Festo CMMT-ST-SW, Original Instructions Manual

Page: 172 / 616

3.3.3.13 CiA 402
Objects of the commutation-angle detection
Parameters Index.Subindex Name Data type
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
660 0x216B.01 Status of state machine commutation finding UINT32
661 0x216B.02 Commutation finding status UINT32
662 0x219C.03 Time current increase FLOAT32
664 0x216B.04 Increments FLOAT32
668 0x216B.06 Mode UINT32
669 0x216B.07 Velocity FLOAT32
6691 0x216B.0A Acceleration FLOAT32
6692 0x216B.0B Jerk FLOAT32
6693 0x216B.0C Monitoring window angle FLOAT32
6694 0x219C.14 Factor current setpoint value FLOAT32
Tab. 142 Objects
3.3.3.14 Replacement of motors without an electronic data sheet
Encoders with BiSS-C have a communication interface. If a motor is used with such an encoder, the
CMMT checks whether the motor with which the homing and zero point offset were performed is still
connected during the switch-on phase. If the motor was exchanged, the CMMT generates a corres-
ponding error message.
The exchange of the motor requires another homing run because the zero point offset in the encoder
is labelled as invalid.
After the replacement of the motor
1. Check the configuration and parameterisation of the motor.
2. Reset the error message.
3. Perform homing again.
4. Save zero point offset in the device, e.g. using th device-specific plug-in ("Control" context,
"Save zero point offset" command or in the toolbar area with the "Store on device" command).
Diagnostic messages
ID Dx. Name Description
18 | 00 | 00092
(301989980) Motor change detected, commut-
ation angle invalid Motor change detected, commutation angle
invalid
18 | 00 | 00093
(301989981) Motor change detected, zero
point offset invalid Motor change detected, zero point offset
invalid
Tab. 143 Diagnostic messages
Product configuration
172 Festo — CMMT-ST-SW — 2019-02