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1. General remarks 

Festo 

P.BE-CMMS-FHPP-DN-SW-EN 

en 

1103a 

     7 

1.

 

General remarks 

1.1

 

Intended use 

This documentation describes how to connect the fieldbus to the CMMS/CMMD motor 
controller in a DeviceNet network. It describes how to activate the DeviceNet and 
represents the user protocol FHPP of the DeviceNet. For a detailed description of the FHPP 
parameters please refer to the FHPP documentation. 

This manual is intended for people who are already familiar with this motor controller 
series and the DeviceNet protocol.  

The documentation contains safety instructions which must be observed. 

 

 

The complete set of information can be found in the documentation 
for the motor controller in question: 

-

 

Description P.BE-CMM...-HW-...: 

-

 

Mechanics - electrical engineering - overview of the function 
range 

 

 

 

Please note 

Always follow the safety-related instructions listed in the product 
manual for the motor controller used. 

 

1.2

 

Safety instructions 

When commissioning and programming positioning systems, you must always observe the 
safety regulations in the descriptions and operating instructions for the components used.  

The user must make sure that nobody is within the sphere of influence of the connected 
actuators or axis system. Access to the potential danger area must be prevented by 
suitable measures, such as barriers and warning signs.  

 

 

 

Warning 

Axes can move with high force and at high speed. Collisions can 
lead to serious injury to people and damage to components.  

Make sure that nobody can reach into the sphere of influence of the 
axes or other connected actuators and that no items are within the 
positioning range while the system is connected to energy sources. 

Содержание CMMD-AS

Страница 1: ...PROFIBUS for motor controller CMMS CMMD Description DeviceNet CMMS ST CMMS AS CMMD AS Description 554 358 en 1103a 757 722 ...

Страница 2: ......

Страница 3: ... Festo AG Co KG D 73726 Esslingen Germany 2011 Internet http www festo com E mail service_international festo com The reproduction distribution and utilisation of this document as well as the communication of its contents to others without explicit authorisation is prohibited Offenders will be held liable for compensation of damages All rights reserved in particular the right to carry out patent u...

Страница 4: ... of manual P BE CMMS FHPP DN SW EN File name File saved at Consec no Manual Index of revisions Date of amendment 001 Creation 0708NH 02 07 2007 002 Revision 1103a 02 03 2011 Trademarks DeviceNet is registered trademark of the respective trademark owner in certain countries ...

Страница 5: ...4 Activating and configuring DeviceNet 15 4 1 Activation of DeviceNet 15 4 2 Setting the MAC ID 16 4 3 Setting the bit rate 16 4 4 Assignment of the I O data for CMMD 17 5 Overview 18 5 1 Overview of DeviceNet 18 5 2 I O connection 18 5 3 Explicit Messaging 19 5 4 Electronic data sheet EDS 19 6 Configuration in the DeviceNet network 20 7 Parameters 21 7 1 Device data 21 7 2 Process Data 21 7 3 Pro...

Страница 6: ...esto P BE CMMS FHPP DN SW EN en 1103a 7 10 Electronical identification plate 25 7 11 Standstill 26 7 12 Error record 26 7 13 Record List Object 26 8 Module network status LED 27 9 DeviceNet error codes 28 ...

Страница 7: ...cs electrical engineering overview of the function range Please note Always follow the safety related instructions listed in the product manual for the motor controller used 1 2 Safety instructions When commissioning and programming positioning systems you must always observe the safety regulations in the descriptions and operating instructions for the components used The user must make sure that ...

Страница 8: ...ress if you have any technical problems service_international festo com 1 5 Important user instructions Danger categories This description contains instructions on the possible dangers which can occur if the product is not used correctly These instructions are marked Warning Caution etc printed on a shaded background and marked additionally with a pictogram A distinction is made between the follow...

Страница 9: ...information Accessories Information on necessary or useful accessories for the Festo product Environment Information on environmentally friendly use of Festo products Text markings Bullet points indicate activities that may be carried out in any order 1 Numerals denote activities which must be carried out in the numerical order specified Indents indicate general lists About the Version This manual...

Страница 10: ...16 and up CMMS AS_2p3 Standard motor controller for servo motors CMMD AS Version 1 4 0 3 2 and up CMMD AS_2p3 Standard double motor controller for servo motors Table 1 1 Controller and firmware versions For older versions If necessary use the associated older version of this document Please note With newer firmware versions check whether there is a newer version of this description available www f...

Страница 11: ...odes I O data structure parameter objects sequence control Fieldbus communication Record selection Direct mode Parametrisation 1 Position Speed Torque 2 n Free access to all parameters read and write Table 2 1 The FHPP principle 2 1 Data exchange in the DeviceNet DeviceNet was developed by Rockwell Automation and the ODVA Open DeviceNet Vendor Association as an open fieldbus standard based on the ...

Страница 12: ... en 1103a Please note The Open DeviceNet Vendor Association ODVA is the user organisation for DeviceNet Publications on the DeviceNet CIP specification can be found under ODVA Open DeviceNet Vendor Association http www odva org CI ControlNet International http www controlnet org ...

Страница 13: ...otor controller The additional module is now placed in the open module shaft so that the printed circuit board slides into the guides on the sides of the module shaft Push the board in as far as possible The front plate of the additional modue is then screwed to the motor controller housing with a Philips screw Make sure that the front plate fits flush with the front in order that it has conductiv...

Страница 14: ...acts CAN_L and CAN_H for the network connection 24 V DC must be connected to V and V in order to supply the den CAN transceiver The cable screening is connected with the contact Drain Shield In order to connect the DeviceNet interface correctly with the network refer to the very detailed Planning and Installation Manual on the ODVA homepage http www odva org The different types of network supply a...

Страница 15: ... interface with DIP switch 11 at the CMMS CMMD motor controller A unique MAC ID must be assigned to each device in the network The MAC ID must be set with DIP switches 1 6 on the motor controller The baud rate must be set with DIP switches 9 and 10 1 DIP switch 1 6 MAC ID 2 DIP switch 11 3 CAMC DN slot Fig 4 1 DIP switch DIP switch Meaning 1 2 3 4 5 6 MAC ID See example 7 Reserved 8 Bootloader If ...

Страница 16: ...mple MAC ID Please note If a MAC ID greater than 63 is set with the DIP switch the MAC ID 63 will be set automatically 4 3 Setting the bit rate The bit rate is set with DIP switches 9 and 10 whereby DIP switch 9 is the lower value bit The possible bit rate depends on the cable used the cable length and the capabilities of the higher order controller If the DeviceNet is still active the selected bi...

Страница 17: ...1 and axis 2 always takes place over a shared fieldbus interface If an interface is activated it is always valid for both axes Each axis has its own I O data Assignment of the I O data over the fieldbus depends on the control interface used DeviceNet The two axes have a shared bus address which is set via the DIP switches The I O data for the two axes are transferred in a shared telegram of double...

Страница 18: ...fers An economic solution for networks at the device level Access to information in devices at a lower level Possibility for master slave and peer to peer DeviceNet pursues two main aims Transporting control orientated information which is in connection with devices of the lower level I O connection Transporting further information which is indirectly connected with the closed loop system such as ...

Страница 19: ...answer The answer may be a success message or an error message Explicit messaging makes various services possible The most common services are opening the explicit messaging connection closing the explicit messaging connection get single attribute read parameter get single attribute save parameter 5 4 Electronic data sheet EDS In order to make commissioning fast and simple the abilities of the Dev...

Страница 20: ...S FHPP DN SW EN en 1103a 6 Configuration in the DeviceNet network The way in which you configure your network depends on the configuration software used Follow the instructions of the controller manufacturer for registring the EDS file of the motor controller ...

Страница 21: ...llocation Name Attri bute FHPP PNU Type Manufacturer hardware version 1 100 1 UINT Firmware version 2 101 1 UINT Version FHPP version 3 102 1 UINT Identification Project identifier 7 113 1 UDINT I O Control FCT Control 14 125 1 USINT Data Memory Control Load default 20 127 1 USINT Data Memory Control Save 21 127 2 USINT Data memory control CMMS AS CMMD AS Data Memory Control SW Reset 22 127 3 USIN...

Страница 22: ...r 35 305 3 UDINT Velocity Actual value 36 310 1 DINT Velocity Demand value 37 310 2 DINT Speed Velocity Actual deviation 38 310 3 DINT Notification of remaining distance Remaining distance for message 56 1230 1 UDINT Table 7 3 Process Data 7 3 Project Data This object supplies project information i e common parameters for all devices of a machine Object Class ID 105 Number of Instances 1 Assignmen...

Страница 23: ...7 5 Direct mode position This object supplies project information concerning jog mode Object Class ID 105 Number of Instances 1 Allocation Name Attribute FHPP PNU Type Direct mode pos Base speed 40 540 1 DINT Direct mode pos Acceleration 41 541 1 UDINT Direct mode pos Deceleration 42 542 1 UDINT Direct mode position Direct mode pos Jerk free filter time 46 546 1 UDINT Table 7 6 Direct mode positio...

Страница 24: ...tio Shaft revolutions 5 1002 2 UDINT Feed constant Feed 6 1003 1 UDINT Feed constant Shaft revolutions 7 1003 2 UDINT Polarity 1 1000 1 USINT Encoder resolution Increments 2 1001 1 UDINT Encoder resolution Motor revolutions 3 1001 2 UDINT Axis parameter X2A gear numerator 11 1005 2 DINT Axis parameter X2A gear divisor 12 1005 3 DINT Table 7 8 Axis Parameter Object 7 8 Homing This object supplies p...

Страница 25: ...Controller parameters Save position 40 1024 32 UINT Festo serial number motor serial number 44 1025 1 UDINT Motor data I t time motor 45 1025 3 UINT Power stage temperature 49 1026 1 UDINT Nominal motor current 51 1026 3 UDINT Controller serial number 55 1026 7 UDINT Drive data Current limit 52 1026 4 UDINT Table 7 10 Controller parameter 7 10 Electronical identification plate This object supplies...

Страница 26: ...dices 1 4 Object Class ID 101 Number of Instances N Allocation Name Attribute FHPP PNU Type Fault Number Error number 2 201 x UINT Table 7 13 Error record 7 13 Record List Object This object represents the data record list Data records can be processed automatically and also linked to each other All PNUs marked with x have subindices 1 63 Object Class ID 104 Number of Instances N Allocation Name A...

Страница 27: ...ted The device works in a normal status and is online with connections flashes red green Communication failed and receives an Identify Comm Fault Request The device has ascertained a network access error and is in the status Communication Fault The device has received and accepted an Identify Communication Faulted Request Normal behaviour during commissioning flashes red Minor error or connection ...

Страница 28: ...orrectly and has no faults 64 6 DeviceNet CAN controller overrun The CAN controller has an overrun Increase the bit rate reduce the number of nodes or reduce the scan rate 65 0 DeviceNet active but no module The DeviceNet communication is activated in the parameter set of the motor controller but no module is available Deactivate the DeviceNet communication or connect a module 65 1 DeviceNet Timeo...

Страница 29: ...iceNet error codes Festo P BE CMMS FHPP DN SW EN en 1103a 29 Error messages can be acknowledged by The configuration interface via the fieldbus FHPP control word CCON a falling edge at DIN5 controller enable ...

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