Festo control block CPX-CEC
4.12 Configuring SoftMotion (CPX-CEC-M1-V3 only)
The Codesys software package SoftMotion is available as an extension for the controller CPX-CEC-M1-
V3. It allows coordinated multi-axis movements with a CPX terminal. Specific CPX-CEC-M1-V3 controller
features are produced in accordance with the CPX system properties.
4.12.1 Motor controllers supported
CMMS-ST-…
CMMP-AS-…
CMMP−AS-…-M3
CMMP−AS--…-M0
...C8-7-G2
...C20-11A-P3
…C2-3A…
…C5-3A…
…C5-11A-P3…
…C10-11A-P3…
…C2-3A…
…C5-3A…
…C5-11A-P3…
…C10-11A-P3…
4.12.2 Number of axes
The number of axes in SoftMotion is basically unlimited.
The possible number of axes varies depending on
the complexity of the application. The key parameters for determining the number of axes are the bus
cycle time (guide value is 500 µs per servo controller at a transfer rate of 1 MB) and the actual cycle time
in the SoftMotion program. We recommend operating up to 8 axes on a CPX-CEC-M1-V3.
4.12.3 Cycle time/interpolation time
Different cycle times must be observed depending on the connected motor controller type (
Figure
Configuring a CANopen manager).
When using at least one motor controller of the type CMMS-ST, permanently set the sync cycle
time to 8 ms.
If only motor controllers of type CMMP-AS are used, differing settings (e.g. 4 ms) are also
possible.
4.12.4 FCT settings for SoftMotion
The table below lists the FCT settings for SoftMotion, differentiated according to all drive controllers
supported.
FCT setting
CMMP-AS-…
CMMS-ST-...
Control interface type
CANopen
CANopen
CAN address/node number
Set using FCT or DIL switch
Set using DIL switch
Bit rate
125 kBaud,
250 kBaud,
500 kBaud or
1 MBaud
Set using FCT or DIL switch
125 kBaud,
250 kBaud,
500 kBaud or
1 MBaud
Set using DIL switch
Protocol/data profile
CiA402
CiA402
Factor group
Not used
Not used
Supply voltage
Internal only
Internal only
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