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Operation

Festo – EXCM-10/-30-...-E-EN – 1612b – English

Execute homing

Requirements:

–

The operation is enabled.

–

The position of the axis zero point AZ was correctly parameterised via the FCT.

–

In the status byte SPOS (CVE object 239/0), bit 1 must be set to the value 0 and bit 2 must be set to

the value 1 (ACK = 0 and MC = 1).

–

In the control byte CPOS (CVE object 240/0), bit 1 and bit 2 must be set to the value 0

(START = 0, HOM = 0), so that a rising edge can be detected.

–

In the control byte CPOS (CVE object 240/0), bit 3 and bit 4 must be set to the value 0

(JOGP = 0 and JOGN = 0).

1. Set the bit 2 in the control byte CPOS (CVE object 240/0) to the value 1 (HOM = 1).

–

Homing is started.

2. Reset the bit 2 in the control byte CPOS (CVE object 240/0) to the value 0 (HOM = 0) as soon as bit

1 in the status byte SPOS (CVE object 239/0) has the value 1 (ACK = 1).

–

As soon as the reference position is reached, bit 2 and bit 7 in the status byte SPOS (CVE object

239/0) must be set to the value 1 (MC = 1 and REF = 1).

Start of a record (record selection)

Requirements:

–

The operation is enabled.

–

Homing has been executed successfully.

–

In the status byte SPOS (CVE object 239/0), bit 1 must be set to the value 0 and bit 2 must be set to

the value 1 (ACK = 0 and MC = 1).

–

Bit 1, bit 2, bit 3 and bit 4 in the control byte CPOS (CVE object 240/0) must be set to the value 0

(START = 0, HOM = 0, JOGP = 0 and JOGN = 0).

1. Set the bit 6 in the control byte CCON (CVE object 240/0) to the value 0 (OPM = 0).

–

The “record selection” operating mode is selected.

2. Write the desired record number in the CVE object 240/1.

–

The desired record is selected.

3. Set the bit 1 in the control byte CPOS (CVE object 240/0) to the value 1 (START = 1).

–

The selected record is started.

–

As long as the positioning job is being executed, bit 2 of the status byte SPOS (CVE object

239/0) has the value 0 (MC = 0).

–

As soon as the positioning job has ended, bit 2 of the status byte SPOS (CVE object 239/0) has

the value 1 (MC = 1).

4. Reset the bit 1 in the control byte CPOS (CVE object 240/0) to the value 0 (START = 0) as soon as bit

1 in the status byte SPOS (CVE object 239/0) has the value 1 (ACK = 1).

Содержание EXCM-10-***-E

Страница 1: ...Description Commissioning 8068047 1612b 8068049 EXCM 10 30 E Planar surface gantry with controller...

Страница 2: ...to death or serious injuries Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries Other symbols Note Material damage or loss of function Recommendatio...

Страница 3: ...unctions 11 2 4 Switch off functions 11 2 4 1 Torque Off TO 11 2 4 2 External stop ES 11 2 5 Drive functions 12 2 5 1 Jogging 12 2 5 2 Homing 12 2 5 3 Brake 12 2 6 Operating modes 13 2 6 1 Direct mode...

Страница 4: ...Safety in the network 34 5 2 4 Timeout 34 5 3 The Festo Configuration Tool FCT 35 5 3 1 General information 35 5 3 2 Installation of the FCT 35 5 3 3 Starting the FCT 35 5 3 4 Creating a new project...

Страница 5: ...Examples 57 7 Diagnostics 60 7 1 Diagnostic memory 60 7 2 Types of malfunctions 60 7 3 Error messages 61 7 4 Malfunctions Causes and remedy 62 7 4 1 Error responses 62 7 4 2 Table of error messages 6...

Страница 6: ...ntroller on the Controller page Firmware design from What s new Which FCT plug in V 1 0 0 x The controller supports the following planar surface gantries EXCM 10 EXCM 30 EXCM V 1 0 0 x Tab 1 Firmware...

Страница 7: ...an lead to serious injury to people and damage to components Make sure that nobody can grasp into the sphere of influence of the planar surface gantry as well as other connected actuators e g through...

Страница 8: ...s in perfect technical condition in original status without unauthorised modifications except for the adaptations described in this documentation within the limits of the product defined through the t...

Страница 9: ...ified in the technical data of the product A Technical data and of all connected components Only compliance with the limit values or load limits permits operation of the product in accordance with the...

Страница 10: ...ment statuses malfunctions and warnings 2 2 Function and application The controller controls two servo motors which drive an H shaped rotating toothed belt The toothed belt moves a slide whose positio...

Страница 11: ...o tors is interrupted through switching off of the output stage The motor brake is not activated thereby The status of the driver supply is acknowledged through the two contacts DIAG1 and DIAG2 2 4 2...

Страница 12: ...lection of the coordinate system The stop is detected by a motor shutdown in combina tion with a sharp rise in the motor current After the fixed stop is reached a movement to zero is auto matically pe...

Страница 13: ...possible functions in direct mode are jogging as well as homing The CANopen or Ethernet inter face can be used as control interfaces 2 6 2 Record selection Positioning jobs are saved in the controller...

Страница 14: ...zero point PZ Project Zero is a point to which the actual position and the absolute target positions from the position record table refer The project zero point is shifted by a defined distance from...

Страница 15: ...zero point Selection 1 Selection 2 Fig 2 3 Axis zero point at corner point 1 default Fig 2 4 Axis zero point at corner point 2 Selection 3 Selection 4 Fig 2 5 Axis zero point at corner point 3 Fig 2...

Страница 16: ...on SLN Software Limit Negative SLP Positive software end position SLP Software Limit Positive TP AP Target position actual position TP AP Target Pos Actual Pos a Offset BZ to AZ fixed b Offset AZ to P...

Страница 17: ...D indicators aA CANopen interface X3 Fig 2 8 General structure 2 8 1 Control interfaces The controller has three control interfaces in order to communicate with a higher order controller The active co...

Страница 18: ...oad voltage is displayed over the Power LED indicator If there is no load voltage present or it is too low the LED indicator remains dark Device The operational readiness of the controller and existin...

Страница 19: ...reen yellow red Status Significance Illuminated green Normal operating status Communication through SDOs and PDOs possible operational Flashes green Normal status after switch on Com munication only p...

Страница 20: ...rror no Error motor 2 Exxx TO Torque Off Axxx xxx error no Warning 3 P000 Homing 4 P070 Jog positive X axis P071 Jog negative X axis P072 Jog positive Y axis P073 Jog negative Y axis P1xx xx record nu...

Страница 21: ...1612b English 21 2 9 System overview 1 2 3 4 1 Higher order control level PLC IPC 2 Parameterisation and commissioning level Festo Configuration Tool FCT 3 Controller level 4 Drive level planar surfac...

Страница 22: ...Without brake clamping unit The drive brakes with the quick stop edge Quick Stop Then the controller end stage is switched off If a brake clamping unit is used If the drive moves when ENABLE is remov...

Страница 23: ...maintenance work and prevent them from being restarted accidentally Note When mounting the controller Also observe the documentation of the planar surface gantry and the additional components e g asse...

Страница 24: ...istances of the mounting slots Note EXCM 10 On the planar surface gantry EXCM 10 the controller is already mounted EXCM 30 Observe the maximum screw in depth in the mounting slots of 6 mm When tighten...

Страница 25: ...listed as accessor ies to install the system Tab 4 1 Cables for connections on the front accessories Lay all flexible lines so that they are free of kinks and free of mechanical stress if necessary u...

Страница 26: ...n the front Cables Connection Cable 1 Functional earth Prepared by the customer 2 Power supply X1 Prepared by the customer 3 I O interface X2 NEBC S1H15 E N LE151 4 Emergency stop interface X4 Prepare...

Страница 27: ...25 N L2G10 NEBM M12G8 E N S1G9 2 3 Voltage supply and screening motor 1 Cable permanently connected to the motor NEBM S1G9 E N C1G6 with brake NEBM M12G5 E N C1G6 without brake 4 Reserved 5 6 Voltage...

Страница 28: ...ler Impedance at 100 MHz 241 W impedance at 25 MHz 141 W Requirements to be met by the power supply Warning Use only PELV circuits in accordance with IEC DIN EN 60204 1 protective extra low voltage PE...

Страница 29: ...signal 0 V 15 V If an input is not connected broken cable this is detected and evaluated as a low sig nal Connection Pin Function 1 6 10 5 11 15 1 24VL Output ready for communication 2 DI 1 Inputs rec...

Страница 30: ...nce with switched off driver supply Diagnostic contacts 1 and 2 opened 7 DIAG2 Contact 2 8 0 V GND Reference potential 1 At rest the output stage is switched off and any motor brakes present are close...

Страница 31: ...short circuit 6 A 1 Incremental encoder signal A Negative polarity 7 B 1 Incremental encoder signal B Negative polarity 8 N 1 Incremental encoder signal zero pulse Negative polarity 9 1 Each 5 V Ri ap...

Страница 32: ...tput stage Caution Housing surfaces can reach high temperatures A person touching the surface can be startled and have uncontrolled reactions which can result in further injury Make sure that the surf...

Страница 33: ...2 168 178 209 and the subnet mask 255 255 255 0 A gateway is not assigned Note At delivery the controller has an active DHCP server The controller cannot be connected to a network immediately at initi...

Страница 34: ...ntroller it has to be restarted in order for the changes to become active 5 2 3 Safety in the network Caution When the controller is connected to existing networks e g to the Internet Unauthorised or...

Страница 35: ...office for example Further information can be found in the relevant plug in help Select it in the Menu Help Contents of installed plug ins Festo EXCM In order to use the entire Help or parts of it ind...

Страница 36: ...d settings to operate a planar surface gantry with the controller For information on further settings use the plug in Help via menu Help Contents of installed plug ins Festo EXCM Configuration 1 Selec...

Страница 37: ...into the record table as a software end position or project zero point 5 3 8 Enable device control via FCT To control the controller through the FCT you must activate the device control via FCT Set th...

Страница 38: ...ler identification Fig 5 2 Controller identification 5 3 10 Firmware update Note With firmware changes the network settings are reset to the delivery status 5 2 2 Network settings Carry out a firmware...

Страница 39: ...e in the travel range of the planar surface gantry when the controller is enabled Password protection Note Protection against unauthorised or unintended overwriting of parameters Set up a password thr...

Страница 40: ...umbers and actual posi tions Tab 6 2 Status byte overview 6 2 1 Overview of the control and status bytes Control word Output word 1 Output word 2 Output word 3 Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

Страница 41: ...Record selection Direct mode 7 Reserved Reserved must be 0 Tab 6 5 Control byte CCON The CPOS control byte controls the positioning sequences after the drive is enabled Bit Function Description 0 Pos...

Страница 42: ...he malfunction buffer 4 Load voltage is applied 24VL 0 1 No load voltage e g emergency stop Load voltage is applied 5 Reserved 0 6 Feedback Operating mode OPM 0 1 Record selection Direct mode 7 Reserv...

Страница 43: ...or relative to the setpoint position 2 Requirements for START MC 1 status byte SPOS bit 2 ACK 0 status byte SPOS bit 1 3 Start positioning job START 1 control byte CPOS bit 1 4 Reaction to positive ed...

Страница 44: ...nal 17 V 29 V and inactive with a high signal 0 V 15 V If an input is not connected broken cable this is detected and evaluated as a low sig nal Pin Function Description 1 Output 24 V load voltage 24V...

Страница 45: ...ing is executed by selecting and starting record number 0 1 Select homing record number 0 by applying a high signal DI1 5 0 to all five binary coded inputs Pin 2 6 2 Apply a low signal to Pin 8 START...

Страница 46: ...d acceleration value is parameterised directly in the object directory through a service data object You can find an overview of all CANopen objects in the appendix B 1 CANopen object overview Transmi...

Страница 47: ...been reached bit 0 in the SCON status byte is set to value 1 EN ABLED 1 3 Enable the operation by setting bit 1 in the control byte CCON to the value 1 STOP 1 As soon as this status has been reached...

Страница 48: ...value 0 START 0 as soon as bit 1 in the status byte SPOS has the value 1 ACK 1 Start of a positioning job direct mode Requirements The operation is enabled Homing has been executed successfully In th...

Страница 49: ...job is started While the positioning job is being executed bit 2 of the status byte SPOS has the value 0 MC 0 As soon as the positioning job has ended bit 2 of the status byte SPOS has the value 1 MC...

Страница 50: ...t the factory Communication with the controller takes place via the CVE protocol This must be imple mented in the PC application Knowledge of programming TCP IP applications is required for this purpo...

Страница 51: ...ype Bytes Description Range of values 0x00 Unknown data type 0x01 0x02 UINT32 4 32 bit unsigned integer 0 4294967295 0x03 UINT16 2 16 bit unsigned integer 0 65535 0x04 UINT08 1 8 bit unsigned integer...

Страница 52: ...ue assignment of the request and response The message ID can be used but is not mandatory 0x05 0x06 0x07 0x08 Data length UINT32 Always 4 for this request 0x09 Acknowledge UINT08 In the request this f...

Страница 53: ...4 bytes data type length Example for UINT32 Data length 4 bytes 4 bytes 8 bytes 0x09 Acknowledge UINT08 0 if everything is ok All other values mean that the object could not be read A listing of possi...

Страница 54: ...The data length depends on the data type of the CVE object to be written The following applies Data length 4 bytes data type length Example for SINT08 Data length 4 bytes 1 byte 5 bytes 0x09 Acknowle...

Страница 55: ...Acknowledge UINT08 0 if everything is ok All other values mean that the object could not be written A listing of possible causes of error Tab 6 17 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Placeholder 0x0E...

Страница 56: ...peration enabled status 0xA7 The CVE object must not be written without master control Setting and releasing the control interface in the FCT 0xA9 The CVE object cannot be written as the value is lowe...

Страница 57: ...the value 2 to the CVE object 3 0 The CVE interface has the master control Enable operation Requirements The drive is switched on the CVE interface has been set and there is no malfunction The inputs...

Страница 58: ...set to the value 1 MC 1 and REF 1 Start of a record record selection Requirements The operation is enabled Homing has been executed successfully In the status byte SPOS CVE object 239 0 bit 1 must be...

Страница 59: ...305 0 Write the target position in the Y direction to the CVE object 305 1 Write the speed to the CVE object 240 1 3 Set whether positioning should take place absolutely or relative to the setpoint po...

Страница 60: ...an they can be displayed on the 7 segment dis play it may be the case that not all malfunctions are displayed Read the diagnostic memory 7 1 Diagnostic memory in order to view all messages Error high...

Страница 61: ...imally dependent on the control interface 7 4 2 Table of error messages General error messages LED indicator 7 segments display Malfunction Priority Error in the firmware update Switch the device off...

Страница 62: ...ning job then output stage remains switched on G Terminate positioning job output stage on Execute positioning job to the end until MC 1 then output stage remains switched on Tab 7 3 Error responses 7...

Страница 63: ...software reset required Parameterisable error response s A 05 5 Zero angle definition Zero angle determination Can be parameterised as F Diagnostic memory always The rotor position could not be uniqu...

Страница 64: ...re quired task Check design of the drive system and mechanical system for sluggishness Reduce load dynamics longer breaks Acknowledgement option Error can be acknowledged Parameterisable error respon...

Страница 65: ...fect and the device has to be replaced Acknowledgement option Cannot be acknowledged software reset required Parameterisable error response s A 19 25 Temperature LM CPU Temperature LM CPU Can be param...

Страница 66: ...occurred or the CAN Master has failed Check the CAN cable for a wire break Repair or replace the CAN cable Check the function of the CAN Master Acknowledgement option Error can be acknowledged Paramet...

Страница 67: ...equired Homing required Can be parameterised as F Diagnostic memory optional A valid homing run has not yet been executed The reference point is no longer valid e g through logic voltage failure or be...

Страница 68: ...ible firmware designs and download the appropriate firmware from the Festo website For parameterisation as an error The error can only be acknowledged after the cause is elimin ated Parameterisable er...

Страница 69: ...d Parameterisable error response s B 31 49 CVE connection CVE connection Can be parameterised as F Diagnostic memory optional A connection error has occurred during Control via Ethernet CVE Check the...

Страница 70: ...rning The warning disappears when the actual position is back within the standstill window 38 56 Parameter file access Parameter file access Can be parameterised as F Diagnostic memory optional During...

Страница 71: ...y be acknowledged after the cause is eliminated Parameterisable error response s G 3F 63 Record invalid Record invalid Can be parameterised as F Diagnostic memory optional The started record is invali...

Страница 72: ...ttle is present Check the logic voltage Observe the electrical data in the appendix A 2 Electrical data The controller does not work at all Short circuit line interrupt or incorrect pin allocation Che...

Страница 73: ...accordance with DIN EN 60068 part 2 29 With wall and H rail mounting Severity level 1 1 The device is intended for use in an industrial environment Measures for interference suppression may need to b...

Страница 74: ...st saved error Error numbers from 16 bit code Lower 2 bytes LSB error code Upper 2 bytes MSB 0 2 uint32 ro 3 uint32 ro 4 uint32 ro 5 uint32 ro 6 uint32 ro 7 uint32 ro 8 uint32 ro 1008h 0 Manufacturer...

Страница 75: ...apping parameter Record ro 1 FHPP control word CCON CPOS uint32 ro 0x30000008 2 Record number or speed uint32 ro 0x30010008 3 Target position X uint32 ro 0x30020008 4 Target position Y uint32 ro 0x300...

Страница 76: ...h 0 Max following error for direct mode uint32 rw 2200h 0 Positive SW end posi tion X int32 rw Positive SW end position X default 0 Unit SINC 1 mm 1000 SINC Values 2147483648 2147483648 2201h 0 Negati...

Страница 77: ...SCON Byte 2 status word SPOS 6 2 3 3021h 0 Actual record number or error number uint16 ro Dependent on the operating mode Record selection record and error number Direct mode error number Error numbe...

Страница 78: ...sword Tab C 1 Access rights Detail descriptions of the CVE objects Index 3 Subindex 0 Master control System UINT08 R W1 W2 W3 The master control determines which interface the planar surface gantry ma...

Страница 79: ...or a direct positioning job Unit mm s Values 0 65535 Default 0 Index 303 Subindex 0 Actual position X FHPP SINT32 R The current actual position in the direction of the X axis Unit SINC 1 mm 1000 SINC...

Страница 80: ...ult 0 Index 305 Subindex 1 Target position Y only for direct mode FHPP SINT32 R W1 W2 Specification of the target position Y is dependent on the value of bit 0 ABS REL in the control byte CPOS absolut...

Страница 81: ...record between the target position in accordance with previously calculated course of the path and the actual position Homing Positioning job to determine the reference point I O Input output Jog mode...

Страница 82: ...D Glossary 82 Festo EXCM 10 30 E EN 1612b English...

Страница 83: ......

Страница 84: ...tion 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 G...

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