1 2 Limit switch 1 DIN7 1 2 Stop DIN13 15 X1 X4 X5 EXT 6 Load DIN DOUT GND 24 V Fieldbuses The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact configuration over FCT 2 Only required for applications with limited positioning range or homing methods with limit switch Fig 3 6 Connection required digital inputs outputs with a...

Page 39: ...d Positioning mode position control Speed mode speed adjustment Force torque mode current control The operating modes can be dynamically switched over in direct operation as needed Additional information can be found in the documentation FHPP manual P BE CMM FHPP SW 3 5 2 CANopen device profile CiA 402 for electric drives Through the device profile CiA 402 the following operating modes can be used...

Page 40: ...int AZ Axis zero point PZ Project zero point SLN Negative software end position SW limit negative SLP Positive software end position SW limit positive LSN Limit switch hardware negative Limit switch negative LSP Limit switch hardware positive Limit switch positive TP Target position AP Actual position a Offset axis zero point AZ b Offset project zero point PZ c Offset target actual position TP AP ...

Page 41: ...tware end position SW limit positive LSN Limit switch hardware negative Limit switch negative LSP Limit switch hardware positive Limit switch positive TP Target position AP Actual position a Offset axis zero point AZ b Offset project zero point PZ c Offset target actual position TP AP d Optional offset SW end position negative SLN 1 e Optional offset SW end position positive SLP 1 1 Effective posi...

Page 42: ... of rest is reached QStop Quick stop with the parametrised deceleration Quick Stop The power stage is switched off after the rest state has been reached or after expiration of the parametrised monitoring time Quick Stop Warn Deceleration with the parametrised limit switch stop deceleration After that the positioning direction of the respective active limit switch is blocked That is the drive can o...

Page 43: ...pload Error status All statuses Enable controller and output stage Block controller or output stage Positioning control Single position operation Interpolated positioning mode Record selection positioning record Direct mode Record linking operation Firmware Download Memory card Jog mode Homing mode Intermediate circuit precharge Force torque current regulator Operating modes controller Speed Speed...

Page 44: ... Position setpoint value Speed setpoint value Current setpoint value Position actual value Speed actual value Current actual value Force torque mode Positioning mode1 Speed mode Operating modes Control interfaces 1 Positioning mode includes the following operating modes direct mode individual record mode record chaining mode interpolated positioning mode homing mode jog operation and teach operati...

Page 45: ...re file xxx S Installation update Motor controller X1 X4 EXT Controller EDS file CANopen DeviceNet DriveBus GSD file PROFIBUS DP Controller data management Copy FCT Controller SD Upload Control interfaces Save Execute FCT import Save execute Save execute FCT SD Controller Download FCT project data X5 FCT Download FCT Upload FCT Synchronisation DIP switch S1 8 Switch position ON FCT Firmware downlo...

Page 46: ...so be performed offline without RS232 connection on the PC notebook This enables preparation for the actual commissioning for example in the planning office when a system is being planned 5 3 1 Installing the FCT Note The FCT plug in CMMS AS from version 2 0 0 x supports the motor controller CMMS AS G2 with the firmware from version 1 4 0 2 6 With later versions of the motor controller check wheth...

Page 47: ...ailable in the FCT Dynamic Help Activate the dynamic Help menu bar Help Dynamic help in the FCTuser interface When you click on a field Help is always displayed dynamically Fig 5 4 Overview Dynamic Help in the FCT Static Help Click in the FCT user interface in a parameter configuration field When the F1 key is pressed the Static Help is displayed for the parameter configuration field Activate the ...

Page 48: ... Controller FCT firmware download X DIP switch S1 8 switch position ON X Parameter file xxx DCO Download SD Controller FCT X SD latest Controller FCT X Tab 5 1 Transfer parameter firmware data to the motor controller 5 3 5 Data backup upload synchronise FCT project parameter data data from the motor controller Data files Data interfaces RS232 X5 Memory card card slot M1 FCT project data Upload FCT...

Page 49: ...ontroller parameter re cord can be loaded manually into the motor controller download With the activated FCT configuration After restart read from SD at every restart power ON soft ware reset the parameter file is automatically loaded with the motor controller parameter record into the motor controller download Request to the memory card Characteristic Description Supported card type SD1 version 1...

Page 50: ... and then back on 5 During booting the motor controller checks 7 segments display illuminated decimal point whether a memory card is plugged into the card slot M1 If no memory card is plugged in or it is damaged the firmware version is loaded from the permanent memory 6 The firmware download is executed 7 segments display flashing decimal point if a valid firm ware version is contained on the memo...

Page 51: ...ameter file is always searched for You can find additional information in the Festo Configuration Tool FCT CMMS AS Plug In Help on the CD ROM CMMS AS_de pdf Loading of the parameter file is displayed through the green flashing Ready LED Additionally the option After restart read from SD memory card in the Project output FCT window in the Memory card tab can be configured You can find additional in...

Page 52: ... O module control interface is activated as standard For the Festo Configuration Tool FCT to be able to control the connected motor controller the follow ing conditions must be met Digital input Output stage enable DIN4 X1 21 24 V DC Digital input Controller enable DIN5 X1 9 24 V DC Digital input Stop DIN13 X1 15 24 V DC and in the Project output FCT window tab Operate device control FCT check box...

Page 53: ...e motor controller Enable 1 active Control Parameterise FCT active Output stage enable DIN4 X1 21 Festo Configuration Tool FCT Device control Digital inputs DIN Power ON Controller enable DIN5 X1 9 Stop DIN13 X1 15 Control via DIN 1 Enable via the digital inputs has a higher priority than the FCT enable Fig 5 7 Timing diagram FCT master control over the motor controller ...

Page 54: ...If no LED Ready Bus or 7 segments display lights up on the motor controller execute the following steps 1 Switch the supply voltage off 230 V AC 24 V DC 2 Wait five minutes until the intermediate circuit voltage has discharged 3 Check the connection of all cables and wires 4 Check the 24 V DC supply voltage 5 Switch the supply voltage back on 230 V AC 24 V DC Connection Digital inputs outputs for ...

Page 55: ...Holding brake released BR X6 2 Controller ready for operation DOUT0 X1 24 Speed setpoint value Speed actual value t1 t2 t2 t3 t5 t4 Pulse width modulation output stage active internal t1 L 500 ms dependent on the boot phase and start of the application t2 2 5 ms t3 10 ms dependent on the operating mode and the status of the drive t4 2 5 ms t5 0 6553 ms FCT dependent on the para metrised switch on ...

Page 56: ...ng brake released BR X6 2 Controller ready for operation DOUT0 X1 4 t2 t1 t3 t4 Speed setpoint value actual value Rest reached DOUT X1 Holding brake open mechanical t5 t6 t1 5 ms t2 0 ms 10 s FCT dependent on the parametrised Quick stop delay and Quick stop monitoring time of the speed actual value t3 0 6553 ms FCT dependent on the parametrised switch off delay brake control brake timing t4 5 ms t...

Page 57: ...lue Holding brake released BR X6 2 Holding brake open mechanical t1 Controller ready for operation DOUT0 X1 24 t3 t4 t2 Output stage active DOUT X1 t1 5 ms t2 2 5 ms t3 L 50 500 ms t4 0 6553 ms FCT dependent on the para metrised switch off delay brake control brake timing Fig 5 11 Timing diagram switch off motor controller via output stage enable signal The holding brake is not suitable for brakin...

Page 58: ...able DIN5 X1 9 Output stage enable DIN4 X1 21 Speed Holding brake released BR X6 2 Controller ready for operation DOUT0 X1 24 t1 t3 t4 Start DIN8 X1 23 Motion complete DOUT1 X1 12 Declared speed reached1 DOUT2 X1 25 Common error DOUT3 X1 13 Mains supply Output stage active DOUT X1 t2 1 Only if declared speed setpoint speed t1 2 5 ms t2 ms FCT dependent on the acceleration ramp t3 60 ms t4 2 5 ms F...

Page 59: ...5 Commissioning and in operation Festo GDCP CMMS AS G2 FW EN 1310NH English 59 The holding brake is not suitable for braking the motor or moving masses ...

Page 60: ... S1 7 S1 6 S1 5 S1 4 S1 3 S1 2 S1 1 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 26 64 25 32 24 16 23 8 22 4 21 2 20 1 CANopen CAN address 1 127 X X X X X X X DriveBus CAN address 2 13 X X X X PROFIBUS DP Bus address 3 126 1 X X X X X X X DeviceNet MAC ID 0 63 X X X X X X RS485 Address 0 127 X X X X X X X Example address 57 switch position 0 OFF 32 ON 16 ON 8 ON 0 OFF 0 OFF 1 ON 1 The addresses 0 2 i...

Page 61: ...5 kBaud OFF OFF 250 KBit s 250 kBaud OFF ON 500 KBit s 500 kBaud ON OFF CANopen CAN bus 1 MBit s 1000 kBaud ON ON Tab 5 6 Configure data rate 5 7 4 Configure fieldbus interface The DIP switch S1 11 may only be used for activating the CAN interface The fieldbus activation is dependent on the following points Fieldbus Interface module DIP switch mounted S1 11 CANopen ON DriveBus ON PROFIBUS DP CAMC ...

Page 62: ... bus terminating resist or Fieldbus Note DIP switch S1 12 CANopen ON terminating resistor active OFF terminating resistor not active OFF ON DriveBus PROFIBUS DP In the PROFIBUS DP the terminating resistor is integrated into the CAMC PB interface module OFF DeviceNet Terminating resistor can be connected externally if needed OFF RS485 OFF Tab 5 8 Configure terminating resistor ...

Page 63: ...g 6 1 Overview positioning mode position control In the positioning mode the motor controller can be controlled via the fieldbus or digital inputs With direct single record record chaining homing or jog operation the positioning curve is calculated in the controller internal positioning controller from the positioning parameters and passed on as position setpoint values In the case of interpolatin...

Page 64: ...ssigned via the Profile parameter From the parameters the controller internal posi tioning controller calculates the positioning curve for the individual record or record sequence The positioning records and positioning record profiles can be parametrised via fieldbus or Festo Con figuration Tool FCT The following settings can be parametrised in the positioning records positioning record profiles ...

Page 65: ...record selection positioning record via fieldbus or digital inputs Actuate positioning records The following positioning records can be actuated dependent on the control interface and operating mode Control interface Operating mode Single position operation Record linking operation Homing mode Teach mode CANopen Positioning record 1 63 Positioning record 1 63 Positioning record 0 Positioning recor...

Page 66: ... target in the positioning records 1 7 Positioning re cord Record selection bit 0 5 Bit 5 25 DIN11 Bit 4 24 DIN10 Bit 3 23 DIN3 Bit 2 22 DIN2 Bit 1 21 DIN1 Bit 0 20 DIN0 Single position operation mode 0 Teach in operation mode 1 Record linking operation mode 2 Positioning record 1 0 0 0 0 0 1 Positioning record 2 0 0 0 0 1 0 Positioning record 3 0 0 0 0 1 1 Positioning record 4 0 0 0 1 0 0 Positio...

Page 67: ...rofile 0 7 Command Record sequence Condition for continuation in the sequence control END End of the record sequence The record sequence ends with this positioning record No continuation follows MC motion complete Continuation takes place when the motion complete signal high STS rest Continuation takes place if the drive has reached rest and the parametrised time positioning record profile paramet...

Page 68: ...e high the next positioning record positioning record parameter target is started with the next rising edge NEXT1 2 NFS with falling edge NEXT and motion complete 1 If a falling edge NEXT1 2 is generated during travel of the current positioning record the next positioning record positioning record parameter target is started immediately after the target position motion complete high is reached 2 I...

Page 69: ...fter the start signal until the current setpoint value is to be executed the drive should be moved Final speed Setpoint value for travel with final speed to run through the target position After that travel continues with final speed Start condition Start conditions for the subsequent positioning record in individual or record chaining operation If the motor controller receives a new start signal ...

Page 70: ...ing record 1 A 150 mm Interrupt Positioning record 2a A 120 mm Positioning record 2b RA 40 mm Positioning record 2c RN 70 mm Tab 6 5 Example positioning record parameter Timing diagram parameter Start condition Interrupt 70 mm RN Target position positioning record 1 Setpoint position Actual position 50 0 100 t s mm 150 Start DIN8 X1 23 Start condition Interrupt 40 mm RA 120 mm A 150 mm A Target po...

Page 71: ... 0 ms time optimised Smoothing 25 Filter time tfi 12 5 ms 1 2 ta Smoothing 50 Filter time tfi 25 ms ta ta tfi ta ta ta ta tfi tfi tfi tfi tfi tfi ta tfi a a a a a Smoothing 100 Filter time tfi 50 ms 2 ta ta tfi tfi tfi ta tfi v t a a t tfi 100 a parametrised acceleration a parametrised deceleration v parametrised travel speed Fig 6 4 Timing diagram Smoothing with an acceleration time delay ta 25 m...

Page 72: ...east stresses occur for the drive mechanics The speed target position is reached later by 50 ms filter time tfi in comparison to a smoothing of 0 For smoothing 0 acceleration and deceleration are not filtered Here the drive is moved with the parametrised acceleration deceleration and the highest stresses occur for the drive mechanics The speed target position is reached in the shortest amount of t...

Page 73: ...parameters and target position and transfers the position setpoint values cyclically to the position control The controller internal positioning controller uses the positioning parameters for each additional direct application if no new parameterisation has been ex ecuted The positioning parameters can be parametrised via fieldbus or Festo Configuration Tool FCT 6 3 2 Activating direct mode via fi...

Page 74: ...2 Limit switch 1 DIN7 1 2 Stop DIN13 15 X1 X4 X5 EXT 6 Load DIN DOUT GND 24 V Fieldbuses The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact configuration over FCT 2 Only required for applications with limited positioning range or homing methods with limit switch Fig 6 6 Connection Required digital inputs outputs with a fieldbus act...

Page 75: ... of speed Base value for the Speed setpoint value The Speed setpoint value is calculated by multiplying Base value and Speed factor value The speed factor is transmitted cyclically via the fieldbus Acceleration Setpoint value for acceleration to speed Deceleration Setpoint value for deceleration to rest Smoothing Value for duration of filtering from acceleration and deceleration ramp page 71 Tab 6...

Page 76: ...itioning curve from these parameters and transfers the position setpoint values cyclically to the position control Each individual record is started with its own start command signal The positioning records and positioning record profiles can be parametrised via fieldbus or Festo Configuration Tool FCT The positioning record 0 is reserved exclusively for homing in the reference mode 6 4 2 Actuate ...

Page 77: ...error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS AS G2 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start positioning DIN8 X1 6 Load DIN DOUT GND 24 V Mode 0 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to ...

Page 78: ...op DIN13 X1 15 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed t3 Record selection bit 0 5 Positioning record 1 63 DIN X1 t2 t3 t4 t1 t1 2 5 ms t2 2 5 ms t3 5 ms t4 ms FCT dependent on the parameters Message window and Damping time in the message Target reached Fig 6 9 Timing diagram Start individual record via Start p...

Page 79: ...ed t2 Record selection bit 0 5 Positioning record 1 63 DIN X1 t1 t2 t4 t3 t5 t1 2 5 ms t2 5 ms t3 2 5 ms t4 ms FCT Dependent on the parameter Stop input in the stop decelerations t5 ms FCT dependent on the parameters Message window and Damping time in the message Target reached Fig 6 10 Timing diagram cancel individual record via stop signal 6 4 5 Parameterise individual record operation The follo...

Page 80: ...dition to the individual record operation the conditions for continuation and sequence control can be parametrised in the record chaining operation The process of record sequence can be controlled through continuation sequence control The positioning records positioning record profiles and record continuation can be parametrised via fieldbus or Festo Configuration Tool FCT The positioning record 0...

Page 81: ...ller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS AS G2 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start record sequence DIN8 X1 6 Load DIN DOUT GND 24 V Mode 2 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact conf...

Page 82: ...ce DIN3 X1 8 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t3 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t4 t2 t3 t4 t5 2 3 t1 t1 2 5 ms t2 2 5 ms t3 5 ms t4 L 16 ms t5 ms FCT dependent on the parameters Message window and Damping time in the message Target reached Fig 6 13 Timi...

Page 83: ... X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 t6 2 3 t5 t5 t4 t4 2 3 t1 2 5 ms t2 5 ms t3 L 16 ms t4 ms FCT dependent on the deceleration ramp t5 ms FCT dependent on the acceleration ramp t6 ms FCT dependent on the parameters Message window and Damping time in the message Target reach...

Page 84: ...UT1 X1 12 Controller ready for operation DOUT0 X1 24 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 2 3 t5 t4 t6 t1 2 5 ms t2 5 ms t3 L 16 ms t4 2 5 ms t5 ms FCT Dependent on the parameter Stop input in the stop decelerations t6 ms FCT dependent on the parameters Message window and Damping ti...

Page 85: ...X1 11 Confirm start DOUT2 X1 25 Common error DOUT3 X1 13 Speed Positioning record 1 2 3 t2 1 Record selection bit 0 2 Positioning record 1 7 DIN X1 t3 t1 t2 t3 2 3 t4 Controller ready for operation DOUT0 X1 24 Mode bit 0 DIN12 X1 2 t6 t5 t1 2 5 ms t2 5 ms t3 L 16 ms t4 2 5 ms t5 ms dependent on reaching the target position of the current positioning record t6 ms FCT dependent on the parameters Mes...

Page 86: ...W EN 1310NH English 6 5 5 Parameterise record linking operation The following settings can be parametrised in the Festo Configuration Tool FCT Positioning record parameter page 67 chap 6 2 3 Positioning record profile parameter page 69 chap 6 2 4 ...

Page 87: ...e control interface e g CANopen approx 5 ms But the motor controller requires position setpoint values for internal position control in a cycle time of 0 4 ms The interpolator calculates from the position specifications of the controller additional position setpoint values for position control The motor controller uses for this purpose an interpolation al gorithm with a 3rd order polynomial and a ...

Page 88: ...N6 1 Limit switch 1 DIN7 1 Controller ready for operation DOUT0 Common error DOUT3 2 Stop DIN13 15 X1 X4 EXT 6 Load DIN DOUT GND 24 V CANopen DriveBus The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact configuration over FCT 2 Default setting freely configurable in the Festo Configuration Tool FCT Fig 6 19 Connection digital inputs...

Page 89: ...ference system for axis zero point project zero point etc is determined The homing parameters can be parametrised via fieldbus or Festo Configuration Tool FCT For homint the following settings must be parametrised in the Festo Configuration Tool FCT Homing method at current position limit switch stop and or zero impulse Axis zero point factory setting project zero point System of measurement units...

Page 90: ...error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS AS G2 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start positioning DIN8 X1 6 Load DIN DOUT GND 24 V Mode 0 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to ...

Page 91: ... t2 t3 t2 t3 Search Crawl t4 Limit switch 0 negative Limit switch 1 positive DIN6 X1 22 DIN7 X1 10 3 1 2 t5 Limit switch detected Reference point detected t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the deceleration ramp t4 2 5 ms t5 ms FCT dependent on the parameters Message window and Damping time in the message Target reached 1 Example normally closed limit switch type 2...

Page 92: ...nced FCT Homing carried out DOUT X1 Crawl t3 t2 t4 Axis zero point reached t5 t1 5 ms t2 ms FCT dependent on the acceleration ramp t3 ms dependent on the torque threshold FCT and damping characteristic of the stop t4 ms FCT dependent on the deceleration ramp t5 ms FCT dependent on the parameters Message window and Damping time in the message Target reached 1 Travel curve with Positive stop homing ...

Page 93: ... 0 negative Limit switch 1 positive DIN6 X1 22 DIN7 X1 10 3 1 2 t7 t5 Limit switch detected t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the deceleration ramp t4 2 5 ms t5 2 5 ms t6 ms FCT dependent on the parameter Stop input in the stop decelerations t7 ms FCT dependent on the parameters Message window and Damping time in the message Target reached 1 Example normally close...

Page 94: ...t1 t3 t2 Search Error Status word referenced FCT Homing carried out DOUT X1 Speed v v 3 1 2 t1 5 ms t2 ms dependent on the acceleration ramp t3 ms dependent on the configuration error function in the error management and the corresponding parameter in the stop deceleration 1 Example normally closed limit switch type 2 Travel curve with Positive limit switch homing methods 3 Travel curve with Negat...

Page 95: ...lse Zero pulse Direction For homing the following search directions can be configured Positive direction Negative direction Parameter Search travel to the limit switch or stop Speed Setpoint value for travel with Search speed Acceleration Setpoint value for acceleration to Search speed or for deceleration to rest Crawl travel to the reference point Speed Setpoint value for travel with Crawl speed ...

Page 96: ...the axis zero point after every successful homing Homing with controller en able Requirement Output stage signal DIN4 X1 21 24 V DC Controller enable DIN5 X1 9 0 V DC If this option is activated homing is started automatically with each positive edge of the controller enable signal DIN5 or each enable via the fieldbus Options Save zero point shift Page 103 Tab 6 8 Configure and parameterise homing...

Page 97: ...fter completion of homing Current position No homing is carried out Code Description hex dec 23h 35 Current position 1 The current position is taken as the homing point 2 If an axis zero point is parametrised and the FCT option Travel to axis zero point after homing is activated travel with Run speed to the axis zero point Note Through shifting of the reference system travel to the limit switch or...

Page 98: ... axis zero point after homing is activated travel with Run speed to the axis zero point Positive limit switch 11h 17 Negative limit switch 1 Search for limit switch in the negative direction1 Travel with Search speed in a negative direction until the limit switch has been detected 2 Search for homing point in the positive direction Travel with Crawl speed in a positive direction until the limit sw...

Page 99: ...ted travel with Run speed to the axis zero point Zero pulse Positive limit switch 01h 01 Negative limit switch and zero pulse1 1 Search for limit switch in the negative direction2 Travel with Search speed in a negative direction until the limit switch has been detected 2 Search for homing point in the positive direction Travel with Crawl speed in a positive direction until the limit switch switche...

Page 100: ... detected This position is taken as the homing point 2 If an axis zero point is parametrised and the FCT option Travel to axis zero point after homing is activated travel with Run speed to the axis zero point EFh 17 Negative stop1 1 Search for stop homing point in the negative direction Travel with Search speed in a negative direction until the stop2 has been detected This position is taken as the...

Page 101: ...avel with Run speed to the axis zero point Zero pulse FFh 1 Negative stop and zero pulse1 2 1 Search for stop point in the negative direction Travel with Search speed in a negative direction until the stop3 has been detected This position is taken as the homing point 2 Search for homing point in the positive direction Travel with Crawl speed in a positive direction until the first zero pulse has b...

Page 102: ...n Travel to axis zero point after homing is activated travel with Run speed to the axis zero point Zero pulse 21h 33 Zero pulse in negative direction1 1 Search for zero pulse in the negative direction Travel with Crawl speed in a negative direction until the first zero pulse has been detected This position is taken as the homing point 2 If an axis zero point is parametrised and the FCT option Trav...

Page 103: ...command Save zero point shift and are not lost if the supply voltage is interrupted When the supply voltage is turned on drives with multi turn absolute encoder are always homed at the absolute encoder zero point stored in the motor encoder Single turn absolute encoder For drives with single turn absolute encoder homing is required after each interruption of the supply voltage to align the referen...

Page 104: ...In jog operation the drive first runs at creep speed in order to approach a position accurately If after expiration of the creep duration the activation continues to be active the drive continues at jog speed in order to travel through large paths quickly Jog operation is quit with the falling edge of the jog signal This operating mode can be used in the following applications Approaching the teac...

Page 105: ... via Festo Configuration Tool FCT Jog operation can be manually controlled via the interfaces Jog and Jog in the FCT window Project output in the online tab Manual travel 1 2 1 Jog in negative direction 2 Jog in positive direction Fig 6 27 Activate jog operation via Festo Configuration Tool FCT ...

Page 106: ... DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Teach confirmed DOUT2 12 9 21 15 19 16 11 2 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 X1 6 Load DIN DOUT GND 24 V Mode 1 CMMS AS G2 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact configuration over FC...

Page 107: ...e lengths quickly a1 Acceleration jog parameter a2 Deceleration jog parameter v1 Crawl speed crawl travel parameter v2 Max speed jog parameter t1 Crawl duration crawl travel parameter t2 Crawl acceleration time dependent on the parametrised acceleration a1 and crawl speed v1 t3 Jog acceleration time dependent on the parametrised acceleration a1 max speed v2 and crawl speed v1 t4 Jog deceleration t...

Page 108: ...1 16 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Acknowledge teach DOUT2 X1 25 Common error DOUT3 X1 13 t1 t4 t4 t3 t3 Speed Jog Jog t1 t2 t2 t1 5 ms t2 5 ms t3 ms FCT dependent on the crawl duration and jog acceleration ramp t4 ms FCT dependent on the jog deceleration ramp Fig 6 30 Timing diagram jog travel via jog jog ...

Page 109: ...e signal jog is executed Stop DIN13 X1 15 Jog DIN10 X1 3 Jog DIN11 X1 16 Motion complete DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Acknowledge teach DOUT2 X1 25 Common error DOUT3 X1 13 t1 t1 t4 Speed Jog Jog t3 t3 t4 t3 t4 t4 t3 t1 t2 t2 t2 t1 5 ms t2 5 ms t3 ms FCT dependent on the crawl duration and jog acceleration ramp t4 ms FCT dependent on the jog deceleration ramp Fig 6 31 Tim...

Page 110: ...into account Parameters Description Crawling Crawl speed Setpoint value for travel at crawl speed Crawling duration Setpoint value for duration of crawling Jog parameters jog travel Max speed Setpoint value for travel at max speed Acceleration Setpoint value for the following accelerations Crawling acceleration to crawl speed Jogging acceleration to max speed Deceleration Setpoint value for decele...

Page 111: ... edge of the teach signal the current actual position of the drive is temporarily stored in the Position positioning record parameter of the selec ted positioning record Simultaneously the parametrised debounce time starts to run which blocks a new evaluation of the record selection during storage The teach position is not permanently stored until there is a falling edge of the controller enable s...

Page 112: ...Common error DOUT3 2 Controller ready for operation DOUT0 Motion complete DOUT1 2 Teach confirmed DOUT2 CMMS AS G2 12 9 21 15 19 16 11 2 23 24 13 25 7 20 8 3 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Teach DIN8 X1 6 Load DIN DOUT GND 24 V Mode 1 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C con...

Page 113: ...ady for operation DOUT0 X1 24 Acknowledge teach DOUT2 X1 25 Common error DOUT3 X1 13 Speed Jog Jog t1 t1 t2 t6 Record selection bit 0 3 Positioning record 1 15 DIN X1 t2 t5 Store actual position t3 t4 t3 t4 1 Jogging 2 Teaching t7 t1 5 ms t2 5 ms t3 ms FCT dependent on the crawl duration and jog acceleration ramp t4 ms FCT dependent on the jog deceleration ramp t5 2 5 ms t6 ms FCT dependent on the...

Page 114: ... settings can be parametrised in the Festo Configuration Tool FCT Settings Description Debounce time of the DINs after teaching Debounce time Setpoint value for the duration after the falling flank Teach DIN8 until the digital inputs Jog DIN10 and Jog DIN11 are evaluated again Tab 6 16 Parameterise teach mode ...

Page 115: ... setpoint value Current setpoint value CMMS AS G2 Control section Power section Control interfaces Speed setpoint value ramp Fig 7 1 Overview speed mode speed adjustment In the speed mode the motor controller can be controlled via the fieldbus or analogue input The regu lator cascade speed and current regulator processes the deviation speed setpoint value and speed actual value and thus controls t...

Page 116: ...e speed setpoint value Optionally the speed setpoint value ramp can be activated in the Festo Configuration Tool FCT to para meterise the acceleration and deceleration ramps for the positive negative direction For speed mode no homing is required 7 1 3 Activate speed mode via fieldbus analogue input X4 CMMS AS G2 CANopen PROFIBUS DP RS485 Analogue input Fieldbuses Control section X1 EXT X5 DeviceN...

Page 117: ... 2 CMMS AS G2 12 9 21 22 10 14 2 15 1 24 13 25 X1 Setpoint value 10 10 V Load DIN DOUT GND 24 V 6 4 Analogue input differential AIN0 Analogue input differential AIN0 Reference voltage output VREFOUT 10 V DC Analogue load AGND reference potential reference voltage output analogue inputs The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C con...

Page 118: ...near axis 0 mm s or rotative axis 0 rpm page 119 Input malfunctions e g offset fluctuations noise etc can be suppressed or a defined rest of the drive can be parametrised If the motor controller can be operated via an external control circuit the value 0 V should be parametrised as a Safe Zero to ensure the stability of the external control circuit Setpoint value selection speed setpoint value ram...

Page 119: ...s used the rotational speed speed characteristic curve is shif ted by the value of the offset For the example Offset 2 5 V Fig 7 4 the following values result Linear axis 10 V 750 mm s 10 V 1250 mm s Rotative axis 10 V 750 rpm 10 V 1250 rpm The offset zero point of the rotational speed speed characteristic curve is asymmetric to the reference zero point Safe Zero If the parameter Safe Zero is used...

Page 120: ... Fig 7 5 Overview force torque mode current control In the force torque mode the motor controller can be controlled via the fieldbus or analogue input The current regulator processes the deviation current setpoint value and current actual value and thus regulates the following output stage All specifications on forces torques refer to the motor nominal torque or the motor nom inal current Since fo...

Page 121: ...pplication fieldbus or the analogue setpoint value analogue input the current control torque receives the current setpoint value No homing is required with force torque mode 7 2 3 Activate force torque mode via fieldbus analogue input X4 CMMS AS G2 CANopen PROFIBUS DP RS485 Analogue input Fieldbuses Control section X1 EXT X5 DeviceNet Input Direct application Analogue setpoint value Current regula...

Page 122: ...fferential AIN0 Screening SGND Controller ready for operation DOUT0 Motion complete DOUT1 2 Start confirmed DOUT2 2 CMMS AS G2 12 9 21 22 10 14 2 15 1 24 13 25 X1 Setpoint value 10 10 V Load DIN DOUT GND 24 V 6 4 Reference voltage output VREFOUT 10 V DC Analogue input differential AIN0 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C con...

Page 123: ...the voltage shift torque force characteristic curve to the zero point page 124 Safe Zero Threshold value for the analogue setpoint value range in which the torque force characteristic curve is valued as free of torque force 0 mA page 124 Input malfunctions e g offset fluctuations noise etc can be sup pressed or a defined rest of the drive can be parametrised If the motor controller can be operated...

Page 124: ... parameter Offset is used the torque force characteristic curve is shifted by the value of the offset For the example Offset 2 5 V Fig 9 7 the following values result Linear rotative axis 10 V 75 10 V 125 of the motor nominal current The offset zero point of the torque force characteristic curve is asymmetric to the refer ence zero point Safe Zero If the parameter Safe Zero is used the control ran...

Page 125: ...parametrised virtual gear unit the internal controller calculates a position setpoint value and passes it on cyclically to the position control The following encoder signals control interfaces are available for synchronisation Encoder signal Control interfaces Encoder input X10 Differential signals in accordance with RS422 5 V TTL Digital input X1 24 V HTL Incremental signal A A B B N N Pulse dire...

Page 126: ...4 V CLK DIR CW CCW Synchronisation slave operation Encoder output Controllers Motor controller CMM 1 Encoder Master Slave Encoder input X10 Encoder signals 5 V A A B B N N CLK CLK DIR DIR CW CW CCW CCW 1 In the motor controller CMM only the encoder output Incremental signals A A B B N N is implemented Fig 8 1 Overview activate synchronisation via encoder signals ...

Page 127: ... DIN9 Sync start DIN8 X1 6 X10 1 2 3 6 7 8 A B N A B N CW CCW CLK DIR Pulse direction signal Forward reverse signal Incremental signal Load DIN DOUT GND 24 V 41 5 Load Encoder signal GND Auxiliary power supply 5 V DC 5 max 100 mA Housing Screening GND 91 Load auxiliary power supply GND Mode 3 CW CCW CLK DIR The connection diagram shows the switch positions in operation 1 Pin 4 and 9 are connected ...

Page 128: ...2 9 21 15 11 2 23 24 13 25 Limit switch 1 DIN7 1 10 22 Limit switch 0 DIN6 1 Mode bit 0 DIN12 Mode bit 1 DIN9 Start sync DIN 6 X1 20 8 Pulse direction signal Forward reverse signal CLK DIN2 DIR DIN3 CW DIN2 CCW DIN3 Load DIN DOUT GND 24 V Mode 3 The connection diagram shows the switch positions in operation 1 The limit switches are set by default to N C contact configuration over FCT 2 Default set...

Page 129: ...N8 X1 23 Stop DIN13 X1 15 Rest reached DOUT1 X1 12 Controller ready for operation DOUT0 X1 24 Position synchronous DOUT2 X1 25 Common error DOUT3 X1 13 Speed Master t1 t2 t3 t4 Speed Slave t1 5 ms t2 5 ms t3 ms dependent on the master acceleration ramp t4 ms dependent on the master deceleration ramp Fig 8 4 Timing diagram start synchronisation ...

Page 130: ...90 360 The encoder signals are evaluated differently through the squared evaluation of the motor controller The line count 1 refers to the following angle ranges Incremental signal A A B B 360 one revolution Pulse direction signal CLK DIR 90 quarter revolution Forward reverse signal CW CCW 90 quarter revolution Gear unit Transmission ratio gear ratio of a virtual gear unit Options Ignore zero puls...

Page 131: ... be used by the connected slave device as a synchronisation signal The emulated incremental signals A A B B N N are active at the encoder output X10 as standard Through activation of the operating mode Synchronisation slave mode the encoder output is deactivated and the encoder input activated 9 1 2 Output encoder emulation through encoder output CMMS AS G2 Encoder signal 5 V A A B B N N Control s...

Page 132: ...following settings can be configured and parametrised in the Festo Configuration Tool FCT To avoid rounding errors the number of lines per revolution should contain the factor 2n 1 2 4 8 2048 Settings Description Encoder data Number of lines Value number of increments per revolution 360 The number of increments specifies the number of emulated incremental signals A A B B per revolution Options Sup...

Page 133: ...the last stored actual position via the active fieldbus CANopen PROFIBUS DP DeviceNet RS485 The last stored actual position is displayed in the Project output FCT window in the online tab Operation in the Dynamic data field 9 2 2 Activate flying measurement via digital input Multiple assignment of digital inputs DIN9 This digital input is used in the positioning mode as mode bit 1 X4 CMMS AS G2 CA...

Page 134: ...2 3 Connection digital input CMMS AS G2 6 Festo Configuration Tool FCT Sampling input DIN9 11 X51 X4 X51 EXT Load DIN DOUT GND 24 V Fieldbuses X1 X2 Motor shaft encoder EnDat 2 2 1 The connection X5 can only be used for an interface RS232 or RS485 Fig 9 4 Connection digital input ...

Page 135: ...r oscilloscope as an analogue output signal 9 3 2 Output analogue monitor through digital output CMMS AS G2 Analogue output Analogue monitor Control section X1 Monitor signal 0 10 V Setpoint actual values Speed Position Current Fig 9 5 Overview output analogue monitor through digital output 9 3 3 Connection analogue output CMMS AS G2 14 Analogue load Analogue monitor AGND Analogue monitor AMON X1 ...

Page 136: ...Position setpoint value Position actual value Effective current setpoint value Effective current actual value Reactive current setpoint value Reactive current actual value Phase current U Phase current V Rotor position Following error Output stage voltage Fixed voltage level Scaling Value for scaling of the monitor signal to the analogue output signal 0 10 V Fig 9 7 Offset Value for the height of ...

Page 137: ... S 1 1 Offset 4 V DC 2 Scaling Speed setpoint value 200 mm s Fig 9 7 Analogue monitor with offset adjustment Analogue monitor with offset adjustment and numeric overflow limitation 2 200 300 400 10 8 6 4 V 100 200 300 400 100 mm S 1 2 1 Offset 4 V DC 2 Numeric overflow limitation active Fig 9 8 Analogue monitor with offset adjustment and numeric overflow limitation ...

Page 138: ...axis axis of rotation in the Festo Con figuration Tool FCT For endless positioning only the relative positioning types RA RN may be used in the travel parameter Mode No endless positioning is possible in jog mode since the minimum or maximum absolute position is always used as a target here Configure endless positioning in the Festo Configuration Tool FCT 1 Mark either the option field Rotative Fe...

Page 139: ...increments 16 bit per revolution 360 For positioning records that do not have a whole number integer as the result the motor controller rounds up to the next whole number This can result in deviations with endless positioning Example rotary indexing table 4 positions 90 65536 4 16384 Integer 6 positions 60 65536 6 10922 666 The controller positions at 10923 60 0018 ...

Page 140: ...time Quick Stop FCT Warn Output of a warning no further error response Ignore No error response A complex system of sensors and numerous monitoring functions ensure operational reliability Measurement of the motor temperature Measurement of the power output stage temperature Detection of power interruption failure Detection of earth faults PE Detection of overvoltages and undervoltages in the inte...

Page 141: ...r has the following protective functions for monitoring the motor and the connected motor shaft encoder Protective function Description Monitoring the shaft encoder An error of the motor shaft encoder results in switching off of the power output stage Generally true for intelligent encoders is that their various error messages are evaluated and reported by the motor controller as common error E 08...

Page 142: ...front side of the motor controller The following operating modes and error warning messages are displayed over the seven segments display Display 1 Significance Operating modes Rotating outside segments Speed mode speed adjustment Display changes corresponding to rotor position and speed Middle segment Controller enable active motor is energised I Force mode current control P x x x Positioning mod...

Page 143: ...ndix A 1 Several characters are displayed one after the other Tab 10 3 Operating mode and error display of the seven segments display 10 2 3 Acknowledgement of error messages Error messages can be acknowledged through Festo Configuration Tool FCT the fieldbus control word a decreasing edge of the controller enable signal DIN5 Controller enable DIN5 X1 9 1 Error active 1 5 ms Fig 10 1 Timing diagra...

Page 144: ... index of the diagnostic message Code The Code column includes the error code Hex via CiA 402 Message Message that is displayed in the FCT Cause Possible causes for the message Action Action by the user Reaction The Reaction column includes the error response default setting partially configurable PS off switch off output stage QStop quick stop with parametrised ramp Warn Warning Ignore Tab A 1 Ex...

Page 145: ...ate circuit voltage falls below the parametrised threshold Measure Quick discharge due to switched off mains supply Check mains voltage mains voltage level or network imped ance too high Check intermediate circuit voltage measure Check undervoltage monitor threshold value Check travel profile If travel with lower acceleration and or travel speeds is possible reduced power consumption from the main...

Page 146: ...entire peripheral equipment and check whether the error is still present after reset If so an internal defect is present Repair by the manufacturer 05 1 5115h Error in 24 V supply PS off Cause Monitoring of the internal power supply has recognised under voltage Measure Check 24 V logic supply Separate device from the entire peripheral equipment and check whether the error is still present after re...

Page 147: ... 08 6 7386h Angle encoder communication fault PS off Cause Communication to serial angle encoders is disrupted EnDat en coders Angle encoder connected Angle encoder cable defective Angle encoder defective Measure Check whether encoder signals are faulty Test with another encoder Check angle encoder cable For operation with long motor cables Observe notes on EMC compliant installation Additional an...

Page 148: ... Measure Re start CAN controller Check CAN configuration in the controller Check wiring 12 1 8181h CAN error bus off Configurable Cause Errors can occur if the CAN control malfunctions or is deliberately requested by the controller of the bus off status Measure Re start CAN controller Check CAN configuration in the controller Check wiring 12 2 8181h CAN error when transmitting Configurable Cause E...

Page 149: ... Error group 14 Motor identification No Code Message Reaction 14 9 6197h Error motor identification PS off Cause Error in automatic determination of the motor parameters Measure Ensure sufficient intermediate circuit voltage Encoder cable connected to the right motor Motor blocked e g holding brake does not release Error group 16 Initialization No Code Message Reaction 16 2 6187h Initialization fa...

Page 150: ...tions cooling through the housing surface integrated heat sink and back wall Error group 19 I T monitoring No Code Message Reaction 19 0 2380h I t at 80 Configurable Cause Of the maximum I t workload of the controller or motor 80 has been achieved Measure Check whether motor mechanics are blocked or sluggish Error group 21 Current measurement No Code Message Reaction 21 0 5210h Error offset curren...

Page 151: ...re Error group 26 Data flash No Code Message Reaction 26 1 5581h Checksum error PS off Cause Checksum error of a parameter set Measure Load factory setting If the error is still present the hardware may be defective Error group 29 SD card No Code Message Reaction 29 0 7680h No SD available Configurable Cause An attempt was made to access a missing SD card Measure Check whether the SD card is inser...

Page 152: ...monitoring of the controller has been triggered Measure Check power dimensioning of drive package Error group 32 Intermediate circuit No Code Message Reaction 32 0 3280h Intermediate circuit charging time exceeded PS off Cause The intermediate circuit could not be charged after the mains voltage was applied Fuse possibly defective Internal braking resistor defective In operation with external brak...

Page 153: ...a Check positioning area 40 2 8612h Target position lies behind the negative software limit switch Configurable Cause Start of a positioning task was suppressed because the target lies behind the negative software limit switch Measure Check the target data Check positioning area 40 3 8612h Target position lies behind the positive software limit switch Configurable Cause The start of a positioning ...

Page 154: ...ata record PS off Cause An attempt is being made to start an unknown or deactivated position record The set acceleration is too small for the permissible maximum speed Danger of a calculation overflow in the trajectory calculation Measure Check parameterisation and sequence control and correct if necessary Error group 43 Limit switch error No Code Message Reaction 43 0 8612h Negative limit switch ...

Page 155: ...ching operations at the input Check activation the error must not recur If the error occurs repeatedly when the STO is called Check firmware approved version If all the above options have been excluded the hardware of the motor controller is defective 45 2 8000h Error in driver supply PS off Cause The driver supply is not active again although STO is no longer required Measure If the error occurs ...

Page 156: ...eviceNet communication error PS off Cause Bus off Measure Check that the network is connected correctly and does not malfunction 64 6 7582h DeviceNet communication error PS off Cause Overflow in the CAN controller Measure Increase the baud rate Reduce the number of nodes Reduce the scan rate Error group 65 DeviceNet error No Code Message Reaction 65 0 7584h DeviceNet general error Configurable Cau...

Page 157: ...ted correctly Measure Check the factor group 70 3 6380h Operating mode error Configurable Cause This operating mode change is not supported by the motor control ler Measure Check your application Not every change is permissible Error group 79 RS232 error No Code Message Reaction 79 0 7510h RS232 communication error Configurable Cause Overrun when receiving RS232 commands Measure Check wiring Check...

Page 158: ...easurement PS off 5581h 26 1 Checksum error PS off 6081h 25 1 Incorrect firmware PS off 6180h 01 0 Stack overflow PS off 6183h 16 3 Unexpected status programming error PS off 6187h 16 2 Initialization fault PS off 6191h 42 9 Error in position data record PS off 6192h 41 9 Error jump destination path program Configurable 6193h 41 8 Error jump destination path program Configurable 6195h 70 2 General...

Page 159: ...r Configurable 12 1 CAN error bus off Configurable 12 2 CAN error when transmitting Configurable 12 3 CAN error when receiving Configurable 12 5 CAN error in the IPO mode Configurable 8600h 42 4 Message homing required Configurable 8611h 17 0 Following error monitoring Configurable 8612h 40 0 Negative software limit switch reached Configurable 40 1 Positive software limit switch reached Configurab...

Page 160: ...tion error Configurable 14 unknown 12 x Unknown error CAN Configurable 15 E790 RS232 communication error 79 0 RS232 communication error Configurable 18 E418 Record seq unknown cmd 41 9 Error jump destination path program Configurable 19 E419 Record seq invalid dest 41 8 Error jump destination path program Configurable 20 unknown 64 x Unknown error DeviceNet PS off 65 x Unknown error DeviceNet Conf...

Page 161: ... driver supply PS off 05 2 Error driver supply PS off 46 E453 Plausibility DIN 4 45 3 DIN4 plausibility error PS off 47 E124 Time out nodeguarding 12 4 CAN time out nodeguarding Configurable 48 E050 5 V Internal supply 05 0 Error 5 V electronics supply PS off 50 E051 24 V internal supply 05 1 Error in 24 V supply PS off 51 E251 Hardware error 25 1 Incorrect firmware PS off 52 E210 Offset current m...

Page 162: ...g basic settings Parameter Significance Baud rate 9 6 KBit s Data bits 8 Parity None Stop bits 1 Tab B 2 Basic setting according to factory setting B 1 3 Connect RS232 interface with a program To be able to operate an interface with a terminal program such as for test purposes the following settings are required recommendations Parameter Value Flow control None Emulation VT100 ASCII configuration ...

Page 163: ...data Receive signal 3 TxD Transmit data Transmission signal 4 Do not occupy may only be used for RS485 A signal RxD TxD 5 GND Ground Load reference potential transmission reception signal not galvanically separated 6 Unused 7 Unused 8 Unused 9 Do not occupy may only be used for RS485 B signal RxD TxD Tab B 4 Pin allocation of RS232 interface B 2 Commands syntax of the RS232 interface B 2 1 General...

Page 164: ...mand syntax RS232 Additional information on CAN objects can be found in the documentation device profile CiA 402 P BE CMMS FHPP CO SW Example operate motor controller in direct mode profile position mode The following describes the sequence in principle 1 Changing of the controller enable logic The controller enable logic can be changed via the CAN control word COB 6510_10 Since the simulation of ...

Page 165: ...The default setting here is 1 28 revolution min 24 bit portion before the decimal point 8 bit por tion after it Command 608300 00138800 acceleration 5000 rpm 4 Start positioning Positioning is started via the CAN control word COB 6040_00 a Controller enable is controlled via bit 0 3 see above b Positioning is started via a rising edge at bit 4 The following settings are accepted thereby c Bit 5 es...

Page 166: ...operation 4 Activation of the Homing mode 5 The reference mode is activated via the CAN control word COB 6060_00 Mode of Operation Command 606000 06 Homing mode 6 Start homing 7 Homing is started via the CAN control word COB 6040_00 8 Controller enable is controlled via bit 0 3 9 Homing is started via a rising edge at bit 4 Command 604000 001F 10 After homing has been ended the status of the motor...

Page 167: ...icance Signal level According to RS485 specification Transmission rate 9 6 115 KBit s ESD protection Drivers up to 16 kV protected against electrostatic discharge ESD Connection DSUB plug 9 pin socket special cable Tab C 1 Master data of the interface RS485 C 1 2 Factory setting of the interface RS485 Parameter Significance Baud rate 9 6 kbps Data bits 8 Parity None Stop bits 1 Tab C 2 Factory set...

Page 168: ...or controller For communication with the interface RS485 use only a cable that corresponds to the pin allocation interface RS485 DSUB plug connector 9 pin pins Pin Designation Description 1 Unused 2 Do not occupy may only be used for RS232 RxD signal 3 Do not occupy may only be used for RS232 TxD signal 4 A RxD TxD Receive Transmit data Positive transmission and reception signal 5 GND Ground Load ...

Page 169: ...Digital I O button in the project tree 5 Deactivate the active control field in the Mode selection via DIN9 and DIN12 field 6 Press the Download button in the work space to load the new configuration in the motor controller 7 Press the Save button in the work space to save the new configuration permanently 8 Produce a reset to activate the configuration FCT Press the Restart controller button Menu...

Page 170: ...t knowing the node number The commands of type etc support an optional checksum This checksum is formed without the first 5 characters At the byte level all characters are added up byte by byte to a UINT8 number without taking the overtravel into account The checksum comprises the entire command without RS485 identifier and without checksum Example for XT07 607A00 000A0000 80 the checksum 80 is cr...

Page 171: ...44 F FCT 46 Festo Configuration Tool FCT 46 FHPP 39 Fieldbuses 37 Firmware file 49 Flying measurement 133 Forward reverse signal CW CW CCW CCW 36 H Homing 89 I I2t monitoring 141 Incremental signal A A B B N N 34 Intended use 13 Interruption and failure monitoring 140 L LED displays CAN 142 Ready 142 Limit switch 42 M MAC ID 60 Master control 52 Memory card 49 Monitoring of the motor 141 Multi tur...

Page 172: ...d 64 Pulse direction signal CLK CLK DIR DIR 35 R Record selection 65 Relative positioning records 139 S SD memory card 49 Service 9 Seven segment display 142 Short circuit monitoring 140 Single turn absolute encoder 103 Smoothing 71 Software end position 42 T Target group 9 Temperature monitoring 141 Terminating resistor 62 Type codes 10 ...

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Page 174: ...ation is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Postfach 73726 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 e mail service_international festo com Internet www festo com Original de ...

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