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Operation

Festo – EXCM-30/-40-...-PF-EN – 1603 – English

5.4

Controller via CANopen interface

5.4.1

General

The controller can be actuated via the CANopen interface from a higher-order controller in the two op

erating modes record selection and direct mode. It is possible to start and jog both homing and posi

tioning jobs.

5.4.2

Communication

In a CANopen network, the CMXH controller behaves as a slave with cyclical data exchange. In each

case, 8 bytes of control data and 8 byte of status data are thereby exchanged between the higher-order

controller (PLC/IPC) and the controller. The data exchange takes place in the form of telegrams,

whereby process data objects (PDO) and service data objects (SDO) are differentiated. Control data are

transferred via transmit PDOs and status data via receive PDOs. The SDOs can be used to access ob

jects defined in the appendix.

In the direct mode operating mode, the desired acceleration and jerk value is paramet

erised directly in the object directory through a service data object. You can find an over

view of all CANopen objects in the appendix (

B.1 CANopen object overview).

Transmit PDOs
Index

Su
bindex

Designation

Type

Control
byte

Explanation

3000h

Control word

uint16

1 … 2

5.2.2

3001h

Record selection mode: record number

Direct mode: speed

uint16

3 … 4

Record 0 … 31

Unit [mm/s]

3002h

Target position X (only in direct mode)

int16

5 … 6

Unit [0.1 mm]

3003h

Target position Y (only in direct mode)

int16

7 … 8

Unit [0.1 mm]

Record 0 = homing

Tab. 5.10 Transmit PDOs

Receive PDOs
Index

Su
bindex

Designation

Type

Status
byte

Explanation

3020h

Status word

uint16

1 … 2

5.2.3

3021h

Record selection: record and malfunction

number

Direct mode: error number

uint16

3 … 4

255: no malfunction

3022h

Actual position X

int16

5 … 6

Unit [0.1 mm]

3023h

Actual position Y

int16

7 … 8

Unit [0.1 mm]

Tab. 5.11 Receive PDOs

Note

Use the EDS file for configuration in a CANopen network.

You can find a current EDS file on the Festo Internet page (

www.festo.com).

Содержание EXCM-30 -PF Series

Страница 1: ...Description Commissioning 8059530 1603 8059532 EXCM 30 40 PF Planar surface gantry with controller ...

Страница 2: ...ath 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 Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out in any order 1 Activities that shou...

Страница 3: ...plication 10 2 4 Monitoring functions of the controller 10 2 5 Switch off functions of the controller 11 2 5 1 External stop ESTOP 11 2 5 2 Safety function Safe Torque Off STO 12 2 6 Drive functions 12 2 6 1 Jogging 12 2 6 2 Homing 12 2 6 3 Brake 13 2 7 Operating modes of the controller 15 2 7 1 Direct operation 15 2 7 2 Record selection 15 2 8 Measurement system 16 2 8 1 Basic concepts 16 2 8 2 S...

Страница 4: ...twork 32 4 2 4 Timeout 32 4 3 The Festo Configuration Tool FCT 33 4 3 1 General information 33 4 3 2 Installation of the FCT 33 4 3 3 Starting the FCT 33 4 3 4 Create new project 33 4 4 Configuration 34 4 4 1 Create new drive configuration change drive configuration 34 4 4 2 Gantry 35 4 4 3 Controller 35 4 5 Settings of the operating parameters 35 4 5 1 Record Table 35 4 5 2 Teaching 36 4 5 3 Enab...

Страница 5: ...Diagnostic memory 61 6 2 Error messages 61 6 3 Malfunctions causes and remedy 63 6 3 1 Error responses 63 6 3 2 Table of error messages 63 6 3 3 Problems with the Ethernet connection 73 6 3 4 Other problems and remedies 73 A Technical appendix 74 A 1 CMXH 74 A 1 1 General product characteristics 74 A 1 2 Operating and environmental conditions 74 A 1 3 Product conformity and certifications 74 A 1 4...

Страница 6: ...or accident prevention and occupational safety Documentation and mode of operation of the product 1 2 Intended use This product is a handling system The handling system executes positioning tasks within machines or automated systems with a higher order controller The controller CMXH is used exclusively for control of planar surface gantries with a circulating toothed belt of type EXCM 30 40 SB ST ...

Страница 7: ...1 2 or later V2 0 or later Tab 1 1 Software versions 1 5 Applicable documents The complete description of the system comprising controller and gantry includes the following docu ments Designation Contents Assembly instructions CMXH Notes on mechanical installation of the CMXH Description EXCM 30 40 Description of the mechanical installation of the planar surface gantry EXCM 30 40 Description EXCM ...

Страница 8: ...05 04 Tab 1 3 Standards specified in the document Certificates and the declaration of conformity for this product è www festo com 1 7 Obligations of the machine manufacturer The product is an incomplete machine Commissioning of the product is prohibited until it has been established that the machinery in which the product will be installed is in compliance with the provi sions of EU Machinery Dire...

Страница 9: ...LED display components for representation of device and communication status 7 segment display for representation of equipment statuses errors and warnings 2 2 System overview 1 2 3 4 ÌÌÌÌÌ ÏÏ ÏÏ ÏÏ Ï Ï Ï Ï Ï Ï Ï Ï Ï ÏÏ ÏÏ ÏÏ Ï Ï Ï Ï Ï Ï ÏÏ ÏÏ ÏÏ Ï Ï Ï Ï Ï Ï ÏÏ ÏÏ ÏÏ Ï Ï Ï Ï Ï Ï Ï Ï Ï 1 Higher order control level PLC IPC 2 Parameterisation and commissioning level Festo Configuration Tool FCT 3 Con...

Страница 10: ...r surface gantry Instead the movement of the slide towards an axis is achieved through the interaction of the two motors which is controlled by the controller è Fig 2 2 Operational principle Operational principle Motor 1 Motor 2 Motor 1 Motor 2 X axis Y axis Fig 2 2 Operational principle 2 4 Monitoring functions of the controller The controller has numerous monitoring functions such as monitoring ...

Страница 11: ...er supply Driver supply monitoring Driver supply acknowledgment contact PWM driver step IGBT output stage μP 24 V GND STO1 DIAG1 DIAG2 ESTOP STO2 Fig 2 3 Switch off functions block diagram 2 5 1 External stop ESTOP If the External Stop ESTOP switch off function is requested the motors are decelerated with the quick stop braking ramp Quick Stop until they are at rest After standstill is reached the...

Страница 12: ...can be used as a control interface but the I O interface cannot This function is normally used to run the slide manually into a defined basic position As long as a valid reference point has not been reached the software end positions are deactivated and the slide can also be positioned behind the software end positions through jogging 2 6 2 Homing In homing the reference point of the dimension sys...

Страница 13: ...over control of the connected planar surface gantry The brake opens simultaneously The controller accepts positioning jobs only after the switch on delay has expired Switch off delay When the enable signal is removed the time set for the switch off delay starts to run 150 ms The brake closes during this time The position controller holds the drive in position The position control ler and the outpu...

Страница 14: ...ware input è 3 2 5 Switch off functions interface X4 through a control bit in the CCON control word è 5 2 2 Description of the control bytes CCON CPOS through the FCT In the case of a blocked drive if the command to release is issued over at least one of these signals the brake is released Note The signal to release the brake always has priority If a voltage of 24 V is applied to the RB input rele...

Страница 15: ...ation and jerk They are saved in the controller in a record table with record number è 4 5 1 Record Table A maximum of 31 records can be configured by the user Record 0 is reserved for homing In operation the higher order controller PC then selects indi vidual records by transferring a record number record selection The target position is linearly ap proached by the current actual position Other p...

Страница 16: ...ch the actual position and the absolute target positions refer The project zero point is shifted by a defined distance from the axis zero point AZ Software end positions SLN Software Limit Negative SLP Software Limit Positive Limit the effective stroke in the direction of the X or Y axis If the target position of a positioning job is outside the software end positions the positioning job is not ex...

Страница 17: ...xis zero point Selection 1 Selection 2 Fig 2 4 Axis zero point at corner point 1 default Fig 2 5 Axis zero point at corner point 2 Selection 3 Selection 4 Fig 2 6 Axis zero point at corner point 3 Fig 2 7 Axis zero point at corner point 4 Establishment of the axis zero point is performed exclusively through the Festo Configur ation Tool FCT è 4 4 Configuration ...

Страница 18: ...is zero point BZ a PZ Project Zero Point project zero point AZ b SLN Software Limit Negative software end position negative AZ d SLP Software Limit Positive software end position positive AZ f TP AP Target Pos Actual Pos target position actual position PZ c AZ b c a Offset BZ to AZ fixed EXCM 30 1 4 mm EXCM 40 2 0 mm b Offset AZ to PZ c Offset PZ to TP AP d Offset AZ to SLN e Working stroke f Offs...

Страница 19: ...y X1 connection 6 I O interface X2 7 Switch off functions interface X4 8 Ethernet interface X5 9 7 segment display aJ LED indicators aA CANopen interface X3 Fig 2 9 General structure 2 9 1 Interfaces The controller has three interfaces in order to communicate with a higher order controller I O interface CANopen interface Ethernet interface The active control interface is established via the Festo ...

Страница 20: ... Display components Power The LED indicator Power is illuminated only when the load voltage is present and simultaneously STO1 1 and STO2 1 Device The operational readiness of the controller and existing malfunctions errors warnings are signaled through the Device LED display è Tab 2 2 LED indicator device LED green red Status Meaning Illuminated green Ready for operation controlled status Flashes...

Страница 21: ...LED green yellow red Status Meaning Illuminated green Normal operating status Communication through SDOs and PDOs possible operational Flashes green Normal status after switch on Communication only possible through SDOs pre operational ON OFF Lights up yellow No bus cable connected or no bus parameters configured Illuminated red No bus connection bus OFF Flashes red Telegrams cannot be received or...

Страница 22: ...positive Y axis P073 Jog negative Y axis P1xx xx record number I O operation P2xx xx record number P200 00 direct mode CANopen operation P3xx xx record number P300 00 direct mode CVE operation or control via FCT Change alternates between vertical and horizontal segments Download firmware active Flashing point Controller identification active è 4 5 4 Controller identification 1 hexadecimal 2 Is dis...

Страница 23: ...ncy stop concept Note As part of your emergency stop concept check which measures are required for your machine system in case of an emergency stop Observe the contents of this documentation on the switch off functions è 2 5 Switch off functions of the controller ...

Страница 24: ...f the product Risk of impact and crushing injuries Before working on the product switch off the power supply and secure it against being switched on again Note Damage to the product from incorrect handling Never unplug or plug in a product when powered Observe the handling specifications for electrostatically sensitive devices Note To ensure compliance with the IP protection class if required Note...

Страница 25: ...y X1 3 I O interface X2 4 Switch off functions interface X4 5 Ethernet interface X5 6 CANopen interface X3 Fig 3 1 Connections on the front 4 5 1 2 3 6 7 1 Encoder motor 1 2 Screening motor 1 3 Voltage supply motor 1 4 Reserved X6 5 Voltage supply motor 2 6 Screening motor 2 7 Encoder motor 2 Fig 3 2 Connections on the back cover ...

Страница 26: ...ould not exceed 30 m Warning Use for the electrical power supply only PELV circuits in accordance with EN 60204 1 Protective Extra Low Voltage PELV Also take into account the general require ments for PELV circuits in accordance with EN 60204 1 Use only power sources which guarantee reliable electrical isolation of the operating voltage in accordance with EN 60204 1 3 2 2 Functional earth The thre...

Страница 27: ... Logic voltage 24 V 8 Start Input Start record or homing 9 ENABLE Input Enable drive and operation 10 RESET Input Acknowledge error 11 ENABLED Output Drive and operation are enabled 12 FAULT Output Error present 13 ACK Output Acknowledgment for start signal 14 MC Output Motion complete 15 GND24 Logic voltage reference potential Tab 3 3 Connection I O interface X2 3 2 4 CANopen interface X3 Connect...

Страница 28: ...Input Safe Torque Off function With 0 V Safely switch off supply voltage to the motors 3 STO2 Input 4 Reserved 5 FAULT4 Output With 24 V Fault is present 6 DIAG1 Potential free diagnostic contacts Low impedance if the STO function has been activated 7 DIAG2 8 0 V GND GND reference potential 1 At rest the output stage is switched off and any motor brakes present are closed 2 Detailed information ab...

Страница 29: ... A 2 B Encoder signal B 3 N Encoder signal zero pulse N 4 GND Reference potential 5 Vcc 5 V 10 supply of the encoder Max 100 mA not secure against short circuit 6 A Encoder signal A 7 B Encoder signal B 8 N Encoder signal zero pulse N 9 Reserved Tab 3 6 Encoder connection 3 2 8 Motor connection Port1 Pin Function 1 6 Interface at the controller 1 A Connection of the motor strings 2 A 3 B 4 B 5 BR ...

Страница 30: ...well as other connected actuators e g through protective guards and no items are located in the travel range as long as the system is connected to energy sources Note The controller does not execute direct tasks or records if a valid reference point is not present exception jogging Always carry out homing after every switch on or failure of the logic voltage in order to anchor the dimension system...

Страница 31: ... DHCP server of the controller is intended for creating a direct connection between the controller and an individual PC laptop It is not intended to supply larger networks with IP addresses It assigns IP addresses in a range of 192 168 178 110 192 168 178 209 and the subnet mask 255 255 255 0 A gateway is not assigned If the DHCP client on your PC laptop is active usually standard setting then the...

Страница 32: ...lly After a change to the network settings in the controller it has to be restarted in order for the changes to become active 4 2 3 Safety in the network Note When the controller is connected to existing networks e g to the Internet Unauthorised or inadvertent access to the controller could cause it to behave in an unforeseen way Use the controller only in subnetworks that are protected against un...

Страница 33: ...of a PC you can also print these out 1 Click in the Help window on the Print button 2 Select the desired topics in the Print topics dialogue 4 3 2 Installation of the FCT For commissioning both the FCT framework and the FCT plug in of the controller must be installed Down load the current CMXH plug in from the Support portal è www festo com sp Search term CMXH Set up of the FCT is always included ...

Страница 34: ...onfigured yet Oth erwise the existing drive configuration can be changed in this menu 1 Select on the parameter page Configuration Create new drive configuration or Configuration Change Configure change controller 2 Select the load voltage DC link voltage of the controller 3 Select the control interface If the control interface has been changed a restart of the CMXH is re quired 4 Selecting Contin...

Страница 35: ... have been selected as the control interface Control interface CANopen Select the bit rate Specify the node number range of values 1 127 default 1 Control via Ethernet CVE control interface Determine the port if necessary range of values 1 65535 default 49700 4 5 Settings of the operating parameters 4 5 1 Record Table The parameters of positioning jobs are created via the FCT and saved in a record...

Страница 36: ...r damage to the system The interfaces have only read access to the controller Also set the Enable check box to enable the drive To deactivate the device control through the FCT the check in the check box must be removed Then the interface set in the FCT Project takes over control again For CVE the device control must be actively requested by the control PC 4 5 4 Controller identification For ident...

Страница 37: ...cumenta tion is available è www festo com sp Proceed as follows for a firmware update 1 Install the latest plug in recommended for the firmware è 1 4 Instructions on this documentation 2 Create new component with this plug in version 3 Create connection to the controller with the old firmware 4 Read and back up the project 5 Perform a firmware download 6 Create a connection and perform a project d...

Страница 38: ...are 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 through the FCT è Plug in Help At delivery protection through a password is not active Maintenance and care Note The controller is maintenance free But observe the maintenance information of the planar...

Страница 39: ...tes CCON CPOS Record no Reserved 0 Tab 5 1 Record selection mode control byte overview Status word Input word 1 Input word 2 Input word 3 Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Input data status bytes SCON SPOS Record no Error num ber Actual X position Actual Y position Tab 5 2 Record selection mode status byte overview Direct mode Control word Output word 1 Output word 2 Out...

Страница 40: ...ask Enable operation 2 Release brake BRAKE 0 1 Brake active Release brake only effective when drive is blocked ENABLED 0 and brake active RB 0 at interface X4 3 Acknowledge malfunction RESET With a rising edge an error message present is deleted and if successful the malfunction status is exited 4 Reserved 0 Reserved 5 Axis selection AXSEL 0 1 Only effective during jogging X axis selected for jogg...

Страница 41: ...ng edge the current setpoint values are accepted and positioning started 2 Start homing HOME A rising edge starts homing with the preset parameters 3 Jog positive JOGP As long as the bit is set the drive travels with configured speed in the direction of larger actual values of the axis selected in AXSEL 4 Jog negative JOGN As long as the bit is set the drive travels with configured speed in the di...

Страница 42: ... Stop active Operation enabled positioning possible 2 Warning WARN 0 1 No warning Warning is present 3 Error FAULT 0 1 No error Error is present error response active 4 Ready for enable RDYEN 0 1 Not ready for enable Ready for enable 5 Drive control by FCT FCT 0 1 FCT not active device control through control interface possible FCT active device control through control interface not possible 6 Fee...

Страница 43: ...g task or referencing Start executed positioning task or referencing 2 Motion complete MC 0 1 Positioning task active Positioning task completed possibly with error 3 Reserved 0 Reserved 4 Drive is moving MOV 0 1 Speed of the axis limit value Speed of the axis limit value 5 Reserved 0 Reserved 6 Reserved 0 Reserved 7 Drive referenced REF 0 1 Homing must be executed Homing not necessary reference i...

Страница 44: ...face and control via Ethernet through creation of the setpoint values byte 3 byte 8 dependent on the operating mode record number or speed as well as positioning absolute or relative to the setpoint position 2 Requirements for START MC 1 ACK 0 3 Start signal through control START 1 4 Response of the CMXH to rising edge of START 3 ACK 1 MC 0 5 Response of the control to 4 START 0 6 Response of the ...

Страница 45: ...or enable Ready for enable 2 Input 1 value 1 DIN1 Record selection records 0 31 Record 0 homing The inputs are evaluated together 3 Input 2 value 2 DIN2 4 Input 3 value 4 DIN3 5 Input 4 value 8 DIN4 6 Input 5 value 16 DIN5 7 Output 24 V 24 V logic Logic voltage 24 V 8 Input start record START Start record or homing run though rising edge 9 Input enable drive ENABLE 0 1 Block drive and operation En...

Страница 46: ...LE 1 After the drive is enabled the signal ENABLED 1 is applied The operation is enabled Carrying out homing Homing is executed by selecting and starting record number 0 Requirements The position of the axis zero point AZ was correctly parameterised via the FCT The drive is enabled with ENABLED 1 and no error is present FAULT 0 START 0 must be applied ACK 0 and MC 1 must be applied 1 Select homing...

Страница 47: ... record by applying signals to the binary coded inputs pin 2 6 corresponding to the de sired record number Example for the selection of record number 6 DIN1 0 DIN2 1 DIN3 1 DIN4 0 DIN5 0 2 Apply the signal START 1 to start the selected record The selected record number is taken over through a rising edge at START and the record is started The signal ACK 1 is applied as soon as the record has been ...

Страница 48: ... mode the desired acceleration and jerk value is paramet erised directly in the object directory through a service data object You can find an over view of all CANopen objects in the appendix è B 1 CANopen object overview Transmit PDOs Index Su bindex Designation Type Control byte Explanation 3000h 0 Control word uint16 1 2 è 5 2 2 3001h 0 Record selection mode record number Direct mode speed uint...

Страница 49: ...CPOS HOM 0 must be set 2 Enable the drive by setting CCON ENABLE 1 As soon as this status has been reached SCON ENABLED 1 is set 3 Enable operation by setting CCON STOP 1 As soon as this status has been reached SCON OPEN 1 is set The operation is enabled controlled status Execute homing Requirements The position of the axis zero point AZ was correctly parameterised via the FCT Operation is enabled...

Страница 50: ...nabled SCON OPEN 1 Homing has been executed successfully SPOS REF 1 CPOS START 0 CPOS HOM 0 CPOS JOGP 0 and CPOS JOGN 0 must be set SPOS ACK 0 and SPOS MC 1 must be set 1 Set CCON OPM 1 The direct mode operating mode is selected 2 Define the parameters of the direct application Write the desired speed to the control bytes 3 and 4 of the output data Write the target position in the X direction to t...

Страница 51: ... request to the control ler which sends back a response client server principle The TCP connection is typically built up once and then remains in place as long as communication with the controller is required The TCP port used can be set via the FCT The port number 49700 is set at the factory Communication with the controller takes place via the CVE protocol This must be imple mented in the PC app...

Страница 52: ...as one of the following listed data types è Tab 5 12 Data types The byte sequence is Little Endian that is the lowest value byte first Data types Value Type 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 0 255 0x05 0x06 SINT32 4 32 bit signed integer ...

Страница 53: ...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 field always remains empty initialise with 0 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Position holder initialise with 0 0x0E 0x0F Object index UINT16 Index of the CVE object to be read 0x10 Object subindex UIN...

Страница 54: ...pe 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 possible causes of error è Tab 5 17 Confirmation acknowledge 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Position holder 0x0E 0x0F Object index UINT16 Index of the read CVE object 0x10 Object subindex UINT08 Subindex of the read...

Страница 55: ...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 Acknowledge UINT08 In the request this field always remains empty initialise with 0 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Position holder initialise with 0 0x0E 0x0F Object index UINT16 Index of the CVE object t...

Страница 56: ...NT08 0 if everything is ok All other values mean that the object could not be written A listing of possible causes of error è Tab 5 17 Confirmation acknowledge 0x0A 0x0B 0x0C 0x0D Reserved UINT32 Position holder 0x0E 0x0F Object index UINT16 Index of the written CVE object 0x10 Object subindex UINT08 Subindex of the written CVE object 0x11 Data type UINT08 Data type of the written CVE object If an...

Страница 57: ... CCON ENABLE 0 0xA7 The CVE object must not be written without master control Setting and enabling the control inter face in the FCT 0xA9 The CVE object cannot be written as the value is lower than the minimum value Correct the value 0xAA The CVE object cannot be written as the value is greater than the maximum value Correct the value 0xAB The CVE object cannot be written as the value is not withi...

Страница 58: ...lf 1 Establish an Ethernet connection with the controller 2 Write the value 2 to the CVE object 3 0 The CVE interface has the master control Enable operation Requirements No error is present The signals STO1 1 STO2 1 and ESTOP 1 must be present at the inputs of the interface for switch off functions X4 è 3 2 5 Switch off functions interface X4 1 As soon as the controller is ready SCON RDYEN 1 and ...

Страница 59: ...1 and SPOS REF 1 are set Start of a record record selection mode Requirements Operation is enabled SCON OPEN 1 Homing has been executed successfully SPOS REF 1 CPOS START 0 CPOS HOM 0 CPOS JOGP 0 and CPOS JOGN 0 must be set SPOS ACK 0 and SPOS MC 1 must be set 1 Set CCON OPM 0 The record selection operating mode is selected 2 Write the desired record number to the CVE object 240 1 3 Set CPOS START...

Страница 60: ... target position in the X direction to the CVE object 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 position Positioning absolute In the control byte set CPOS REL 0 Positioning relative In the control byte set CPOS REL 1 4 In the control byte set C...

Страница 61: ...splayed Read the diagnostic memory è 6 1 Diagnostic memory in order to view all messages Error high priority An error always has an error response as a result è 6 3 1 Error responses The error response to some errors can be parameterised via the FCT parameter side error management Error messages interrupt messages with a lower priority and must be acknowledged Errors cannot be acknowledged until t...

Страница 62: ...cimally è 6 3 2 Table of error messages General error messages LED display 7 segment display Malfunction Priority Error in the firmware update Switch the device off and on again 1 System error malfunction number 2 Error motor 1 malfunction number Error motor 2 malfunction number Warning malfunction number1 3 1 Displayed only 2x one after the other Tab 6 1 General error messages CANopen specific er...

Страница 63: ...ioning 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 6 3 Error responses 6 3 2 Table of error messages You can parameterise the error messages via the Festo Configuration Tool FCT on the page Parameterise error management Explanations for table of error messages Can be pa...

Страница 64: ...ngle determination Can be parameterised as F Diagnostic memory always The rotor position could not be clearly identified The commutation point is invalid The drive is blocked or the movement space is too small Ensure free mobility by moving the planar surface gantry by hand into a medium position No load voltage present Provide the load voltage supply The Safe Torque Off function is active Check f...

Страница 65: ...ic memory always Short circuit in the motor lines or brake chopper Output stage defective Incorrect parameterisation of the current regulator Check parameterisation of the current regulator An incorrectly parameterised current regulator can generate currents up to the short circuit limit as a rule this is clearly noticeable through high frequency whistling If the error message occurs immediately w...

Страница 66: ...onger take place in a negative direction Travel the respective axis of the planar surface gantry in a positive direction by jogging Acknowledgement option Error can be acknowledged Definable error response s A B C E F 17 23 Logic voltage exceeded Can be parameterised as F Diagnostic memory optional The logic voltage monitor has detected an overvoltage Either due to an internal defect or excessivel...

Страница 67: ...at the controller input In the event of a defective internal braking resistor Replace the controller Acknowledgement option Error can be acknowledged Definable error response s A B 1B 27 Intermediate circuit voltage too low Can be parameterised as F W Diagnostic memory optional Load voltage too low or incorrectly parameterised Check parameterisation of the load voltage Voltage drop under load powe...

Страница 68: ...sable error response s A 26 38 CAN fieldbus parameters missing Can be parameterised as F Diagnostic memory always One or more CAN bus parameters are not correct Check the CAN bus parameters Acknowledgement option Error can be acknowledged Parameterisable error response s B 27 39 Save parameters Can be parameterised as F Diagnostic memory optional Error when writing to the internal flash memory Exe...

Страница 69: ...g the cause Parameterisable error response s B C E F 2B 43 Firmware update invalid firmware Can be parameterised as F W Diagnostic memory optional The firmware update process could not be performed The firmware version is incompatible with the hardware used Ascertain the version of your hardware You can ascertain the compatible firmware versions and download the appropriate firmware from the Festo...

Страница 70: ...itch off function External stop at the interface for switch off functions X4 is active and the current positioning task has been interrupted Deactivate the External stop function Apply a voltage 24 V at pin 15 of the interface for switch off functions X4 Acknowledgement option Error can only be acknowledged after eliminating the cause Parameterisable error response s B 31 49 CVE connection Can be ...

Страница 71: ...able Check the function of the CAN Master 36 54 CAN bus communication stopped by master warning FB does not have master control Can be parameterised as W Diagnostic memory optional The CAN Master sent Node Stop to the controller Check the system and the function of the CAN Master Send Node Start to the controller 37 55 Standstill monitoring Can be parameterised as W I Diagnostic memory optional Th...

Страница 72: ...Can be parameterised as F Diagnostic memory always An error has occurred when writing or reading from the diagnostic memory Acknowledge the error If the error is still present it means a memory module is probably defect ive or an incorrect entry has been stored Erase the diagnostic memory If the error still occurs the controller must be replaced Acknowledgement option Error can only be acknowledge...

Страница 73: ...heck the logic voltage Observe the data in the appendix è A 1 4 Electrical characteristics The controller does not work at all Short circuit line interrupt or incorrect pin allocation Check all lines and connections as well as the pin allocation Observe the instructions in the assembly instructions for the cables and plugs used Burned through internal fuse internal short circuit Replace the contro...

Страница 74: ... pin allocation Corrosion resistance class CRC 1 Degree of contamination in accordance with EN 50178 2 Permissible setup altitude above sea level m 2000 Vibration resistance In accordance with EN 60068 2 6 With wall mounting severity level 2 With H rail mounting severity level 1 Shock resistance In accordance with EN 60068 2 27 With wall mounting severity level 2 With H rail mounting severity leve...

Страница 75: ...ts PNP Protection against electric shock Protection against direct and indirect contact in accordance with EN 60204 1 By means of PELV circuit Protected Extra Low Voltage Protection class III Encoder resolution Starting at 500 pulses revolution through the internal electronic multi plication result in 2000 pulses revolu tion encoder resolution L19 μm 1 The inputs have no protection against overvol...

Страница 76: ...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 device name String ro Type designation of the controller CMXH ST2 C5 7 DIOP 1009h 0 Manufacturer hard ware version String ro Hardware version Format Vxx yy 100Ah 0 Manufacturer soft ware version String ro Firm...

Страница 77: ...mber or speed UINT32 ro 0x30010008 3 Target position X UINT32 ro 0x30020008 4 Target position Y UINT32 ro 0x30030008 1800h 0 Transmit PDO commu nication parameter Record ro 1 COB ID of PDO1 UINT32 rw Specification 0x180 Node ID 2 Transmission type UINT8 rw Specification 0xFF 3 Inhibit time UINT16 ro 0x00 4 Compatibility entry UINT32 ro 0x00000000 5 Event timer UINT16 ro Specification 0x0000 1A00h ...

Страница 78: ...it SINC 1 mm 1000 SINC 2203h 0 Negative SW end posi tion Y INT32 rw Negative SW end position Y default 0 Unit SINC 1 mm 1000 SINC 3000h 0 Control word UINT16 rw Byte 1 control byte CCON è 5 2 2 Byte 2 control byte CPOS è 5 2 2 3001h 0 Target record number or path speed UINT16 rw Dependent on the operating mode Record selection target record number 0 31 Direct mode speed mm s 3002h 0 Target positio...

Страница 79: ...ccess rights Detailed descriptions of the CVE objects Index 3 Subindex 0 Master control System UINT08 R W1 W2 W3 Master control determines which interface may control the controller To activate the CVE interface the value 2 must be written to the CVE object 0x00 I O 0x01 FCT Festo Configuration Tool 0x02 CVE Control via Ethernet 0x04 CANopen Values 0 255 Default 0 Index 239 Subindex 0 Status word ...

Страница 80: ...ill active Record 0 homing Record 1 31 normal records Values 0 31 Default 0 Speed in direct mode Speed for a direct application 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 Values 2147483648 2147483647 Default 0 Index 303 Subindex 1 Actual position Y FHPP SINT32 R The curr...

Страница 81: ...dex 1 Target position Y only in direct mode FHPP SINT32 R W1 W2 Specification of the target position Y is dependent on the value of bit 0 REL in the control byte CPOS absolute or relative to the last setpoint position Unit SINC 1 mm 1000 SINC Values 2147483648 2147483647 Default 0 Index 311 Subindex 0 Acceleration only in direct mode FHPP SINT32 R W1 W2 Acceleration for a direct application If a n...

Страница 82: ...lculated course of the path and the actual position Homing Positioning job to determine the reference point I O Input output Jog mode The drive moves as long as a corresponding signal is present Load voltage Power supply of the controller power electronics and thus of the motors Logic voltage Power supply of the evaluation and control logic of the controller brake and digital outputs MC Motion Com...

Страница 83: ......

Страница 84: ...ation 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 Germany Phone 49 711 347 0 Fax 49 711 347 2144 E mail service_international festo com Internet www festo com Original de ...

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