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6. Control via FHPP 

84 

 

 

 

 

 

Festo.P.BE-CMMP-CAM-SW-EN en 1105a 

6.9.3

 

Record selection – synchronisation on virtual master with 
cam disc function (FNUM=3) 

 

Step/
Description 

Control bytes 

Status bytes 

Byte 

B7  B6  B5  B4  B3  B2  B1  B0  Byte 

B7  B6  B5  B4  B3  B2  B1  B0 

Basic status  
 
(Device control 

 

HMI = off) 

Byte 1 

OPM2 

OPM1 

LOCK 

– 

RESET  BREAK 

STOP 

ENABL 

Byte 1 

OPM2  OPM1  LOCK 

24VL 

FAULT  WARN 

OPEN 

ENABL 

CCON  0  0  0  0  0  x 

1  1  SCON  0  0  0  1  0  0 

1  1 

Byte 2 

– 

CLEAR  TEACH 

JOGN 

JOGP 

HOM 

START 

HALT 

Byte 2 

REF 

STILL 

DEV 

MOV 

TEACH 

MC 

ACK 

HALT 

CPOS  x 

0  0  0  0  0  0  1  SPOS  0  0  0  0  0  1  0 

1 

1 Select record no. 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2 Parametrise RCB1  

PNU 401 

RCB1 

 

FUNC 

1 

FGRP 

0 

FGRP 

0 

FNUM 

1 

FNUM 

1 

COM2 

0 

COM1 

0 

ABS 

X 

PNU401 

RSB 

FUNC 

1 

FGRP 

0 

FGRP 

0 

FNUM 

1 

FNUM 

1 

COM2 

0 

COM1 

0 

ABS 

X 

3 Select cam disc no. 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4 Start 

Byte 1 

OPM2 

OPM1 

LOCK 

– 

RESET  BREAK 

STOP 

ENABL 

Byte 1 

OPM2  OPM1  LOCK 

24VL 

FAULT  WARN 

OPEN 

ENABL 

CCON  0  0  0  x 

x 

x 

1  1  SCON  0  0  0  x  x 

x  1  1 

Byte 2 

– 

CLEAR  TEACH 

JOGN 

JOGP 

HOM 

START 

HALT 

Byte 2 

REF 

STILL 

DEV 

MOV 

TEACH 

MC 

ACK 

HALT 

CPOS  x 

x 

x 

x 

x 

x 

F 

1  SPOS  x  x  x 

1 

x 

0 

1 

1 

5 Parametrise cam 
disc number 

PNU

 

419 

X  X  X  X  X  X  X  X   

 

 

 

 

 

 

 

 

Changing of the cam 
 

Byte 1 

OPM2 

OPM1 

LOCK 

– 

RESET  BREAK 

STOP 

ENABL 

Byte 1 

OPM2  OPM1  LOCK 

24VL 

FAULT  WARN 

OPEN 

ENABL 

CCON  0  0  x 

x 

0  x 

1  1  SCON  0  0  0  1  0  0  1  1 

Byte 2 

– 

CLEAR  TEACH 

JOGN 

JOGP 

HOM 

START 

HALT 

Byte 2 

REF 

STILL 

DEV 

MOV 

TEACH 

MC 

ACK 

HALT 

CPOS  x 

0  0  0  0  0 

F 

1  SPOS  0  0  0 

1 

0  0 

1 

1 

0: logic 0;     1: logic 1;     x: not relevant (optional);     F: Edge positive 

Tab. 6.9.3: 

Record selection – synchronisation on virtual master with cam disc function 

 

Description 

1.

 

Preselect 

record number

 in FHPP control byte 3.  

2.

 

Parametrise 

RCB1

 

(PNU 401)

 of the preselected record: Set FNUM=3.  

Observe: The abs/rel-bit is valid here for the master and not for the slave.  
The PNUs 402 … 4xx also apply for the master. 
If record chaining is desired, the RCB2 must also be parametrised.  

3.

 

Parametrise 

cam disc number

 for the preselected record. There are 2 options:  

 

- Write number in PNU 419.  
- If PNU 419 = 0, the cam disc number is taken from PNU 700. 

4.

 

Start:

 With a rising edge at the START bit, the positioning record is executed. Start 

here applies simultaneously for both the master and the slave. 

5.

 

Optional change to another cam disc or another positioning record:  
START bit must first be at 0. With a new rising edge at START, the new cam disc 
number is taken over.  

 

 

STOP

 takes place through removal of the STOP bit. The status of the 

START bit is not relevant thereby. To restart, first the bit SCON.B1 
OPEN is required and then a new START edge. 

 

There is an option to force an 

intermediate stop

 during movement 

through removal of the HALT bit. The HALT bit stops the virtual 
master. A new positive start edge is needed for starting.

 

 

Содержание CMMP-AS

Страница 1: ...Trimming On top 61 5 mm Underneath 61 5 mm Left 43 5 mm Right 43 5 mm Motor controller CMMP AS Manual CAM editor GSPF CAM MC ML Manual 752540 en 1105a ...

Страница 2: ...2 Festo P BE CMMP CAM SW EN en 1105a ...

Страница 3: ... 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 file patent utility model or registered design appl...

Страница 4: ...MMP CAM SW EN File name 752540g1 pdf File saved at Consec no Description Index of revisions Date of amendment 001 Creation in German 1007NH 12 07 2010 002 Edit and translation 1105a 15 03 2011 Trademarks SIMATIC S7 are registered trademarks of the respective trademark owners in certain countries ...

Страница 5: ... 14 2 4 4 Topology of the connections between master and slave s 14 3 Parametrisation software 15 3 1 Festo Configuration Tool FCT 15 3 2 FCT plug in CMMP AS 16 4 Concepts of the cam disc 17 4 1 Fundamentals 17 4 2 Characteristics of the cam disc function 18 4 3 Physical master 19 4 4 Virtual master 20 4 5 Master slave constellations 21 4 5 1 CMMP AS as physical master with 3 slaves 21 4 5 2 CMMP ...

Страница 6: ...irtual master 53 4 12 3 CAM IN 54 5 Commissioning examples 55 5 1 Requirements 55 5 2 Example 1 Physical master with a slave 56 5 3 Example 2 Virtual master 63 6 Control via FHPP 66 6 1 Overview of parametrisation physical master with slave FNUM 1 2 67 6 1 1 Control of the physical masters 67 6 1 2 Control of the slave FNUM 1 2 67 6 2 Overview of parametrisation virtual master FNUM 3 68 6 3 Config...

Страница 7: ...synchronisation on input X10 FNUM 1 82 6 9 2 Record selection synchronisation on input X10 with cam disc function FNUM 2 83 6 9 3 Record selection synchronisation on virtual master with cam disc function FNUM 3 84 6 9 4 Direct operation synchronisation on input X10 FNUM 1 85 6 9 5 Direct operation synchronisation on input X10 with cam disc FNUM 2 86 6 9 6 Direct operation synchronisation on virtua...

Страница 8: ...Table of contents 8 Festo P BE CMMP CAM SW EN en 1105a ...

Страница 9: ...disc function of the motor controller CMMP AS It may be used only in combination with the complete documentation of this controller The safety instructions in the documentation of all components used must be observed completely Warning Electric axes can move suddenly with high force and at high speed Collisions can result in serious injuries Observe the safety instructions in the documentation of ...

Страница 10: ...n of a CMMP AS to a Profibus network P BE CMMX EC SW EtherCAT for the motor controller CMMP AS P BE CMMP AS PB S7 CAM For use of the CMMP AS in combination with a SIMATIC S7 controller there are special function blocks with its own help file Help on FCT software The FCT framework and the plug in CMMP AS each have their own integrated help files which describe the interface of the parametrisation s...

Страница 11: ...m disc Master start position See section 4 8 Basic parameters for a cam disc Cam trip cam See section 4 10 Cam switch CAM IN See section 4 12 3 CAM IN Modulo See section 4 6 Modulo positioning Slave subsequent drive See section 4 1 Fundamentals Setpoint value position slave Y value of the cam disc The position at which a slave with active cam disc should stand dependent on a master position Units ...

Страница 12: ...end motors of the series EMMS AS These servo motors are permanently excited electrodynamic and brushless These motors have integrated digital absolute value encoders alternatively single turn and multi turn 2 3 Higher order controller PLC For control of a cam disc application via fieldbus use the fieldbus protocol FHPP The required parameters can be found here in chapter 6 Control via FHPP Detaile...

Страница 13: ...an be found in the hardware description according to section 1 3 documentation overview 2 4 2Input X10 At the input X10 besides another CMMP AS many additional commercially available encoders can be connected such as encoders corresponding to the industry standard ROD426 from Heidenhain or encoders with single ended TTL outputs as well as open collector outputs Alternatively the A and B track sign...

Страница 14: ...dual wires should be twisted in pairs and screened For transmission rates over 200 kbit s the cables should be equipped with a terminating resistor Also observe the relationship between transmission rate and maximum cable length Pin 5 is optional for cam disc operation X11 X10 and does not have to be connected This pin is only used to supply external encoders 2 4 4Topology of the connections betwe...

Страница 15: ...components from Festo The FCT comprises A framework as program start and entry point with uniform project and data management for all supported types of devices one plug in each for the special requirements of a component with the necessary descriptions and dialogues Included in the scope of delivery of the CMMP AS is a CD with the FCT framework If it has not yet been done Install the FCT framewor...

Страница 16: ...ad it from the download area www festo com The following figure shows selection of the plug in version when adding a component to a new or existing FCT project As soon as the FCT with the plug in CMMP AS is installed on your computer you can also install the cam disc function with help from the CD GSPF CAM MC ML Observe the instructions for installation on the CD wrapper If the FCT project was ope...

Страница 17: ...ositions of a master and a slave Master and slave are designated as master encoder and subsequent drive The master encoder does not necessarily have to be a physical master see section 4 3 it can also be a virtual master see section 4 4 A master slave relationship is normally depicted in a 2 D assignment graph The horizontal X axis includes the position of the master and the vertical Y axis the po...

Страница 18: ...of the curve shapes is no longer necessary User friendly displacement plan editor All limits for position speed and acceleration are immediately displayed in the editor Up to 16 cam discs with up to a total of 2048 data points can be managed The data points can be distributed on the cam discs in any way desired Four cam controllers are coupled on every cam disc see section 4 10 The cam disc can be...

Страница 19: ...aster does not have to be specially configured as such It is enough to correctly parametrise the encoder emulation at the X11 output and there connect an additional CMMP AS as slave In case of the slave in contrast it must be specified that it uses the signals at the X10 input as master signals by making the following setting in FCT on the Cam Disc page If the physical master is activated for the ...

Страница 20: ...ple 1 When the cam disc is activated the virtual master is at position 0 parametrised master start position The connected drive slave then performs a CAM IN movement see section 4 12 3 to position 4 2 If only one positioning job containing 4 as the target position is started the virtual master travels from position 0 to position 4 3 But the drive slave connected to this CMMP AS travels the path ac...

Страница 21: ...c is active that is the axis connected to it performs exactly the positioning jobs that are specified by record selection or direct operation Slaves In the FCT a physical master was selected and a separate cam disc created for each slave As a result each slave runs its own curve dependent on the master position With three slave drives a maximum three dimensional movement in the X Y and Z direction...

Страница 22: ...n be set whether at X11 the signal of the virtual master or the actual values of the slave movement or the setpoint values of the slave movement are output The setpoint values should preferably be used The actual values should only be used for coupled systems or when it is important that collisions should not occur in the case of deviations between the setpoint and the actual position e g followin...

Страница 23: ...gment begins seamlessly The range limits should agree with the specifications for the cam disc definition see section 4 8 same length of the master period 4 6 1Modulo positioning with physical master With a physical master after activation of the modulo function only the upper and lower area limit have to be specified The upper limit of the travel range is never being taken upon reaching the upper...

Страница 24: ...on of a positioning record is exactly the same as if no cam disc were active The direction of travel through the curve is determined by the settings on the Cam Disc page tab Master shortest distance direction always positive negative or direction from position set Warning In the case of the modulo setting shortest distance Do not specify a target position outside the defined modulo range In the ca...

Страница 25: ...er and control of the slave The cam disc in the slave is neither compressed nor stretched Only the control of the slave is translated Translation has an impact on the X axis of the cam disc in the slave i e on the master setpoint value Example The physical master travels from its position 0 to position 2 In FCT a transmission ratio of 1 2 was parametrised for the slave input speed output speed Set...

Страница 26: ...nce system Warning Since the X axis of the cam disc in this example is run through twice as fast the resulting speeds of the slave drive are also twice as high correspondingly also acceleration and jerk And so it can make more sense to modify the cam disc of the slave so that the transmission ratio between master and slave is 1 1 Comment The effect of the electronic gear unit corresponds to a chan...

Страница 27: ...Basic parameters for a cam disc Overview 1 Reference value for dynamic calculations 7 Limit value for speed 8 Limit value for acceleration The basic parameters are explained in detail in the online help of the FCT plug in menu Help Dynamic Help 1 2 3 4 5 6 7 8 5 6 2 3 4 ...

Страница 28: ... axis of the cam disc should cover 5 revolutions of the master period R Based on the specification that these 5 revolutions are performed in 2000 ms certain speeds and accelerations result for the slave The editor shows these values below the path diagram in their own diagrams In calculating the dynamic values the editor takes into account the parametrised limit values of the drive and if certain ...

Страница 29: ... that occur are displayed immediately 4 9 3Rasterisation of the curve The Festo displacement plan editor generates a completely smooth curve The curve is rasterised when closing the displacement plan editor so it can be saved and processed in the controller The number of sections of this grid corresponds to the number of points specified when defining the curve in FCT Since the design points gener...

Страница 30: ... number of data points used should be as large as possible A maximum of 2048 points is possible as sum of all 16 curves Note on terminology There are 2 types of data points also called nodes the design points which the user generates by mouse click in the displacement plan editor the grid points automatically generated during rasterisation of the curve ...

Страница 31: ...on should execute less than a complete revolution and then return it can be created as finite acyclical Beginning and end of the Y path on the cam disc are far apart a certain marginal area cannot be run through the cam disc might even have a stop To keep the displacement plan editor from trying to connect the beginning and end to each other the end points of the curve must lie precisely on the en...

Страница 32: ...o P BE CMMP CAM SW EN en 1105a The curve overall is considered defective conditions violated see the following figure With the following curve the first and last design point are placed directly on the end positions of the master period ...

Страница 33: ...Insert a dwell Click on the button to insert a dwell A dwell is a movement standstill During this time a gripper could open or close for example Now run with the mouse pointer over the path diagram The current mouse pointer position is displayed in the header Click twice in the diagram somewhat off set next to each other The result is approximately the following figure Repeat the process and inser...

Страница 34: ...t move the mouse pointer somewhat away from this position and then click again The dwell will now be at another position Alternatively you can also click on the design points with the right mouse key and in the related dialog type in the desired X value time angle and the desired Y value path coordinate 4 Deletion of data points If you wish to delete a dwell Click on the symbol for the wastebasket...

Страница 35: ...ections In the following example the uniform distribution of points results in a symmetrical curve with 4 sections two dwell phases II and IV a phase in which the drive travels in a positive direction I and a phase in which the drive travels in a negative direction III ...

Страница 36: ...t parameters of displacement plan The course of the first and third section are identical at first except for the direction of movement The curve suggested by the editor represents a good compromise for many applications But you can optimise the suggested curve further by choosing a different motion law for example You can select a different motion law for every section of a curve With the right m...

Страница 37: ...motion laws The comparison between the first and third section shows what effects the various motion laws have on the course of the curve With the 7th order polynomial the rise of the acceleration lowest red curve in the following figure is slower flatter than with the modified sine ...

Страница 38: ...disc 38 Festo P BE CMMP CAM SW EN en 1105a Through the menu command Output individual movement diagram you can also view the related jerk yellow line The jerk course is markedly more harmonious with the 7th order polynomial ...

Страница 39: ...tion 4 9 8 11th degree polynomial motion law no 11 The acceleration curve has a cover Low vibration harmonic generally usable 15th degree polynomial motion law no 50 Similar to the 7th degree polynomial but with even less jerk In the case of a gentle i e vibration capable design e g for a toothed belt axis an acceleration course that is as round and harmonic as possible with low and constant jerk ...

Страница 40: ...s of the cam disc 40 Festo P BE CMMP CAM SW EN en 1105a The characteristics of all 55 motion laws with their specific advantages and disadvantages are explained individually in the displacement plan editor help ...

Страница 41: ...th constant speed i e acceleration 0 Such sections can be used for synchronous processing tasks There are two options for fitting lines Click on a section with the right mouse button and in the dialog enter the percentage straight line share for this section The percentage refers to the length of the section The straight line is inserted in the middle The following course results ...

Страница 42: ... menu bar insert a section with constant speed works exactly like insertion of a dwell see section 4 9 5 In the dialog windows of the two data points of the straight line section you can for example determine that the jerk at the start or end of the segment should 0 You can also enter the lead or speed in the dialog window of the straight line section ...

Страница 43: ...e for this purpose Use only as many additional data points as you absolutely need The fewer data points used the more harmonic the motion sequence will be C Insert section with a table of supporting points With this function you must first define a range by clicking twice in the path diagram Then you can add a curve from a stored value table to this section In various dialogs you have the option t...

Страница 44: ...s in which you can enter the positions of one or more lines Moving Click on the reference line to be moved Then at the lower edge of the displacement plan editor an entry field appears in which you enter the new position of the line Alternatively you can click again on the button and adjust the positions in the related dialog Deleting To delete a reference line use the wastebasket button from the ...

Страница 45: ...ose completely a minimum change of location at the start of the movement should not hinder the safe opening or closing of the gripper The start of the movement can be moved forward or the end of the movement can occur later This permits a gentler and more harmonic motion sequence with simultaneously higher cycle rate In the following example in the right figure the start of the movement was moved ...

Страница 46: ... a disadvantageous jump in acceleration at the right data point left figure If you click on the acceleration point with the mouse and move it downward somewhat the result is the smoothed acceleration curve in the right figure Tip With the button Edit parameters of displacement plan in the dialog for basic settings you can activate an online drag mode through the setting Drag mode with maximized co...

Страница 47: ...section for example In the following example the centre point of the section was shifted forward As a result less time remains for acceleration and more time for braking You can set this in the related section dialog using the inflection point parameter Sections always go from 0 1 A value of 0 5 represents the centre of the section a value of 0 25 precisely the limit of the front quarter Enter the...

Страница 48: ...e of an electronic cam switch See the following sketch Each cam disc has 4 cam switches each of which can have several cams The cams are actuated dependent on the master position The cams can be inserted using the right mouse button and then made larger smaller by dragging with the mouse Dragging to size 0 deletes a cam The start and end of cams can only be on grid data points If there are high re...

Страница 49: ...n the X position lies between 1 and 2 the second cam when the X position lies between 3 and 4 The cams can either be interrogated via FHPP or mapped onto digital outputs Interrogation via FHPP You can read the status of the cams actuated not actuated out of the PNU 311 02 See FHPP description according to section 1 3 Documentation overview CMMP AS ...

Страница 50: ... a digital output should be set dependent on the cam actuation On the Application Data page in the Operating Mode Settings tab Activate Position Trigger On the Position Trigger page Assign the desired cam switch here no 1 to a position trigger here 1 On the Digital Outputs page Assign Position Trigger 1 to a digital output here DOUT2 ...

Страница 51: ... result in setpoint jumps and following errors To activate via Digital Inputs do the following On the Digital Inputs page in the CAM tab For the previously created curves select one digital input each from the selection menu In the following figure cam disc no 1 is activated when the digital input DIN3 is set In the Assignments tab you can then establish possible double assignments of the digital ...

Страница 52: ...CAM SW EN en 1105a Significance of the colours Grey The input is not assigned Green The input is assigned once Yellow The input is assigned twice Red The input is assigned at least three times For activation of cam discs via fieldbus See chapter 6 ...

Страница 53: ...position for the slave are at position 0 The slave might execute a CAM IN movement see section 4 12 3 4 12 2 For the virtual master During activation of a cam disc the master position is set to X 0 or to the parametrised start value for this cam disc The connected axis travels with the defined CAM IN values to the Y position assigned to this start position according to the cam disc Example The dri...

Страница 54: ... signaled that the drive has reached the curve starting point CAM IN movement completed If the drive moves when a cam disc is deactivated braking takes place with the deceleration brake ramp that was set with the CAM IN parameters If the drive leaves the defined master period of the cam disc the drive is also braked brake ramp not parametrisable For the virtual master If a positioning record is st...

Страница 55: ...l as the commissioning instructions described there This documentation considers only the special aspects of the cam disc The following step by step examples show how controllers of type CMMP AS can be parametrised for a cam disc application A requirement for verification of these examples is that the controllers motors and axes are set up completely wired and provided with electricity In addition...

Страница 56: ... Execute all parameter settings as well as commissioning as would be necessary without a cam disc Warning Electric axes can move suddenly with high force and at high speed Collisions can result in serious injuries Observe the safety instructions in the documentation of the controller as well as the commissioning instructions described there This documentation considers only the special aspects of ...

Страница 57: ... P BE CMMP CAM SW EN en 1105a Step 2 For the master On the Application Data page in the Operating Mode Settings tab activate the option Encoder Emulation X11 On the Encoder Emulation page Check the settings and adjust them if necessary ...

Страница 58: ...er X10 option Also specify whether the master s travel is rotative or linear The option Reset Master Setpoint causes the slave to assume that the master is at position 0 when the cam disc is activated The position comparison between master and slave is described in section 4 12 The modulo function is described in section 4 6 Under Encoder Data X10 you can parametrise an electronic gear unit see se...

Страница 59: ...sc The basic parameters are explained in section 4 8 Then click on Edit Selected Cam Disc No x In the displacement plan editor Create a curve The first steps in creating a curve in the displacement plan editor are explained in section 4 9 5 After creation of the curve Click on the X in the upper right to close the displacement plan editor ...

Страница 60: ...urse of the curve is displayed in the Cam Switch Insert cams if needed Insertion of cams and display of the cam actuation using digital outputs is described in section 4 10 Step 6 Change to the CAM IN tab and enter appropriate values The CAM IN movement is described in section 4 12 3 ...

Страница 61: ... a CAN reset is usually sent here before a start Then set the FCT device control FCT and Enable For the master Execute homing if necessary and run the master to position 0 For the slave Execute homing if necessary Change into Project Output Cam Disc Activate a cam disc by selecting it in the Choice menu If you selected the option Reset master setpoint when activating a cam disc in the Master tab t...

Страница 62: ... CMMP CAM SW EN en 1105a Step 8 In the master enter a positioning record e g for travel from position 0 to 5 and execute the positioning record The slave will travel from position 2 5 to 7 5 according to the cam disc displayed under step 5 ...

Страница 63: ...isc function Warning Electric axes can move suddenly with high force and at high speed Collisions can result in serious injuries Observe the safety instructions in the documentation of the controller as well as the commissioning instructions described there This documentation considers only the special aspects of the cam disc Step 2 On the Application Data page in the Operating Mode Settings tab A...

Страница 64: ...espond to those for parameter setting in section 5 2 Example 1 Physical master with a slave Create a curve with cams as described there Step 7 Establish an online connection and execute a download to the controller Using the Store button store the project in the device and restart the controller Component Restart Controller especially for CANopen applications since a CAN reset is usually sent here...

Страница 65: ...n the cam disc is activated the master position is set to the value specified in the cam disc definition in the Cam tab The connected drive travels to its start position with the CAM IN parameters Step 8 Enter a positioning record on the Positioning Record Table page and execute the positioning record The connected drive travels the curve depicted under step 5 ...

Страница 66: ...offers the option to implement the following applications over FHPP 1 Synchronisation onto external input slave mode pure synchronisation function number FNUM 1 2 Synchronisation onto external input with cam disc i e physical master with slave function number FNUM 2 3 Virtual master with cam disc function number FNUM 3 The function number FNUM is transferred in the record control byte 1 RCB1 or FH...

Страница 67: ...ens through an entry in the subindices of PNU 401 Set bit 7 FUNC to 1 and choose the desired function via bit 3 and 4 FNUM 3 Parametrise the cam disc number individually for every record over the subindices of PNU 419 If no cam disc number is stored in PNU 419 the controller uses the cam disc number according to PNU 700 4 Start The cam disc mode is started through a rising edge at the START bit CP...

Страница 68: ...If record chaining is desired the RCB2 must also be parametrised 3 Cam disc number A cam disc is assigned either by storing a cam disc number in PNU 419 for the preselected positioning record or by storing a cam disc number in PNU 700 that then applies as standard for all positioning records for which no other determination was made 4 Start The cam disc mode is started through a rising edge at the...

Страница 69: ...e 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data CCON CPOS Record no Input data SCON SPOS Record no RSB Actual position With direct operation FHPP direct operation Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data CCON CPOS CDIR Setpoint value 1 Setpoint value 2 Input data SCON SPOS SDIR Actual value 1 Actual value 2 ...

Страница 70: ...drive CPOS B7 B6 B5 B4 B3 B2 B1 B0 CLEAR TEACH JOGN JOGP HOM START HALT Delete remaining path Teach value Jog negative Jog positive Start homing Start positioning job Halt CDIR B7 B6 B5 B4 B3 B2 B1 B0 FUNC FGRP FNUM COM2 COM1 ABS Execute function Function group Function number Control mode position force Absolut e Relati ve only for direct operation In the case of record selection the record numbe...

Страница 71: ...STILL DEV MOV TEACH MC ACK HALT Drive referenced Dwell monitoring Following error Axis moves Confirmation of teaching or sampling Motion complete Acknow ledge start Halt SDIR B7 B6 B5 B4 B3 B2 B1 B0 FUNC FGRP FNUM COM2 COM1 ABS Funct being executed Function group acknowledgment Function number acknowledgment Control mode acknowledgment Absolute relative only for direct operation In the case of rec...

Страница 72: ...sartenwahl Select Operating Mode 00 Record selection standard 01 Direct operation 10 Reserved 11 Reserved 6 5 2Control byte 2 CPOS CPOS controls the positioning sequences as soon as the drive is enabled Bit DE EN Description B0 HALT Halt HALT 1 Halt is not active 0 Halt activated Braking ramp Does not cancel positioning job B1 START Start Fahrauftrag Start Positioning Task When the cam disc functi...

Страница 73: ...s nummer Function Number B3 B4 are interpreted together as a number Value Significance 0 Reserved 1 Synchronisation on external input 2 Synchronisation on external input with cam disc function i e slave with physical master 3 Synchronisation on virtual master with cam disc function B5 B6 FGRP Funktions gruppe Function Group B5 B6 are interpreted together as a number Value Significance 0 Synchronis...

Страница 74: ...PEN Betrieb freigegeben Operation Enabled 0 Stop active 1 Operation enabled positioning possible B6 OPM1 Rückmeldung Betriebsart Display Operating Mode 00 Record selection standard 01 Direct operation 10 Reserved 11 Reserved B7 OPM2 6 6 2Status byte 2 SPOS Bit DE EN Description B0 HALT Halt HALT 0 Halt is active 1 Halt is not active drive can be moved B1 ACK Bestätigung Start ACKnowledge Start 0 R...

Страница 75: ...B3 B4 FNUM Rückmeldung Funktions nummer Function Number B3 B4 are interpreted together as a number Value Significance 0 CAM IN OUT change active 1 Synchronisation on external input 2 Synchronisation on external input with cam disc function i e slave with physical master 3 Synchronisation on virtual master with cam disc function B5 B6 FGRP Rückmeldung Funktions gruppe Function Group B5 B6 are inter...

Страница 76: ...trol torque control 10 Rotational speed velocity control 11 Reserved Bit 3 4 FNUM B3 B4 are interpreted together as a number Value Significance 0 Reserved 1 Synchronisation on external input 2 Synchronisation on external input with cam disc function 3 Synchronisation on virtual master with cam disc function Bit 5 6 FGRP B5 B6 are interpreted together as a number Value Significance 0 Synchronisatio...

Страница 77: ... achieved 1 Record chain was processed to the end Bit 2 Reserved Bit 3 4 FNUM Rückmeldung Funktions nummer Function Number B3 B4 are interpreted together as a number Value Significance 0 CAM IN OUT change active 1 Synchronisation on external input 2 Synchronisation on external input with cam disc function 3 Synchronisation on virtual master with cam disc function Bit 5 6 FGRP Rückmeldung Funktions...

Страница 78: ...nput X10 Input configuration rw 710 uint32 Gear ratio rw 711 1 2 uint32 Encoder emulation output X11 Output configuration rw 720 uint32 FHPP 700 Optional uint8 Name DE EN Kurvenscheibennummer CamID cam disc number Description The cam disc is selected with this parameter Value range 1 16 Read write rw FHPP 701 Optional int32 Name DE EN Masterstartposition Description For virtual master establishes ...

Страница 79: ...0 1 without zero pulse bit 0 0 with zero pulse 1 Reserved 2 Switch off A B track Bit 2 1 without A B track bit 2 0 with A B track Read write rw FHPP 711 1 2 Optional uint32 Name DE EN Getriebefaktor Synchronisation Gear Sync Description Gear ratio with synchronisation on external input slave mode SI Description 1 Motorumdrehungen Antrieb Motor revolutions 2 Spindelumdrehungen Abtrieb Shaft revolut...

Страница 80: ...t Config Encoder Emulation Description For CMMP AS Bit Function Values 0 Switch off A B track Bit 0 1 without A B track bit 0 0 with A B track 1 Suppress zero pulse Bit 1 1 without zero pulse bit 1 0 with zero pulse 2 Reversal of direction of rotation Bit 2 1 with reversal of direction bit 2 0 without reversal of direction Read write rw ...

Страница 81: ...tion synchronisation on input X10 FNUM 1 6 9 2 Record selection synchronisation on input X10 with cam disc function FNUM 2 6 9 3 Record selection synchronisation on virtual master with cam disc function FNUM 3 6 9 4 Direct operation synchronisation on input X10 FNUM 1 6 9 5 Direct operation synchronisation on input X10 with cam disc function FNUM 2 6 9 6 Direct operation synchronisation on virtual...

Страница 82: ...N 0 0 0 x x x 1 1 SCON 0 0 0 x x x 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x x x x x x F 1 SPOS x x x 1 x 0 1 1 4 Stop Byte 1 OPM2 OPM1 LOCK RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x x 0 x 0 1 SCON 0 0 0 1 0 0 0 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CP...

Страница 83: ... X X X Changing of the cam Byte 1 OPM2 OPM1 LOCK RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 0 0 0 1 0 0 1 1 0 logic 0 1 logic 1 x not relevant optional F Edge positive Tab 6 9 2 Record selection synchronisation on in...

Страница 84: ...0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 0 0 0 1 0 0 1 1 0 logic 0 1 logic 1 x not relevant optional F Edge positive Tab 6 9 3 Record selection synchronisation on virtual master with cam disc function Description 1 Preselect record number in FHPP control byte 3 2 Parametrise RCB1 PNU 401 of the preselected record Set FNU...

Страница 85: ...CDIR 1 0 0 0 1 0 0 S SDIR 1 0 0 0 1 0 0 S 3 Start Byte 1 OPM2 OPM1 LOCK RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HAL...

Страница 86: ...arameters Byte 1 OPM2 OPM1 LOCK RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 0 logic 0 1 logic 1 x not relevant optional F Edge positive S Positioning condition 0 absolute 1 relative Tab 6 9 5 Direct op...

Страница 87: ...stops with removal of the STOP bit The status of the START bit is not relevant thereby For restarting the status bit SCON B1 OPEN must be set Then the START bit can be set again An intermediate stop is not possible Setting of the HALT bit results in stopping HALT STOP ...

Страница 88: ... CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1 0 logic 0 1 logic 1 x not relevant optional F Edge positive S Positioning condition 0 absolute 1 relative Tab 6 9 6 Direct operation synchronisation on virtual master with cam disc function Description 1 Setpoint position and setpoint speed apply for the virtual master The set...

Страница 89: ...levant thereby For restarting the status bit SCON B1 OPEN must be set Then the START bit can be set again This is different with the intermediate stop Here there is the option to force an intermediate stop during movement through removal of the HALT bit The HALT bit stops the virtual master A new positive start edge is needed for starting ...

Страница 90: ...7 Finite state machine FHPP incl cam disc 90 Festo P BE CMMP CAM SW EN en 1105a 7 Finite state machine FHPP incl cam disc ...

Страница 91: ...activate cam disc Change in the record number Old record FUNC 1 New record FUNC 0 Falling edge at FUNC STOP or removal of ENABLE TA 15 Activate cam disc Rising edge at START Drive is in TA 13 TA 16 Change cam disc Rising edge at START Changed cam disc number in PNU 419 or PNU 700 FUNC 1 Change in the record number and rising edge at START Rising edge at START automatically starts the virtual maste...

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