Festo Cmms-As Fhpp

Festo Handling and Positioning Profile

Description FHPP Motor controller Type – CMMP-AS CMMP -AS – CMMS-ST – CMMS-AS – CMMD-AS CMMD-A S Festo handling and positioning positioning profile

Description 555 696 en 1011b [757 714]

Contents and general safety instructions

Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 1011b Designation . . . . . . . . . . . . . . . . . . P.B E-CMM-F HPP-SW-EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 696

© (Festo AG & Co. KG, D-73726 Esslingen, 2010) Internet: http://www.festo.com E-Mail E-Mail:: service_inte service_internat rnation ional@f al@festo esto.com .com The copying, distribution and utilization of this document as well as the communication of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights are reserved, in particular the right to carry out patent, registered design or ornamental design registration. registration. Festo P.BE-CMM-FHPP-SW-EN en 1011 1011b b

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CANopen®, DeviceNet®, EtherCAT EtherCAT®, and PROFIBUS® are registered trademarks of the respective trademark owners in certain countries.

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Festo P.BE-CMM-FHPP-SW-EN en 1011b 1011b


Contents

Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ser vice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Impor tant user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Information about the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

VI I VI II IX IX X XI I XI I I

1.

I/O data and sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1

1.1 1.2

Over view of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . Setpoint specification (F HPP operating modes) . . . . . . . . . . . . . . . . . . . . . . .

1-3 1-5

1.3

1.4 1.5

1.6

1.2.1 Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 1.2.2 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 1.2.3 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Co Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 1.3.1 Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 1.3.2 Assignment of the I/O data for CMMD . . . . . . . . . . . . . . . . . . . . . . . 1-9 1.3. 1.3.3 3 I/O I/O data data in the the vario arious us FHPP FHPP oper operat atin ing g mode modess (con (contr trol ol view view)) . . . . 1-10 -10 Assignment of the control bytes and status bytes (overvi rview) . . . . . . . . . . . . 1-11 Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.1 Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.2 Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.3 Control byte 3 (CDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . 1.5.4 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-12 1-12 1-13 1-14 1-15

1.5.5 Bytes 3 and 4 ... 8 – Record selection . . . . . . . . . . . . . . . . . . . . . . . Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.1 Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.2 Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-15 1-16 1-16 1-17

1.6.3 1.6.4 1.6.5

Status byte 3 (SDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19 Bytes 3, 4 and 5 ... 8 – Record selection . . . . . . . . . . . . . . . . . . . . . 1-20

Festo P.BE-CMM-FHPP-SW-EN en 1011 1011b b

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1.7

FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7.1 Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7.3 Special features dependent on FHPP operating mode . . . . . . . . . . 1.7.4

1-22 1-24 1-25 1-27

Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . 1-27

2.

Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 2.2 2.3

Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 2.3.1 Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 2.3.2 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13 Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

2.4 2.5

2-1

2.6

Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.1 Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.2 Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.3 Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . .

2-17 2-18 2-22 2-23

2.7

2.8

Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7.1 Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . . 2.7.2 Sequence for Profile Torque mode (torque and current control) . . 2.7.3 Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-27 2-29 2-30 2-32 2-34

2.9

On-the-fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . . 2-36

3.

Fault reaction and diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1

3.1

Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.2 Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 3-4 3-5

3.1.3 Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6 3-7 3-8

3.2 3.3

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Festo P.BE-CMM-FHPP-SW-EN en 1011b


3.4

3.5

Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 3.4.1 CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 3.4.2 CMMS/CMMD fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47 Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53

4.

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1

4.1 4.2

FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . . 4.4.2 PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . . 4.4.3 Device data – Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 4-4 4-4 4-5 4-12 4-12 4-13 4-15

4.4.4 4.4.5 4.4.6 4.4.7

Device data – Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-the-fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-16 4-19 4-23 4-28

4.4.8 4.4.9 4.4.10 4.4.11 4.4.12

Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – General project data . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Direct mode, Profile Position mode . . . . . . . . . . . . .

4-29 4-41 4-42 4-43 4-44

4.4.13 4.4.14 4.4.15 4.4.16

Project data – Direct mode, Profile Torque mode . . . . . . . . . . . . . . Project data – Direct mode, Profile Velocity mode . . . . . . . . . . . . . Function data – Camming function . . . . . . . . . . . . . . . . . . . . . . . . . . Function data – Position triggers and rotor position triggers . . . . .

4-45 4-46 4-47 4-49

4.4.17 Axis parameters for electric drives 1 – Mechanical parameters . . . 4.4.18 Axis parameters for electric drives 1 – Homing parameters . . . . . . 4.4.19 Axis parameters for electric drives 1 – Closed-loop controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.20 Axis parameters for electric drives 1 – Electronic rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.21 Axis parameters for electric drives 1 – Standstill control . . . . . . . .

4-52 4-55

4.3 4.4


4-57 4-60 4-61

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4.4.22 Axis parameters for electric drives 1 – Drag error monitoring . . . . 4-62 4.4.23 Axis parameters for electric drives 1 – Other parameters . . . . . . . . 4-62 4.4.24 Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . 4-63

5.

Parametrisation with FPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1

5.1

Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . . 5.1.2 Task identifiers, response identifiers and error numbers . . . . . . . . 5.1.3 Rules for task-response processing . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 5-3 5-5 5-7

A.

Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-1

A.1

Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.2 Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.3 Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-3 A-3 A-5 A-6

A.1.4 A.1.5

Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9 Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A-13

B.

FHPP+ and cam disk expansions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B-1

B.1

FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . .

B-3 B-4

B.2

B.1.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5 B.1.3 Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . B-6 B.1.4 Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6 B.1.5 Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6 CMMP-AS - operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7 B.2.1 Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B-8 B.2.2 Camming function in Record selection mode . . . . . . . . . . . . . . . . . B-10 B.2.3 Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B-10 B.2.4 Extended finite state machine with camming function . . . . . . . . . . B-11

C.

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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C-1



Intended use This description includes the Festo Handling and Position Profile (FHPP) for the CMMx product family corresponding to Tab. 0/1 in the ”Version information” section. This provides you with supplementary information about controlling, diagnosing and parametrising the motor controllers via the fieldbus. The complete set of information can be found in the documentation for the motor controller in question: –

Description P.BE-CMM...-HW-...: Mechanical system - Electrical system - Overview of the function range.

Note Always follow the safety-related instructions listed in the product manual for the motor controller in question. Depending on which fieldbus is used, you can find further information in the following manuals for the CMMx product family: –

Description P.BE-CMM...-CO-...: Description of the implemented CANopen protocol as per DSP 402.

–

Description P.BE-CMM...-PB-...: Description of the implemented PROFIBUS-DP protocol.

–

Description P.BE-CMM...-DN-...: Description of the implemented DeviceNet protocol.

–

Description P.BE-CMM...-EC-...: Description of the implemented EtherCAT protocol.


VII


Safety instructions When commissioning and programming positioning systems, you must always observe the safety regulations in this manual as well as those in the operating instructions for the other components used. The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the potential danger area must be prevented by suitable measures such as barriers and warning signs.

Warning Axes can move with high force and at high speed. Collisions can lead to serious injuries and damage to components. Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources. Warning Errors in the parametrisation can cause injuries and damage to property. Enable the controller only if the axis system has been correctly installed and parametrised.

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Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems.

Service Please consult your local Festo Service department or write to the following e-mail address if you have any technical problems: [email protected]


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Important user instructions Danger categories This description contains instructions on the possible dangers which can arise if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a pictogram. A distinction is made between the following danger warnings:

Warning ... means that failure to observe this instruction may result in serious personal injury or material damage. Caution ... means that failure to observe this instruction may result in personal injury or material damage. Note ... means that failure to observe this instruction may result in material damage.

Additionally, the following pictogram designates text passages, which describe activities with electrostatically sensitive devices: Electrostatically sensitive devices: inappropriate handling can result in damage to components.

X



Identification of special information The following pictograms designate text passages that contain special information.

Pictograms Information: Recommendations, tips and references to other sources of information.

Accessories: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally-friendly use of Festo products.

Text designations •

Bullet points indicate activities that may be carried out in any sequence.

1. Numerals indicate activities that must be carried out in the sequence specified. –


Arrowheads indicate general listings.

XI


Information about the version This manual refers to versions set out in Tab. 0/1.

Controller

Firmware

Description

CMMP-AS-...

Version 3.5.1501.4.1 and higher

Premium motor controller for servo motors Note: This description does not apply to the variants CMMP-AS-...-M3. Use the special FHPP description for these variants.

CMMS-ST-...


Standard motor controller for stepper motors.

CMMS-AS-...


Standard motor controller for servo motors.

CMMD-AS-...


Standard double motor controller for servo motors.

Tab. 0/1: Controller and firmware versions For older versions: You may need to use the corresponding older version of this document.

Note With newer firmware versions, check whether there is a newer version of this description available: www.festo.com

XII



Terms and abbreviations The following terms and abbreviations are used in this manual:

Term/abbreviation

Meaning

Axis

Mechanical component of a drive that transfers the drive force for the motion. An axis enables the attachment and guiding of the work load and the attachment of a reference switch.

Axis zero point (AZ)

Point of reference for the software end positions and the project zero point PZ. The axis zero point AZ is defined by a preset distance (offset) from the reference point REF.

Controller

Contains power electronics + closed-loop controllers + position controller, evaluates sensor signals, calculates movements and forces and provides the power supply for the motor via the power electronics.

Drive

Complete actuator, consisting of motor, encoder and axis, optionally with a gearbox, if applicable with controller.

Encoder

Electrical pulse generator (generally a rotor position transducer). The controller evaluates the electrical signals that are generated and uses them to calculate the position and speed.

Festo Configuration Tool (FCT)

Software with standardised project and data management for supported device types. The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plug-ins.

Festo Handling and Positioning Profile (FHPP)

Uniform fieldbus data profile for position controllers from Festo

Festo Parameter Channel (FPC)

Parameter access as per the “Festo Handling and Positioning Profile” (I/O messaging, optionally additional 8-byte I/O)

FHPP standard

Defines the sequence control as per the “Festo Handling and Positioning Profile” (I/O messaging, 8-byte I/O)

HMI

Human-Machine Interface, e.g. control panel with LCD screen and operating buttons.

Homing

Positioning procedure in which the reference point and therefore the origin of the measuring reference system of the axis are defined.

Homing method

Method for defining the reference position: against a fixed stop (overload current evaluation/speed evaluation) or with reference switch.


XIII


Term/abbreviation

Meaning

Homing mode

Defines the measuring reference system of the axis

I O IO

Input. Output. Input and/or output.

Jog mode

Manual positioning in positive or negative direction. Function for setting positions by approaching the target position, e.g. by teaching positioning records (Teach mode).

Load voltage, logic voltage

The load voltage supplies the power electronics of the controller and thereby the motor. The logic voltage supplies the evaluation and control logic of the controller.

Logic 0

0 V present at input or output (positive logic, corresponds to LOW).

Logic 1

24 V present at input or output (positive logic, corresponds to HIGH).

Operating mode

Type of control, or internal operating mode of the controller. – Type of control: Record selection, Direct mode – Operating mode of the controller: Profile Position mode, Profile Torque mode, Profile Velocity mode – Predefined sequences: Homing mode...

PLC

Programmable logic controller; control system for short (also IPC: industrial PC).

Positioning record

Positioning command defined in the positioning record table, consisting of target position, positioning mode, positioning speed and accelerations.

Profile Position mode

Operating mode for executing a positioning record or a direct positioning task with closed-loop position control.

Profile Torque mode

Operating mode for executing a direct positioning task with force control (open-loop transmission control) by regulation of the motor current.

Project zero point (PZ)

Point of reference for all positions in positioning tasks. The project zero point PZ forms the basis for all absolute position specifications (e.g. in the positioning record table or with direct control via a control interface). The project zero point PZ is defined by a preset distance (offset) from the axis zero point.

Reference point (REF)

Point of reference for the incremental measuring system. The reference point defines a known orientation or position within the positioning path of the drive.

XIV



Term/abbreviation

Meaning

Reference switch

External sensor used for ascertaining the reference position and connected directly to the controller.

Software end position

Programmable stroke limitation (point of reference = axis zero point) – Software end position, positive: max. limit position of the stroke in positive direction; must not be exceeded during positioning. – Software end position, negative: min. limit position in negative direction; must not be fallen short of during positioning.

Speed adjustment (Profile Velocity mode)

Operating mode for executing a positioning record or a direct positioning task with closed-loop control of the speed/velocity.

Teach mode

Operating mode for setting positions by moving to the target position, e.g. when creating positioning records.

Tab. 0/2: Index of terms and abbreviations


XV


XVI


I/O data and sequence control

Chapter 1

I/O data and sequence control


1-1

1. I/O data and sequence control

Contents

1.1 1.2

Overview of Festo Handling and Positioning Profile (FHPP) . . . . . . . . . . . . . Setpoint specification (FHPP operating modes) . . . . . . . . . . . . . . . . . . . . . . .

1-3 1-5

1.3

1.2.1 Switching FHPP operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.2 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.3 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration of the I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 1-6 1-7 1-8

1.3.1 Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3.2 Assignment of the I/O data for CMMD . . . . . . . . . . . . . . . . . . . . . . . 1.3.3 I/O data in the various FHPP operating modes (control view) . . . . Assignment of the control bytes and status bytes (overview) . . . . . . . . . . . . Description of the control bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.1 Control byte 1 (CCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.2 Control byte 2 (CPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.3 Control byte 3 (CDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . 1.5.4 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.5.5 Bytes 3 and 4 ... 8 – Record selection . . . . . . . . . . . . . . . . . . . . . . . Description of the status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.1 Status byte 1 (SCON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.2 Status byte 2 (SPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-8 1-9 1-10 1-11 1-12 1-12 1-13 1-14 1-15 1-15 1-16 1-16 1-17

1.6.3 Status byte 3 (SDIR) – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.4 Bytes 4 and 5 ... 8 – Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection . . . . . . . . . . . . . . . . . . . . . FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7.1 Establishing the ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-18 1-19 1-20 1-22 1-24

1.4 1.5

1.6

1.7

1.7.2 1.7.3 1.7.4

1-2

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25 Special features dependent on FHPP operating mode . . . . . . . . . . 1-27 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . 1-27



1.1

Overview of Festo Handling and Positioning Profile (FHPP) Festo has developed an optimised data profile especially tailored to the target applications for handling and positioning tasks, the “Festo Handling and Positioning Profile (FHPP)”. The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo. In addition, it defines the following so that they are largely uniform for the user: –

The operating modes,

–

I/O data structure,

–

Parameter objects,

–

Sequence control.

.

.

.

Fieldbus communication Record selection 1

>

Direct mode

Position

2 3

Velocity

Parametrisation

Torque

Free access to all parameters – read and write

... n

.

Fig. 1/1:

.

.

The FHPP principle


1-3


Control and status data (FHPP Standard) Communication over the fieldbus is effected by way of 8-byte control and status data. Functions and status messages required in operation can be written and read directly.

Parametrisation (FPC) The control system can access all parameter values of the controller via the fieldbus by means of the parameter channel. A further 8 bytes of I/O data are used for this purpose.

Note on the controllers

Each controller has specific features and tasks. They therefore each have their own finite state machine and a separate database. The Festo Handling and Positioning Profile (FHPP) provides users with information about a controller’s individual characteristics. The profile is implemented as independently as possible from each controller and fieldbus.

1-4



1.2

Setpoint specification (FHPP operating modes) The FHPP operating modes differ in the content and meaning of the cyclic I/O data and in the functions that can be accessed in the controller.

Operating mode

Description

Record selection

A specific number of positioning records can be saved in the controller. A record contains all the parameters which are specified for a positioning task. The record number is transmitted in the cyclic I/O data as the setpoint or actual value.

Direct mode

The positioning task is transmitted directly in the I/O telegram. The most important setpoint values (position, velocity, torque) are transmitted here. Supplementary parameters (e.g. acceleration) are defined by the parametrising.

Tab. 1/3: Overview of FHPP operating modes in CMM...

1.2.1

Switching FHPP operating modes The FHPP operating mode is switched by the CCON control byte (see below) and indicated in the SCON status word. Switching between record selection and direct mode is only permitted in the “Ready” state; see section 1.7, Fig. 1/2.


1-5


1.2.2

Record selection Each controller has a specific number of records, which contain all the information needed for one positioning task. The maximum number of records is specified separately for each controller. The record number that the controller is to process at the next start is transmitted in the PLC’s output data. The input data contains the record number that was processed last. The positioning task itself does not need to be active. The controller does not support any automatic mode, i.e. no user program. Records cannot be processed automatically with a programmable logic. The controller cannot accomplish any useful tasks in a stand-alone state; close coupling to the PLC is necessary. However, depending on the controller, it is also possible to concatenate various records and execute them one after the other with the help of a start command. It is also possible (again, dependent on the controller) to define record chaining before the target position is reached. It is only possible to set all of the parameters for the record chaining (“route program”) (e.g. the following record) using the FCT. In this way, positioning profiles can be created without the inactive times (which arise from the transfer in the fieldbus and the PLC’s cycle time) having an effect.

1-6



1.2.3

Direct mode In the direct mode, positioning tasks are formulated directly in the PLC’s output data. The typical application calculates dynamically the target setpoint values for each task or just for some tasks. This makes it possible to adjust the system to different workpiece sizes, for example, without having to re-parametrise the record list. The positioning data is managed completely in the PLC and sent directly to the controller.


1-7


1.3 1.3.1

Configuration of the I/O data Concept The FHPP protocol stipulates 8 bytes of input data and 8 bytes of output data. Of these, the first byte is fixed (the first two bytes in the FHPP operating modes Record selection and Direct mode). It remains intact in each operating mode and controls the enabling of the controller and the FHPP operating modes. The other bytes are dependent on the FHPP operating mode that was selected. Additional control or status bytes and setpoint and actual values can be transmitted here. In the cyclic data, a further 8 bytes of input data and 8 bytes of output data are permissible to transmit parameters according to the FPC protocol. A PLC exchanges the following data with the FHPP: –

8-byte control and status data: –

Control and status bytes

–

Record number or setpoint position in the output data

–

Feedback of actual position and record number in the input data

–

Additional mode-dependent setpoint and actual values

–

If required, an additional 8 bytes of input and 8 bytes of output data for FPC parametrisation, see section 5.1.

–

If required, up to 24 (without FPC) or 16 (with FPC) additional bytes support I/O data for parameter transfer via FHPP+, see Appendix B.1.

If applicable, observe the specification in the bus master for the representation of words and double words (Intel/ Motorola). E.g. in the “little endian” representation when transmitted via CAN (lowest-value byte first). 1-8



1.3.2

Assignment of the I/O data for CMMD With CMMD, control via FHPP for axis 1 and axis 2 always takes place over a shared fieldbus interface. If an interface is activated, it is always valid for both axes. Each axis then has its own I/O data corresponding to section 1.3.1 or 1.3.3. Assignment of the I/O data over the fieldbus depends on the control interface used: –

CANopen: The two axes have a separate CAN address, each with 8 (without FPC) or 16 I/O bytes data (with FPC). The address of axis 1 is set at the DIP switches. Axis 2 is always assigned the subsequent address: CAN address axis 2 = CAN address axis 1 + 1

–

PROFIBUS and DeviceNet: The two axes have a shared bus address, which is set via the DIP switches. The I/O data for the two axes are transferred in a shared telegram of double length. Example (with FPC): Byte 1 ... 8: control/status bytes axis 1 Byte 9 ... 16: FPC axis 1 Byte 17 ... 24: control/status bytes axis 2 Byte 25 ... 32: FPC axis 2

Note: With PROFIBUS and DeviceNet, the I/O data for axis 2 are read by axis 1, passed on to axis 2 and evaluated there. The answer is returned to axis 1 with the next internal communication task (every 1.6 ms) at the earliest. Only then can the answer be returned via the fieldbus. This means that the processing time of the fieldbus protocol is twice as long as with CMMS-AS.


1-9


1.3.3

I/O data in the various FHPP operating modes (control view)

Record selection Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Output data

CCON

CPOS

Record no.

Reserved

Reserved

Input data

SCON

SPOS

Record no.

RSB

Actual position

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Output data

CCON

CPOS

CDIR

Setpoint value 1

Setpoint value 2

Input data

SCON

SPOS

SDIR

Actual value 1

Actual value 2

Byte 7

Byte 8

Byte 7

Byte 8

Direct mode Byte 6

Further 8 bytes of I/O data for FPC parametrisation (see section 5.1): Festo FPC Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Output data

Reserved Subindex Task identifier (ReqID) + parameter number (PNU)

Parameter value

Input data

Reserved Subindex Response identifier (ResID) + parameter number (PNU)

Parameter value

1-10

Byte 7

Byte 8



1.4

Assignment of the control bytes and status bytes (overview)

Assignment of the control bytes (overview) CCON (all)

B7 OPM2

B6 OPM1

B5 LOCK

B4 –

B3 RESET

B2 BRAKE

B1 STOP

B0 ENABLE

Software access locked

–

Reset fault

Open brake

Stop

Drive enable

B6 CLEAR

B5 TEACH

B4 JOGN

B3 JOGP

B2 HOM

B1 START

B0 HALT

Clear remaining position

Teach actual value

Jog nega- Jog positive tive

Start homing

Start positioning task

Halt

B7 FUNC

B6 FGRP2

B5 FGRP1

B4 FNUM2

B2 COM2

B1 COM1

B0 ABS

Execute function

Function group

Select FHPP operating mode

CPOS B7 (Record – selection – and Direct mode) CDIR (Direct mode)

B3 FNUM1

Function number

Control mode (position, torque, velocity, ...)

Absolute/ Relative

B2 WARN

B1 OPEN

B0 ENABLED

Assignment of the status bytes (overview) SCON (all)

B7 OPM2

B6 OPM1

B5 LOCK

B4 24VL

B3 FAULT

Display FHPP operating mode

Drive con- Supply Fault trol by voltage is software applied

Warning

Operation Drive enabled enabled

SPOS (Record selection and Direct mode)

B7 REF

B6 STILL

B5 DEV

B3 TEACH

B2 MC

B1 ACK

B0 HALT

Axis is referenced

Standstill control

Drag Axis is (deviation) moving error

Acknowledge teach/ sampling

Motion complete

Acknowledge start

Halt

SDIR (Direct mode)

B7 FUNC

B6 FGRP2

B5 FGRP1

B3 FNUM1

B2 COM2

B1 COM1

B0 ABS

Function is executed

Function group feedback


B4 MOV

B4 FNUM2

Function number feedback

Control mode feedback (position, torque, velocity)

Absolute/ Relative

1-11


1.5

Description of the control bytes

1.5.1

Control byte 1 (CCON)

Control byte 1 (CCON) Bit

EN

Description

B0 ENABLE

Drive Enable

= 1: Enable drive (controller) = 0: Drive (controller) disabled

B1 STOP

Stop

= 1: Operation enabled. Any error will be deleted. = 0: STOP active (cancel emergency ramp + positioning task). The drive stops with maximum braking ramp, the positioning task is reset.

B2 BRAKE

Open Brake

= 1: Release brake = 0: Activate brake Note: it is only possible to release the brake if the controller is disabled. As soon as the controller is enabled, it has priority over the brake’s control system.

B3 RESET

Reset Fault

With a rising edge a fault is acknowledged and the fault value is deleted.

B4 –

–

Reserved, must be at 0.

B5 LOCK

Software Access Lock ed

Controls access to the controller’s local (integrated) diagnostic interface. = 1: The software can only observe the controller; the software cannot take over device control (HMI control) from the software. = 0: The software may take over the device control (in order to modify parameters or to control inputs).

B6 OPM1

Select Operating Mode

Bit 7 0 0 1 1

B7 OPM2

6 0 1 0 1

Operating mode Record selection Direct mode Reserved Reserved

CCON controls statuses in all FHPP operating modes. For more information, see the description of the drive functions in Chapter 2.

1-12



1.5.2

Control byte 2 (CPOS)

Control byte 2 (CPOS) Bit

EN

Description

B0 HALT

Halt

= 1: Halt is not active = 0: Halt activated (do not cancel braking ramp + positioning task). The axis stops with a defined braking ramp, the positioning task remains active (with B6 the remaining positioning distance can be deleted).

B1 START

Start Positioning Task

With a rising edge the current setpoint values will be transferred and positioning started (even if record 0 = homing, for example).

B2 HOM

Start Homing

With a rising edge homing is started with the set parameters.

B3 JOGP

Jog positive

The drive moves at the specified velocity or rotational speed in the direction of larger actual values, providing the bit is set. The movement begins with the rising edge and ends with the falling edge.

B4 JOGN

Jog negative

The drive moves at the specified velocity or rotational speed in the direction of smaller actual values, see B3.

B5 TEACH

Teach Actual Value

At a falling edge the current actual value is imported into the setpoint register of the currently addressed positioning record; see section 2.5. The teach target is defined with PNU 520. The type is determined by the record status byte (RSB). See also section 2.5.

B6 CLEAR

Clear Remaining Position

In the “Halt” status a rising edge causes the positioning task to be deleted and transfer to the status “Ready.”

B7 –

–

Reserved, must be at 0.

CPOS controls the positioning sequences in the “Record selection” and “Direct mode” FHPP operating modes, as soon as the drive is enabled.


1-13


1.5.3

Control byte 3 (CDIR) – Direct mode

Control byte 3 (CDIR) – Direct mode Bit

EN

Description

B0 ABS

Absolute/ Relative

= 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value

B1 COM1

Control Mode

Bit 2 1 Control mode 0 0 Profile Position mode 0 1 Profile Torque mode (torque, current) 1 0 Profile Velocity mode (speed) 1 1 Reserved Only Profile Position mode can be used for the camming function.

Function Number

Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 4 3 Function number 1) 0 0 0 Reserved 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function

Function Gr oup

Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1 ... 3) are reserved.

Function

= 0: Normal task = 1: Execute camming function (only permissible with CMMP, Bit 3 ... 6 = function number and group)

B2 COM2 B3 FNUM1

B4 FNUM2

B5 FGRP1 B6 FGRP2 B7 FUNC 1)

With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2 are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 determine the reference and the closed-loop control mode of the master.

In Direct mode, CDRI specifies the type of positioning task more precisely.

1-14



1.5.4

Bytes 4 and 5 ... 8 – Direct mode

Control byte 4 (setpoint value 1) – Direct mode Bit

EN

B0 ... B7 Velocity – Velocity ramp

Description preselection depends on the closed-loop control mode (CDIR.B1/B2): – Profile Position mode: Velocity as percentage of base value (PNU 540) – Profile Torque mode: No function, = 0! – Profile Velocity mode: Velocity ramp as percentage of base value (PNU 560)

Control bytes 5... 8 (setpoint value 2) – Direct mode Bit

EN

Description

Position

Preselection depends on closed-loop control mode (CDIR.B1/B2), in each case a little-endian 32-bit number: – Profile Position mode: Position in positioning unit (see appendix A.1)

Torque

– Profile Torque mode:

B0...B31

Velocity

1.5.5

Torque setpoint as percentage of the rated torque (PNU 1036) – Profile Velocity mode: Speed in unit of velocity (see appendix A.1)

Bytes 3 and 4 ... 8 – Record selection

Control byte 3 (record number) – Record selection Bit

EN

B0 ... B7 Record number

Description Preselection of record number for record selection.

Control bytes 4 ... 8 – Record selection Bit

EN

Description

B0 ... B7

–

Reserved (= 0)


1-15


1.6 1.6.1

Description of the status bytes Status byte 1 (SCON)

Status byte 1 (SCON) Bit

EN

B0 Drive Enabled ENABLED

Description = 0: Drive disabled, controller not active = 1: Drive (controller) enabled

B1 OPEN

Operation Enabled

= 0: STOP active = 1: Operation enabled, positioning possible

B2 WARN

Warning

= 0: Warning not registered = 1: Warning registered

B3 FAULT

Fault

= 0: No fault = 1: There is a fault or fault reaction is active. Fault code in the diagnostic memory.

B4 24VL

Supply V oltage = 0: No load voltage is A pplied = 1: Load voltage applied

B5 LOCK

Drive Control by Software

Control sovereignty, meaning which device or system has higher control priority (see PNU 125, section 4.4.4) = 0: Device control unassigned (software, fieldbus, DIN) = 1: Device control by software (FCT or DIN) (PLC control is Lock ed)

B6 OPM1

Display Operating Mode

Bit 7 0 0 1 1

B7 OPM2

1-16

6 0 1 0 1

Operating mode acknowledgment Record selection Direct mode Reserved Reserved



1.6.2

Status byte 2 (SPOS)

Status byte 2 (SPOS) Bit

EN

Description

B0 HALT

Halt

= 0: HALT is active = 1: HALT is not active, axis can be moved

B1 ACK

Ack nowledge Start

= 0: Ready for start (homing, jog) = 1: Start carried out (homing, jog)

B2 MC

Motion Complete

= 0: Positioning task active = 1: Positioning task completed, where applicable with error Note: MC is set for the first time after switch-on (status “Drive disabled”).

B3 TEACH

Acknowledge Teach / Sampling

Depending on the setting in PNU 354: – PNU 354 = 0: Display of the teach status SPOS.B3 = 0: Ready for teaching SPOS.B3 = 1: Teaching carried out, actual value is transferred – PNU 354 = 1: Display of the sampling status SPOS.B3 = 0: No edge. SPOS.B3 = 1: An edge has appeared. New position value available. For position sampling: see section 2.9.

B4 MOV

Axis is moving

= 0: Speed of the axis < limit value = 1: Speed of the axis >= limit value

B5 DEV

Drag ( deviation) Error

= 0: No drag error (also called “following error”) = 1: Drag error active

B6 STILL

Standstill control

= 0: After MC, axis remains in tolerance window = 1: Axis has left the tolerance window after MC

B7 REF

Axis is ref erenced

= 0: Homing must be carried out = 1: Reference information present, homing not necessary


1-17


1.6.3

Status byte 3 (SDIR) – Direct mode The SDIR status byte acknowledges the positioning mode.

Status byte 3 (SDIR) – Direct mode Bit

EN

Description

B0 ABS

Absolute/ Relative

= 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value

B1 COM1

Control Mode feedback

Bit 2 0 0 1 1

Function Number feedback

Only if the camming function is used (SDIR.B7, FUNC = 1): No. Bit 4 3 Function number 0 0 0 CAM-IN / CAM-OUT / Change active 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function

Function Gr oup feedback

Only if the camming function is used (SDIR.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1 ... 3) are reserved.

Function feedback

= 0: Normal task = 1: Camming function is executed (bits 3 ... 6 = function number and group)

B2 COM2 B3 FNUM1

B4 FNUM2

B5 FGRP1 B6 FGRP2 B7 FUNC

1-18

1 0 1 0 1

Control mode feedback Profile Position mode Profile Torque mode (torque, current) Profile Velocity mode (speed) Reserved



1.6.4

Bytes 4 and 5 ... 8 – Direct mode

Status byte 4 (actual value 1) – Direct mode Bit

EN

B0 ... B7 Velocity Torque –

Description Feedback depends on the closed-loop control mode (CDIR.B1/B2): – Profile Position mode: Velocity as percentage of base value (PNU 540) – Profile Torque mode: Torque as percentage of the rated torque (PNU 1036) – Profile Velocity mode: no function, = 0

Status bytes 5 ... 8 (actual value 2) – Direct mode Bit

EN

B0...B31 Position Torque Velocity

Description Feedback depends on closed-loop control mode (CDIR.B1/B2), in each case a little-endian 32-bit number: – Profile Position mode: Position in positioning unit, see appendix A.1 – Profile Torque mode: Position in positioning unit, see appendix A.1 – Profile Velocity mode: Speed as an absolute value in unit of velocity


1-19


1.6.5

Bytes 3, 4 and 5 ... 8 – Record selection

Status byte 3 (record number) – Record selection Bit

EN

B0 ... B7 Record number

Description Acknowledgement of record number for record selection.

Status byte 4 (RSB) – Record selection Bit

EN

Description

B0 RC1

1st Record Chaining Done

= 0: A step enabling condition was not configured or not achieved. = 1: The first step enabling condition was achieved.

B1 RCC

Record Chaining Complete

Valid as soon as MC applies. = 0: Record chaining cancelled. At least one step enabling condition has not been met. = 1: Record chain was processed to the end of the chain.

B2 –

–

Reserved

B3 FNUM1

Function Number feedback

Only if the camming function is used (RSB.B7, FUNC = 1): No. Bit 4 3 Function number 0 0 0 CAM-IN / CAM-OUT / Change active 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function

Function Gr oup feedback

Only if the camming function is used (RSB.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1 ... 3) are reserved.

Function feedback

= 0: Normal task = 1: Camming function is executed (bits 3 ... 6 = function number and group)

B4 FNUM2

B5 FGRP1 B6 FGRP2 B7 FUNC

1-20



Status bytes 5 ... 8 (position) – Record selection Bit

EN

Description

B0...B31

Position, ...

Acknowledgment of the position: – Position in positioning unit, see appendix A.1 (32-bit number, low byte first)


1-21


1.7

FHPP finite state machine From all states

Switched off T7* always has the highest priority.

T7* S5

S1 Controller switched on

Reaction to fault

T1

T8

S2 Drive disabled

T5

T11

S6 T9

Fault

T2 T10

S3 Drive enabled

T6

T4 SA5 Jog positive

TA9

T3

SA1

TA10

SA4 Homing is being carried out

TA7

Ready SA6 Jog negative

TA8

TA11 TA12 TA2

TA1

SA2 Positioning task active

TA4

TA5 TA6

TA3

SA3 Intermediate stop

S4 Operation enabled

Fig. 1/2: 1-22

Finite state machine Festo P.BE-CMM-FHPP-SW-EN en 1011b


Notes on the “Operation enabled” state The transition T3 changes to state S4, which itself contains its own sub-state machine, the states of which are marked with “SAx” and the transitions of which are marked with “TAx”; see Fig. 1/2. This enables an equivalent circuit diagram (Fig. 1/3) to be used, in which the internal states SAx are omitted. Switched off

From all states T7*


S5 S5 Reaction to fault

T1 S2 Drive disabled T5

T8 T9

S6

T11

Fault

T2 T10

S3 Drive enabled T6

T4

S4

T3

Operation enabled

Fig. 1/3: Finite state machine equivalent circuit diagram Transitions T4, T6 and T7* are executed from every sub-state SAx and automatically have a higher priority than any transition TAx.

Reaction to faults T7 (“Fault recognised”) has the highest priority (and receives the asterisk “*”). T7 is executed from S5+S6 if an fault of higher priority occurs. This means that a serious fault can displace a simple fault.


1-23


1.7.1

Establishing the ready status To create the ready status, additional input signals are required, depending on the controller, at DIN 4, DIN 5, DIN 13, etc., for example. For more detailed information about this, see the description of the controller in question.

T

Internal conditions

T1

Drive is switched on. There is no fault detected.

T2

Load voltage applied. Control sovereignty with PLC.

Actions of the user

“Drive enable” = 1 CCON = xxx0.xxx1

T3

“Stop” = 1 CCON = xxx0.xx11

T4

“Stop” = 0 CCON = xxx0.xx01

T5


T6


T7*

Fault detected.

T8

Reaction to fault completed, drive stopped.

T9

There is no longer a fault. It was a serious fault.

“Reset fault” = 0 → 1 CCON = xxx0.P xxx

T10

There is no longer a fault. It was a simple fault.

“Reset fault” = 0 → 1 CCON = xxx0.P xx1

T11

Fault still exists.

“Reset fault” = 0 → 1 CCON = xxx0.P xx1

Key: P = positive edge, N = negative edge, x = any

1-24



1.7.2

Positioning As a general rule: Transitions T4, T6 and T7* always have priority.

TA

Internal conditions

Actions of the user

TA1

Homing has been carried out.

Start positioning task = 0→1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.00P1

TA2

Motion Complete = 1 The current record is completed. The next record is not to be carried out automatically

“Halt” status is any CCON = xxx0.xx11 CPOS = 0xxx.xxxx

TA3

Motion Complete = 0

Halt = 1 → 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN

TA4

TA5

Halt = 1 Start positioning task = 0→1 Clear remaining position = 0 CCON = xxx0.xx11 CPOS = 00xx.xxP1 Record selection: CCON = xxx0.xx11 – A single record is finished. CPOS = 0xxx.xxx1 – The next record is to be carried out automatically. Direct mode: – A new positioning task has arrived.

CCON = xxx0.xx11 CPOS = 0xxx.xx11

TA6

Clear remaining position = 0 → 1 CCON = xxx0.xx11 CPOS = 0Pxx.xxxx

TA7

Start homing = 0→1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.0Px1

TA8

Homing finished or Halt.

Only for Halt: Halt = 1 → 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN



1-25


TA

Internal conditions

Actions of the user

TA9

Jog positive = 0 → 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.Pxx1

TA10

Either – Jog positive = 1 →0 – CCON = xxx0.xx11 – CPOS = 0xxx.Nxx1 or – Halt = 1 → 0 – CCON = xxx0.xx11 – CPOS = 0xxx.xxxN

TA11

Jog negative = 0 → 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xxP.0xx1

TA12

Either – Jog negative = 1 → 0 – CCON = xxx0.xx11 – CPOS = 0xxN.xxx1 or – Halt = 1 → 0 – CCON = xxx0.xx11 – CPOS = 0xxx.xxxN


There are additional transitions if the camming function is used; see appendix B.2.

1-26



1.7.3

Special features dependent on FHPP operating mode

FHPP operating Notes on special features mode Record selection

No restrictions.

Direct mode

TA2: The condition that no new record may be processed no longer applies. TA5: A new record can be started at any time.

1.7.4

Examples of control and status bytes On the following pages you will find typical examples of control and status bytes: 0. Safeguard device control 1. Create readiness to operate – Record selection 2. Create readiness to operate – Direct mode 3. Fault handling 4. Homing 5. Positioning with record selection 6. Positioning with direct mode For information about the state machine, see section 1.7.

For all examples: Additional digital I/Os are required for CMM... controller enabling and closed-loop controller enabling; see manual for the CMM... controller used.


1-27


0. Safeguard device control Step/Description

Control bytes Byte

0.1 Drive control by software = on

By te 1

B7 B6 B5 B4 B3 B2 B1 B0 Byte OPM 2 OPM 1

CCON 0 Byte 2

–

0

1: logic 1;

LOC K

–

0

0

0

x

JOGN

JOGP

0

0

CLEAR TEACH

CPOS 0 0: logic 0;

Status bytes

0

0

x: not relevant (any);

R ESET B RA KE

STOP

E NA BL

0

0

HOM

START

HALT

0

0

0

B7 B6 B5 B4 B3 B2 B1 B0

By te 1

OPM 2 OPM 1 LOC K

SCON 0 0 Byte 2

REF

SPOS 0

1

24V L

FA ULT W AR N OPE N E NA BL

1 0

0

0

0

STILL

DEV

MOV

TEACH

MC

ACK

HALT

0

0

0

0

1

0

0

F: positive edge

Tab. 1/4: Control and status bytes for “Device control active”

Description of 0. Safeguard device control: 0.1

1-28

Device control via software (e.g. Festo Configuration Tool) is activated. To control using the fieldbus interface, device control via the software has to be deactivated first.


1. I/O data data and sequence sequence contro controll

1. Create readiness readiness to operate operate – Record selectio selection n Step/Description

Control bytes Byte

1.1 Basic status (Drive control by software = off)

By te te 1

B7 B6 B6 B5 B4 B3 B2 B1 B0 Byte OPM 2 OP OPM 1

CCON 0 Byte 2

–

0

By te te 1

1.3 Enable drive, enable operation (Record selection)

0

OPM 2 OP OPM 1

CCON x Byte 2

–

x

0 x

By te te 1

OPM 2 OP OPM 1

CCON 0 –

1: logic logic 1;

0

0

0

x

JO JOGN

JOGP

0

0

0

LOC K

–

1 0 x LOC K

R ES ESET B RA RA KE KE

STOP

E NA NA BL BL

0

0

HOM

START

HALT

0

0

0

STOP

E NA NA BL BL


x

x

x

x

JO JOGN

JOGP

HOM

START

HALT

x

x

x

x

x

STOP

E NA NA BL BL

–


0 x

0

0

x

CLEAR TEACH

JO JOGN

JOGP

HOM

START

0

0

0

0

CPOS 0 0: logic logic 0;

–

CLEAR TEACH

CPOS

Byte 2

LOC K

CLEAR TEACH

CPOS 0 1.2 Disable device control by software

Status bytes

0

0

x: not relev relevant (any); (any);

1

By te te 1

B7 B6 B6 B5 B5 B4 B 4 B3 B3 B2 B1 B 1 B0 OPM 2 OPM 1 LO LOC K

SCON 0 0 Byte 2

REF

SPOS 0 By te te 1

REF

SPOS x By te te 1

HALT

Byte 2

REF

S POS 0 1 SP

1 0

0

0

0

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

1

0

0

x

24V L

0 x

FA UL ULT W AR AR N OPE N E NA NA BL BL

x

x

x

x HALT

STILL

DEV

MOV

TE TEACH

MC

ACK

x

x

x

x

x

x

OPM 2 OPM 1 LO LOC K

1 SCON 0


STILL


SCON x Byte 2

0

24V L

0 0

24V L

x


1

0

0

1

1

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

1

0

1

F: positi positive ve edge edge

Tab. 1/5: Control and and status bytes for for “Create readiness readiness to operate operate – Record selection” selection”

Description of 1. Create readiness to operate: 1.1

Basic Basic status status of of the the drive drive when when the supply voltage voltage has been switched on. } Step 1.2 or 1.3

1.2

Disable Disable device device control control by software software.. Optionally, assuming of device control by the software can be disabled with CCON.B5 = 1 (LOCK). } Step 1.3

1.3

Enable Enable drive in Record Record selectio selection n mode. mode. } Homing: example 4, Tab. 1/8.

If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 1/7.


1-29


2. Create Create readiness readiness to operat operate e – Direct Direct mode mode Step/Description

Control bytes Byte

2.1 Basic status (Drive control by software = off)

By te te 1

B7 B6 B6 B5 B4 B3 B2 B1 B0 Byte OPM 2 OP OPM 1

CCON 0 Byte 2

–

0

2.3 Enable drive, enable operation (Direct mode)

By te te 1

0

OPM 2 OP OPM 1

CCON x Byte 2

–

CPOS

0

By te te 1

x x

OPM 2 OP OPM 1

–

1: logic logic 1;

0

0

0

x

JO JOGN

JOGP

0

0

0

LOC K

–

1 0 x LOC K


STOP

E NA NA BL BL

0

0

HOM

START

HALT

0

0

0

STOP

E NA NA BL BL


x

x

x

x

JO JOGN

JOGP

HOM

START

HALT

x

x

x

x

x

STOP

E NA NA BL BL

–


1 x

0

0

x

CLEAR TEACH

JO JOGN

JOGP

HOM

START

0

0

0

0


–

CLEAR TEACH

CCON 0 Byte 2

LOC K

CLEAR TEACH

CPOS 0 2.2 Disable device control by software

Status bytes

0

0

x: not relev relevant ant (any); (any);

1

By te te 1

B7 B6 B6 B5 B5 B4 B 4 B3 B3 B2 B1 B 1 B0 OPM 2 OPM 1 LO LOC K

SCON 0 0 Byte 2

REF

SPOS 0 By te te 1

REF

SPOS x By te te 1

Byte 2

0

0

0

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

1

0

0

x

24V L

0 x


x

x

x

x HALT

STILL

DEV

MOV

TE TEACH

MC

ACK

x

x

x

x

x

x


REF

1 0

DEV

1 SCON 0 HALT


STILL


SCON x Byte 2

0

24V L

1 0

24V L

x


1

0

0

1

1

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

1

0

1

S POS 0 1 SP


Tab. 1/6: 1/6: Control and and status bytes for for “Create readiness readiness to operate operate – Direct mode” mode”

Description of 2. Create readiness to operate: 2.1

Basic Basic status status of of the the drive drive when when the supply supply voltage voltage has been switched on. } Step 2.2 or 2.3

2.2

Disable Disable device device control control by software software.. Optionally, assuming of device control by the software can be disabled with CCON.B5 = 1 (LOCK). } Step 2.3

2.3

Enable Enable drive drive in Direct Direct mode. mode. } Homing: example 4, Tab. 1/8.

If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 1/7.

1-30



3. Fault Fault handlin handling g Step/Description

Control bytes Byte

3.1 Fault

By te te 1

3.2 Warning

3.3 Reset fault with CCON.B3 (RESET)

B7 B6 B6 B5 B4 B3 B2 B1 B0 Byte OPM 2 OPM 1

CCON

x

Byte 2

–

CPOS

0

By te te 1

x

Byte 2

–

CPOS

0

–


1: logic logic 1;

LO LOC K

x

CLEAR TEACH

x x

x LO LOC K

x

CLEAR TEACH

x

OPM 2 OP OPM 1

CCON 0 Byte 2

x

OPM 2 OPM 1

CCON

By te te 1

Status bytes

x

x LOC K

x

CLEAR TEACH

0

0

–

R ES ESET BR AK AK E STOP

0

x

x

JO JOGN

JOGP

x

x

–

E NA NA BL BL

By te te 1

x

x

HOM

START

HALT

Byte 2

x

x

x

SPOS

ST STOP

E NA NA BL BL

By te te 1

x

x

R ES ESET BR AK AK E

x

x

JO JOGN

JOGP

HOM

START

HALT

Byte 2

x

x

x

x

x

SPOS

STOP

E NA NA BL BL

By te te 1

x

1

START

HALT


0

F x

JO JOGN

JOGP

HOM

0

0

0


x

x

OPM 2 OPM 1 LOC K

OP OPE N EN AB ABL

x

1

x

x

x

REF

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

x

x

x

x

x

0

x

x

OPM 2 OPM 1 LOC K

2 4V 4V L

FA FA UL ULT WA RN RN

OP OPE N EN AB ABL

x

x

x

x

1

x

x

REF

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

x

x

x

x

x

0

x

x


SCON 0 x REF

SPOS x

F: positi positive ve edge; edge;

FA FA UL ULT WA RN RN

x

SCON x

Byte 2

24 24V L

x

SCON x

0

–

B7 B6 B6 B5 B5 B4 B 4 B3 B3 B2 B1 B 1 B0

24V L


0

1

0

0

0

0

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

1

0

1

N: negati negative ve edge edge

Tab. 1/7: 1/7: Control and status status bytes for for “Fault “Fault handling” handling”


1-31


Description of 3. Fault handling 3.1

A fault fault is shown shown with SCON.B3 SCON.B3 (FAULT). (FAULT). } Positioning can no longer be undertaken.

3.2

A warni warning ng is shown shown with with SCON.B2 SCON.B2 (WARN). (WARN). } Positioning can still be undertaken.

3.3

Reset Reset fault fault with positive positive edge at CCON.B3 CCON.B3 (RESET). } Fault bit SCON.B3 (FAULT) or SCON.B3 (WARN) is reset } SPOS.B2 (MC) is set } Drive is ready to operate

Faults and warnings can be also reset using DIN5 (closedloop controller enable), see manual for the controller used.

1-32



4. Homing Homing (requi (requires res statu statuss 1.3 or 2.3) 2.3) Step/Description

Control bytes Byte

4.1 Start homing

4.2 Homing running

4.3 Homing finished

0: logic logic 0;

1: logic logic 1;

By te te 1

B7 B6 B6 B5 B4 B3 B2 B1 B0 Byte OPM 2 OPM 1 L OC OC K

CCON

0

Byte 2

–

CPOS

0

By te te 1

x

0

Byte 2

–

CPOS

0

0 x 0

0

Byte 2

–

CPOS

0

x

R ES ESET BR BR AK AK E ST STOP

0

x

JO JOGN

JOGP

0

0

0

LOC K

–

x

1

HOM

START

HALT

F

0

1


0

x

JO JOGN

JOGP

HOM

0

0

0

1 0

LOC K

–

x 0

E NA NA BL BL

1

1

START

HALT


0

0

x

JO JOGN

JOGP

HOM

0

0

0 0


E NA NA BL BL

1

0

CLEAR TEACH

0

–

0

CLEAR TEACH

OPM 2 OPM 1

CCON

x

CLEAR TEACH

OPM 2 OPM 1

CCON

By te te 1

Status bytes

1 E NA NA BL BL

By te te 1

B7 B6 B6 B5 B5 B4 B 4 B3 B3 B2 B1 B 1 B0 OPM 2 OPM 1 LOC K 2 4V 4V L F AU AULT WA WA RN RN O PE PE N EN EN AB ABL

SCON 0 Byte 2

REF

SPOS 0 By te te 1

REF

SPOS 0 By te te 1

1

1

START

HALT

Byte 2

1

SPOS

0

1

0

0

1

1

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

0

0

1

1


SCON 0 Byte 2

x

REF

FA UL ULT WA WA RN RN

OPE N EN EN AB ABL

x

0

1

0

0

1

1

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

1

1


SCON 0

24V L

1 0 24V L

FA UL ULT WA WA RN RN

OPE N EN EN AB ABL

x

0

1

0

0

1

1

STILL

DEV

MOV

TE TEACH

MC

ACK

HALT

0

0

0

1

0

1

1 0


Tab. 1/8: Control and status status bytes bytes for for “Homing”


1-33


Description for 4. Homing: 4.1

A positive edge at CPOS.B2 (HOM, Start homing) starts the homing. The start is confirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B2 (HOM) is set.

4.2

Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving).

4.3

After successful homing SPOS.B2 (MC, Motion Complete) and SPOS.B7 (REF) will be set.

If there are faults during homing: } Fault handling: see example 3, Tab. 1/7.

1-34



5. Positioning with record selection (requires status 1.3/2.3 and possibly 4.3) Step/Description

Control bytes Byte

5.1 Preselect record number (control byte 3)

Status bytes

B7 B6 B5 B4 B3 B2 B1 B0 Byte

Byte 3

Record number

Byte 3

Record number

Record No.

Record no. (0 ...)

Record No.

Previous record no. (0 ...)

5.2 Start task

By te 1

CCON Byte 2

CPOS 5.3 Task running

By te 1

CCON Byte 2

CPOS

OPM 2 OPM 1

0 –

0

0

LOC K

x

–

0

0

CLEAR TEACH JOGN

0

0

OPM 2 OPM 1 LOC K

0

–

0

x

0 –

0

CLEAR TEACH JOGN

0

0

0

0

x

JOGP

HOM

0

0

STOP

E NA BL

By te 1

1

1

SCON

0

0

0

START

HALT

Byte 2

REF

STILL

DEV

F 1

R ESET BR AK E STOP E NA BL

0

x

JOGP

HOM

0

0

SPOS By te 1

OPM 2 OPM 1 LOC K

1 0

0

1

FA ULT WA RN

0

MOV TEACH

0

0

OPE N EN ABL

0

1

1

MC

ACK

HALT

0

1

1

OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN O PE N EN ABL

1

1

SCON

0

0

0

START

HALT

Byte 2

REF

STILL

DEV

SPOS

1

0

0

1 1

2 4V L

1

0

MOV TEACH

1

0

0

1

1

MC

ACK

HALT

0

1

1

Record number

Byte 3

Record number

Record No.

Record no. (0 ...)

Record No.

Current record no. (0 ...)

By te 1

CCON Byte 2

CPOS

OPM 2 OPM 1 LOC K

0 –

0

0

x

–

0

CLEAR TEACH JOGN

0

0

0

Byte 5...8

– 1: logic 1;

R ESET BR AK E

Byte 3

5.4 Task finished

0: logic 0;

B7 B6 B5 B4 B3 B2 B1 B0

R ESET BR AK E STOP E NA BL

0

x

JOGP

HOM

0

0

OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN O PE N EN ABL

1

1

SCON

0

0

0

START

HALT

Byte 2

REF

STILL

DEV

SPOS

1

0

0

0 1

Reserved

Reserved x: not relevant (any);

By te 1

1

MOV TEACH

0

Byte 5...8

Act. pos.

0 0

0

1

1

MC

ACK

HALT

1

0

1

Position

Actual position (positioning units)

F: positive edge

Tab. 1/9: Control and status bytes for “Positioning with record selection”


1-35


Description of 5. Positioning with record selection: (steps 5.1 ... 5.4 conditional sequence) When the readiness to operate is created and homing has been carried out, a positioning task can be started. 5.1

Preselect record number: Byte 3 of the output data 0 = Homing 1 ... = Programmable positioning records

5.2

With CPOS.B1 (START, Start positioning task) the preselected positioning task will be started. The start is confirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B1 (START) is set.

5.3


5.4

At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set.

If there are faults during positioning: } Fault handling: see example 3, Tab. 1/7.

1-36



6. Positioning with direct mode (requires status 1.3/2.3 and possibly 4.3) Step/Description

Control bytes Byte

6.1 Preselect position and speed (bytes 4 and 5...8)

6.2 Start task

6.3. Task running

6.4 Task finished

Status bytes

B7 B6 B5 B4 B3 B2 B1 B0 Byte

B7 B6 B5 B4 B3 B2 B1 B0

Byte 4

Velocity

Byte 4

Velocity

Velocity

Speed preselect (0...100 %)

Velocity

Speed feedback (0...100 %)

Byte 5...8

Position

Byte 5...8

Position

Setpoint pos.

Setpoint position (positioning units)

By te 1

OPM 2 OPM 1

CCON

0

Byte 2

–

CPOS

0

0

Byte 3

FUNC

CDIR

0

By te 1

x

0

Byte 2

–

CPOS

0 0

Byte 2

–

CPOS

0

R ESET BR AK E

STOP

E N ABL

By te 1

OPM 2 OPM 1 LOC K

2 4V L

FA ULT WA RN

O PE N EN ABL

1

1

SCON

0

1

0

1

0

0

1

1

0

x

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

0

0

0

0

F

1

SPOS

1

0

0

0

0

0

1

1

FAST

XLIM

VLIM

CONT

ABS

Byte 3

FUNC

FAST

XLIM

VLIM

0

0

0

0

0

0

CLEAR TEACH

1

x

CLEAR TEACH

0

0

OPM 2 OPM 1 L OC K

CCON

–

Actual position (positioning units)

0

OPM 2 OPM 1 L OC K

CCON

By te 1

1

LOC K

Act. pos.

1

x

CLEAR TEACH

0

0

–

COM2 COM 1

0

R ESET BR AK E STOP

0

0

x

JOGN

JOGP

HOM

0

0

0

–

0

0

x

JOGN

JOGP

HOM

0

0

0

0 0

0

0

0

ABS

S

E NA BL

By te 1

1

1

SCON

0

1

0

1

0

0

1

1

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

SPOS

1

0

0

0

1

1

1 1

R ESET BR AK E STOP

0

S SDIR

CONT COM2 COM 1

OPM 2 OPM 1 LOC K 2 4V L F AULT WA RN O PE N EN ABL

1 0

E NA BL

By te 1

1

1

SCON

0

1

0

1

0

0

1

1

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

SPOS

1

0

0

0

0

1

0

1

0 1

OPM 2 OPM 1 LOC K 2 4V L F AULT WA RN O PE N EN ABL

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; S: positioning condition: 0= absolute; 1 = relative

Tab. 1/10: Control and status bytes for “Positioning with direct mode”


1-37


Description of positioning with direct mode: (step 6.1 ... 6.4 conditional sequence) When the readiness to operate is created and homing has been carried out, a setpoint position must be preselected. 6.1

The setpoint position is transferred in positioning units in bytes 5...8 of the output word. The setpoint speed is transferred in % in byte 4 (0 = no speed; 100 = max. speed).

6.2

With CPOS.B1 (START, Start positioning task) the preselected positioning task is started. The start is confirmed with SPOS.B1 (Acknowledge start) as long a s CPOS.B1 (START) is set.

6.3


6.4

At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set.

If there are faults during positioning: } Fault handling: see example 3, Tab. 1/7.

1-38


Drive functions

Chapter 2

Drive functions


2-1

2. Drive functions

Contents

2.1 2.2

Reference system for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calculation rules for the reference system . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3

Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 2.3.1 Homing for electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 2.3.2 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2.4 2.5 2.6

2.7

2.8 2.9

2-2

Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carry out record (Record selection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.1 Record selection sequence charts . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.2 Record structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.3 Conditional record chaining (PNU 402) . . . . . . . . . . . . . . . . . . . . . . Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.7.1 Sequence for discrete setpoint value . . . . . . . . . . . . . . . . . . . . . . . . 2.7.2 Sequence for Profile Torque mode (torque and current control) . . 2.7.3 Sequence for Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-the-fly measurement (position sampling) . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 2-5

2-15 2-17 2-18 2-22 2-23 2-27 2-29 2-30 2-32 2-34 2-36


2. Drive functions

2.1

Reference system for electric drives

Reference system for electric linear drives

1 d

e

a

REF

LSE

b

AZ

c

PZ

TP/AP

USE

LES

HES Positions increasing in size, “positive” travel

REF

Homing point (reference point)

a

Axis zero point offset

AZ

Axis zero point

b

Project zero point offset

PZ

Project zero point

c

Target/actual position offset

LSE

Lower software end position

d, e

Software end position offsets

USE

Upper software end position

1

Effective stroke

LES

Lower end switch (lower limit switch)

2

Nominal stroke

HES

Higher end switch (higher limit switch)

TP, AP

Target/actual position

Tab. 2/1: Reference system for electric drives


2-3

2. Drive functions

Reference system for electric rotary drives Rotation axis: example with negative reference switch homing method

AZ

1

REF

PZ d

a

b

e

REF

Reference point: point ascertained during homing: reference switch, limit switch or stop, with index pulse where applicable.

AZ

Axis zero point: point of reference for the project zero point and the software end positions.

PZ

Project zero point: point of reference (= zero point) for actual position and absolute positions in the positioning record table.

a

Axis zero point offset: distance of axis zero point AZ from reference point REF

b

Project zero point offset: distance from AZ

d, e

Software end position offsets: limit the permitted positioning range (usable stroke). Optional: endless positioning possible

1

Effective stroke: permitted positioning range

Tab. 2/2: Reference system for electric rotary drives

2-4


2. Drive functions

2.2

Calculation rules for the reference system

Reference point

Calculation rule

Axis zero point

AZ

= REF + a

Project zero point

PZ

= AZ + b

= REF + a + b


LSE

= AZ + d

= REF + a + d


USE

= AZ + e

= REF + a + e

Target/actual position

TP, AP

= PZ + c

= AZ + b + c

= REF + a + b + c

Tab. 2/3: Calculation rules for the reference system with incremental measuring systems

2.3

Homing In the case of drives with incremental measuring system, homing must always be carried out when the device is switched on. This is defined drive-specifically with the parameter “Homing required” (PNU 1014).

Various homing modes are permitted, depending on the controller and drive. An overview is shown in Tab. 2/4. For a description of the homing modes, see section 2.3.2.


2-5

2. Drive functions

Homing mode

Controller

Hex

Dec

Description

CMMP-AS

CMMS-AS/ CMMS-ST CMMD-AS

01h

1

Negative limit switch with index pulse

x

x

x 1)

02h

2

Positive limit switch with index pulse

x

x

x 1)

07h

7

Reference switch in positive direction with index pulse

x

–

–

0Bh 11

Reference switch in negative direction with index pulse

x

–

–

11h

17

Negative limit switch

x

x

x

12h

18

Positive limit switch

x

x

x

17h

23

Reference switch in positive direction

x

–

–

1Bh 27

Reference switch in negative direction

x

–

–

21h

33

Index pulse in negative direction

x

x

x 1)

22h

34

Index pulse in positive direction

x

x

x 1)

23h

35

Current position

x

x

x

FFh

-1

Negative stop with index pulse

x

x

x 1)

FEh

-2

Positive stop with index pulse

x

x

x 1)

EFh

-17

Negative stop

x

x

x 1)

EEh

-18

Positive stop

x

x

x 1)

E9h

-23

Reference switch in positive direction with travel to stop or limit switch

x

–

–

E5h

-27

Reference switch in negative direction with travel to stop or limit switch

x

–

–

1)

Only possible for motors with an encoder

Tab. 2/4: Permissible homing modes, as of August 2007

2-6


2. Drive functions

2.3.1

Homing for electric drives The drive homes against a stop, a limit switch or a reference switch. An increase in the motor current indicates that a stop has been reached. As the drive must not continuously reference against the stop, it must move at least one millimetre back into the stroke range.

Sequence: 1. Search for the reference point in accordance with the configured method. 2. Travel the distance of the “axis zero point offset” relative to the reference point. 3. Set at axis zero point: Current position = 0 – project zero point offset.

Overview of parameters involved (see also section 4.4.17) Parameters involved

Description

PNU

Axis zero point offset

1010

Homing method

1011

Homing speeds

1012

Homing accelerations

1013

Homing required

1014

CMMP only: Homing maximum torque

1015

Start (FHPP)

CPOS.B2 = positive edge: Start homing

Feedback (FHPP)

SPOS.B1 = positive edge: Acknowledge start SPOS.B7 = Axis is referenced

Requirement

Device control by PLC/fieldbus Controller must be in status “Operation enabled” There must not be any command for jogging

Tab. 2/5: Parameters involved in homing


2-7

2. Drive functions

2.3.2

Homing methods The homing methods are oriented towards CANopen DS 402. With some motors (those with absolute encoders, single/ multi-turn) the drive may be permanently referenced. In such cases, methods involving homing to an index pulse (= zero pulse) might not cause homing to be carried out; rather the drive will move directly to the axis zero point (if it has been entered in the parameters).

Homing methods Hex

Dec

Description

01h

1

Negative limit switch with index pulse 1) 1. If the negative limit switch is inactive: run at search speed in negative direction to negative limit switch. 2. Run at crawl speed in positive direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

02h

1)

2

Positive limit switch with index pulse 1) 1. If the positive limit switch is inactive: run at search speed in positive direction to positive limit switch. 2. Run at crawl speed in negative direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

Index pulse Negative limit switch

Index pulse Positive limit switch

Only possible for motors with an encoder.

2-8


2. Drive functions

Homing methods Hex

Dec

Description

07h

7

Reference switch in positive direction with index pulse 1) 1. If reference switch is inactive: run at search speed in positive direction to reference switch. If the stop or limit switch is reached in the pro- Index pulse cess: run at search speed in negative direction Reference switch to reference switch. 2. Run at crawl speed in positive direction until the reference switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

0B

11

Reference switch in negative direction with index pulse 1) 1. If reference switch is inactive: run at search speed in negative direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in positive direction to reference switch. 2. Run at crawl speed in positive direction until the reference switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

11h

1)

17

Negative limit switch 1. If the negative limit switch is inactive: run at search speed in negative direction to negative limit switch. 2. Run at crawl speed in positive direction until limit switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

Index pulse Reference switch

Negative limit switch



2-9

2. Drive functions

Homing methods Hex

Dec

Description

12h

18

Positive limit switch 1. If the positive limit switch is inactive: run at search speed in positive direction to positive limit switch. 2. Run at crawl speed in negative direction until limit switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

17h

1Bh

1)

23

27

Reference switch in positive direction 1. If reference switch is inactive: run at search speed in positive direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in negative direction to reference switch. 2. Run at crawl speed in negative direction until reference switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Reference switch in negative direction 1. If reference switch is inactive: run at search speed in negative direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in positive direction to reference switch. 2. Run at crawl speed in positive direction until reference switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

Positive limit switch

Reference switch

Reference switch


2-10


2. Drive functions

Homing methods Hex

Dec

Description

21h

33

Index pulse in negative direction 1) 1. Run at crawl speed in negative direction to index pulse. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point.

22h

34

Index pulse in positive direction 1) 1. Run at crawl speed in positive direction to index pulse. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point.

23h

35

Current position 1. The current position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. Note: if the reference system is shifted, runs to a limit switch or fixed stop are possible. This is therefore generally used for axes of rotation.

FFh

-1

Negative stop with index pulse 1) 2) 1. Run at search speed in negative direction to stop. 2. Run at crawl speed in positive direction to next index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

FEh

1) 2)

-2

Positive stop with index pulse 1) 2) 1. Run at search speed in positive direction to stop. 2. Run at crawl speed in negative direction to next index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point.

Index pulse

Index pulse

Index pulse

Index pulse

Only possible for motors with an encoder. Limit switches are ignored during the run to the stop.


2-11

2. Drive functions

Homing methods Hex

Dec

Description

EFh

-17

Negative stop 1) 2) 3) 1. Run at search speed in negative direction to stop. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point.

EEh

-18

Positive stop 1) 2) 3) 1. Run at search speed in positive direction to stop. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point.

E9h

-23

Reference switch in positive direction with travel to stop or limit switch. 1. Run at search speed in positive direction to stop or limit switch. 2. run at search speed in negative direction to reference switch. 3. Run at crawl speed in negative direction until reference switch becomes inactive. This position is saved as the reference point. 4. If this has been entered in the parameters: run at travel speed to axis zero point.

E5h

1) 2) 3)

-27

Reference switch in negative direction with travel to stop or limit switch. 1. Run at search speed in negative direction to stop or limit switch. 2. Run at search speed in positive direction to reference switch. 3. Run at crawl speed in positive direction until reference switch becomes active. This position is saved as the reference point. 4. If this has been entered in the parameters: run at travel speed to axis zero point.

Reference switch

Reference switch

Only possible for motors with an encoder. Limit switches are ignored during the run to the stop. Since the axis is not intended to stay at the stop, the run to the axis zero point has to parametrised and the axis zero point offset has to be ≠ 0.

Tab. 2/6: Overview of homing methods 2-12


2. Drive functions

2.4

Jog mode In the “Operation enabled” state, the drive can be moved by jogging in the positive/negative directions. This function is usually used for: –

Moving to teaching positions

–

Moving the drive out of the way (e.g. after a system fault)

–

Manual traversing as a normal operating mode (manually operated feed).

Procedure 1. When one of the signals “Jog positive / Jog negative” is set, the drive starts to move slowly. Due to the slow speed, a position can be defined very accurately. 2. If the signal remains set for longer than the configured “phase 1 time”, the speed is increased until the configured maximum velocity is reached. In this way large strokes can be traversed quickly. 3. If the signal changes to 0, the drive is braked with the pre-set maximum deceleration. 4. Only if the drive is referenced: If the drive reaches a software end position, it will stop automatically. The software end position is not exceeded, the path for stopping depends on the ramp set. The jog mode can be exited here with Jog = 0.


2-13

2. Drive functions

1

Low speed, phase 1 (slow travel)

2

Maximum speed for phase 2

2 Velocity v(t)

1

3 Acceleration

3

t [s]

4 Deceleration 5

Phase 1 time

4

CPOS.B3 or CPOS.B4 (Jog positive/negative)

1

0

5 Fig. 2/1:

Sequence chart for jog mode

Overview of parameters involved (see section 4.4.9) Parameters involved

Description

PNU

Jog mode velocity – phase 1

530

Jog mode velocity – phase 2

531

Jog mode acceleration

532

Jog mode deceleration

533

Jog mode time phase 1 (T1)

534

Start (FHPP)

CPOS.B3 = positive edge: Jog positive (towards increasing actual values) CPOS.B4 = positive edge: Jog negative (towards decreasing actual values)

Feedback (FHPP)

SPOS.B4 = 1: Drive is moving SPOS.B2 = 0: (Motion Complete)

Requirement

Device control by PLC/fieldbus Controller must be in status “Operation enabled”

Tab. 2/7: Parameters involved in jog mode

2-14


2. Drive functions

2.5

Teaching via fieldbus Position values can be taught via the fieldbus. Previously taught position values will then be overwritten.

Procedure 1. The drive is moved to the desired position by jog mode or manually. This can be accomplished in jog mode by positioning (or by moving manually in the “Drive disabled” status in the case of motors with an encoder). 2. The user must make sure that the desired parameter is selected. For this, the parameter “Teach target” and, if applicable, the correct record address must be entered.

Teach target (PNU 520) Is taught = 1 (default)

Setpoint position in the positioning record. – Record selection: Positioning record according to control byte 3 – Direct mode: Positioning record according to PNU=400

=2

Axis zero point

=3

Project zero point

=4


=5


Tab. 2/8: Overview of teach targets 3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS:


2-15

2. Drive functions

1 PLC:

Teach actual value CPOS.B5

Prepare teaching

2 Controller:

1

0

Ready for teaching

3 PLC: Teach now

Acknowledgement SPOS.B3

1

0

4 Controller:

1

Value transferred Fig. 2/2:

2 3

4

Handshake during teaching Note: The drive does not need to be at a standstill for teaching. However, with the usual cycle times of the PLC + fieldbus + controller there will be inaccuracies of several millimetres even at a speed of only 100 mm/s.

Overview of parameters involved (see sections 4.4.8 and 4.4.9) Parameters involved

Description

PNU

Teach target

520

Record number

400

Project zero point offset

500

Software end positions

501

Axis zero point offset (electric drives)

1010

Start (FHPP)

CPOS.B5 = falling edge: Teach actual value

Feedback (FHPP)

SPOS.B2 = 1: Value transferred

Requirement


Tab. 2/9: Parameters involved in teach mode

2-16


2. Drive functions

2.6

Carry out record (Record selection) A record can be started in the “Drive enabled” state. This function is usually used for: –

Moving to any position in the record list by the PLC

–

Processing a positioning profile by linking records

–

Known target positions that seldom change (recipe change)

Procedure 1. Set the required record number in the PLC’s output data. Until the start, the controller replies with the number of the record last processed. 2. With a rising edge at CPOS.B1 (START) the controller accepts the record number and starts the positioning task. 3. The controller signals with the rising edge at “Acknowledge start” that the PLC output data has been accepted and that the positioning task is now active. The positioning command continues to be executed, even if CPOS.B1 (START) is reset to zero. 4. When the record is concluded, SPOS.B2 (MC) is set.

Causes of errors in application: –

No homing was carried out (where necessary; see PNU 1014).

–

The target position and/or the preselect position cannot be reached.

–

Invalid record number.

–

Record not initialised.


2-17

2. Drive functions

In the event of conditional record chaining (see section 2.6.3): If a new speed and/or a new target position is specified in the movement, the remaining path to the target position must be large enough to reach a standstill with the braking ramp that was set.


Description

PNU

Record number

400

All parameters of the record data, see sections 2.6.2, Tab. 2/11

401 ... 421

Start (FHPP)

CPOS.B1 = positive edge: Start Jogging and homing have priority.

Feedback (FHPP)

SPOS.B2 = 0: Motion Complete SPOS.B1 = positive edge: Acknowledge start SPOS.B4 = 1: Drive is moving

Requirement

Device control by PLC/fieldbus Controller must be in status “Operation enabled” Record number must be valid

Tab. 2/10: Parameters involved in record selection

2.6.1

Record selection sequence charts Fig. 2/3, Fig. 2/4 and Fig. 2/5 show typical sequence charts for starting and stopping a record.

2-18


2. Drive functions

Start/stop record Target record number Output data

Stop CCON.B1 (STOP)

1

N-1

N

N+1

0

1

0

6 Start CPOS.B1 (START)

1

3 0

2 Acknowledge start SPOS.B1 (ACK)

1

1

4

5

0

Motion Complete SPOS.B2 (MC)

1

0

Axis is moving SPOS.B4 (MOV)

1

0

Actual record number Input data

1

N-1

N

N+1

0

1 Prerequisite:

4

The controller reacts with a falling edge at “Acknowledge start”

“Acknowledge start” = 0

2

Rising edge at “Start” causes the new record number N to be accepted and “Acknowledge start” to be set

5

As soon as “Acknowledge start” is recognised by the PLC, the next record number may be started

3

As soon as “Acknowledge start” is recognised by the PLC, “Start” may be set to 0 again

6

A currently running positioning task can be stopped with “Stop”

Fig. 2/3:

Sequence chart for Start/Stop record


2-19

2. Drive functions functions

Stop St op record with with Halt and continue continue Target record r ecord number Output data

Halt CPOS.B0 (HALT) (HALT)

1

N-1

N

N+1

0

1

1 0

Start CPOS.B1 (START) (START)

1

2 0

Confirm Halt SPOS.B0 (HALT) (HALT)

1

0

Acknowledge start SPOS.B1 (ACK)

1

0

Motion Complete Complete SPOS.B2 (MC)

1

0


1

0


1

1

N-1

N

0

Record is stopped with “Halt”, actual actual record number N is retained, “Motion Complete” Complete” remains reset

2

Rising edge at “Start” “Start” starts record N again, “Confirm Halt” is set

Fig. 2/4: 2/4: Sequence Sequence chart chart for Stop Stop record record with with Halt Halt and and Continue Continue

2-20



Stop Stop record with Halt and Clear remaining position position Target record number Output data

Halt CPOS.B0 (HALT) (HALT)

1

N-1

N

N+1

0

1

1 0

Start CPOS.B1 (START) (START)

1

0

Clear remaining position CPOS.B6 (CLEAR)

Confirm Halt SPOS.B0 (HALT) (HALT)

1

2 0

1

0

Acknowledge start SPOS.B1 (ACK)

1

0

Motion Complete Complete SPOS.B2 (MC)

1

0


1

0


1

N-1

N+1

0

1 Stop record Fig. 2/5: 2/5:

N

2 Clear remaining position

Sequence chart chart for Stop record with with Halt Halt and Clear remaining remaining position position


2-21


2.6. 2.6.2 2

Recor Record d stru struct ctur ure e A positioning task in record selection mode is described by a record made up of setpoint values. Every setpoint value is addressed by its own PNU. A record consists of the setpoint values with the same subindex.

PNU Name

Description

401 401

Record Record contr control ol byte byte 1

Setti Setting ng for posi positi tion onin ing g task: task: absolute/relative, position/torque control, ...

402 402

Record Record contr control ol byte byte 2

Record Record contr control ol:: Settings for conditional record chaining

404 404

Setp Setpoi oin nt value alue

Setp Setpoi oin nt value alue as per per reco record rd con control trol byte byte 1.

405 405

Pres Presele elect ction ion value alue

CMMS CMMS/C /CMM MMD D only only:: prese presele lecti ction on value alue as per record record contro controll byte byte 2.

406

Velocity

Auxiliary setpoint: nominal speed.

407 407

Acce Accellerat eratio ion n

Auxi Auxili liar aryy setp etpoin oint: nomi ominal acce accellerat eratio ion n durin uring g start tart up.

408 408

Dece Decele lera rati tion on

Auxi Auxili liar aryy setp etpoin oint: nomi ominal acce accellerat eratiion durin uring g braki rakin ng.

413 413

JerkJerk-fre free e filter filter time time

Auxi Auxili liary ary setp setpoi oint nt:: filter filter time time for smoo smoothi thing ng the profi profile le ramps ramps..

414 414

Reco Record rd prof profil ile e

CMMS CMMS/C /CMM MMD D only only:: numb number er of the the reco record rd prof profil ile. e. The The reco record rd prof profil ile e defines the PNUs 405, 406, 407, 408, 413 for all the assigned records, along along with other shared settings; see section 4.4.8.

415

Reser ved

– (not suppor ted by CMM...)

416 416

Record Record follow followin ing g posi posi-tion/record control

Record number number to which record chaining chaining jumps when the step enabling enabling condition condition is met.

418 418

Torqu orque e limi limita tati tion on

CMMP CMMP only only:: limi limita tati tion on of the the maxi maximu mum m torq torque ue..

419 419

Cam Cam disk disk numb number er

CMMP CMMP only only:: numb number er of the cam disk disk to be execu executed ted with with this this record record.. Requires Requires configuration configuration of PNU 401 (virtual master).

420 420

Remai Remaini ning ng dist distan ance ce message

CMMP only: only: distance distance in front of the target position position where a display display can be triggered triggered via a digital digital output output to show it has been reached.

421

Record Record control control byte byte 3

CMMP CMMP only: only: settin settings gs for specifi specificc behavi behaviour our of the record. record.

Tab. 2/11: Record parameters

2-22



2.6.3 2.6.3

Condit Condition ional al record record chaini chaining ng (PNU (PNU 402) Record selection mode allows multiple positioning tasks to be linked. This means that, starting at CPOS.B1, various records are automatically executed one after the other. This allows a positioning profile to be defined, e.g. switching to another speed after a position is reached. To do this, the user sets a (decimal) condition in RCB2 to define that the following record is automatically executed after the current record. It is only possible to set all of the parameters for the record chaining (“route program”) (e.g. the following record) using the FCT. If a condition was defined, it is possible to prohibit automatic continuation to the following record by setting the B7 bit. This function should be used for debugging using FCT and not for normal control purposes.

Record control byte 2 (PNU 402) Bits 0 ... 6

Numerical Numerical value value 0 to 128: 128: step step enablin enabling g condition condition as a list, see Tab. Tab. 2/13

Bit 7

= 0: recor record d chain chainin ing g (bit (bitss 0 to 6) is not not disab disabled led (defau (default lt)) = 1: record chaining chaining disabled disabled

Tab. 2/12: Settings for conditional conditional record r ecord chaining c haining


2-23


Step enabling conditions Value Value

Condition

Description

0

–

No automatic continuation

1 1)

MC

The preselection value is interpreted interpreted as a delay delay in milliseconds. The chain continues to the next record once the target setpoint value is reached, i.e. once the MC condition is fulfilled fulfilled (MC=1) (MC=1) and a delay time has expired as well. Note: Thus the axis is at a standstill for a moment during positioning. Not necessarily necessarily the case with with torque control (Profile Torque mode).

2 1)

Posit ositio ion n

The pres reselec electi tion on value alue is interpreted as the position value alue 2. The chain continues continues to the next record as soon as the current actual position position exceeds the preselec preselectio tion n value alue in the direction direction of travel 1. As there is no need to stop, the drive reaches its target position quicker.

3 1)

Torque orque

The The pres presele elect ctio ion n value alue is inter interpr prete eted d as the torq torque ue.. The The chain chain conti continu nues es to the next record once the current actual torque exceeds the preselection value value in the direction direction of travel. travel. It is is not absolutely absolutely necessary necessary for a torque torque command to be specified here. It is is also possible to position to the end point. When a specific actual torque is reached, torque control is is activated.

1)

Not supported supported by CMM... CMM...

2-24


2. Drive functions

Step enabling conditions Value

Condition

Description

4

Standstill

The chain continues to the next record once the drive comes to a standstill and then the time T1 specified as the preselection value has expired. (Travel to end point)

5 2)

Time

The preselection value is interpreted as time in milliseconds. The chain continues to the next record once this time has expired (after the start).

6

Input Pos. edge

The chain continues to the next record if a rising edge is identified at the local input. The preselection value includes the input’s bit address. Preselection value = 1: NEXT1 Preselection value = 2: NEXT2

7

Input Neg. edge

The chain continues to the next record if a falling edge is identified at the local input. The preselection value includes the input’s bit address. Preselection value = 1: NEXT1 Preselection value = 2: NEXT2

8 1)

Velocity profile

The setpoint generator calculates the trajectory so that the record’s setpoint speed is active in the target position. The final speed is therefore not 0. The preselection value is ignored. Note: in type 1, the user only defines the chaining position; the user has no influence over the speed.

9

Input Pos. edge waiting

The chain continues to the next record after the current record ends if a rising edge is identified at the local input. The preselection value includes the input’s number: Preselection value = 1: NEXT1 Preselection value = 2: NEXT2

10

Input Neg. edge waiting

The chain continues to the next record after the current record ends if a falling edge is identified at the local input. The preselection value includes the input’s number: Preselection value = 1: NEXT1 Preselection value = 2: NEXT2

1) 2)

Not supported by CMM... Not supported by CMMP


2-25

2. Drive functions

Step enabling conditions Value

Condition

Description

11 2)

Position (relative)

This chaining is the same as type 2 except that the specified position is not specified absolutely but relative to the last setpoint position 2 . The chain continues to the next record as soon as the current actual position exceeds the preselection value in the direction of travel 1. Important: For the chaining position to be reproducible, the specification must be calculated relative to the last target position; in other words, not relative to the actual position.

12

Internal MC condition

Like condition 1, but without an external MC signal between the individual records. An external MC signal (SPOS.B2) is only set after the last record in the chain.

2)

Not supported by CMMS/CMMD

Tab. 2/13: Step enabling conditions

2-26


2. Drive functions

2.7

Direct mode In the status “Drive enabled” (Direct mode) a task is formulated directly in the I/O data that is transmitted via the fieldbus. Some of the setpoint values for the position are reserved in the PLC. The function is used in the following situations: –

Moving to any position within the effective stroke.

–

The target positions are unknown during designing or change frequently (e.g. several different workpiece positions).

–

A positioning profile consisting of chained records (G25 function) is not necessary.

–

The drive is to continuously follow a setpoint value.

If short wait times are not critical, it is possible to implement a positioning profile by chaining records externally through the PLC.

Causes of errors in application –


–

Target position cannot be reached or lies outside the software end positions.

–

Load torque is too large.


2-27

2. Drive functions


Description

PNU

Position specifications

Base velocity value 1)

540

Direct mode acceleration

541

Direct mode deceleration

542

Jerk-free filter time

546

Base torque ramp 1)

550

Torque target window

552

Damping time

553

Permissible speed during torque control

554

Base acceleration ramp 1)

560

Velocity target window (for CMMP only) 2)

561

Damping time for velocity target window (for CMMP only) 2)

562

Standstill target window (for CMMP only) 2)

563

Damping time for standstill target window (for CMMP only) 2)

564

Torque limit (for CMMP only) 2)

565

Torque specifications (for CMMP only) 2)

Velocity specifications

Start (FHPP)

CPOS.B1 = positive edge: Start CDIR.B0 = Absolute/Relative setpoint position CDIR.B1/B2 = Control mode (see section 1.5.3)

Feedback (FHPP)

SPOS.B2 = 0: Motion Complete SPOS.B1 = positive edge: Acknowledge start SPOS.B4 = 1: Drive is moving

Requirement


1)

The PLC transfers a percentage value in the control bytes, which is multiplied by the base value in order to get the final setpoint value. 2) For supported functions, see 1.4

Tab. 2/14: Parameters involved in direct mode

2-28


2. Drive functions

2.7.1

Sequence for discrete setpoint value 1. The user sets the desired setpoint value (position, torque) and the positioning condition (absolute/relative, velocity) in his or her output data. 2. With a rising edge at START (CPOS.B1) the controller accepts the setpoint values and starts the positioning task. After the start, a new setpoint value can be started at any time. There is no need to wait for MC. 3. Once the last setpoint position is reached, MC (SPOS.B2) is set.

Starting the positioning task Setpoint position Output data

1

N-1

N

N+1

N+2

0

1

Start CPOS.B1

0

Acknowledge start SPOS.B1

1

0

Motion Complete SPOS.B2

1

0

Fig. 2/6:

Starting the positioning task The sequence of the remaining control and status bits as well as the functions Halt and Stop are the same as for the Record selection function, see Fig. 2/3, Fig. 2/4 and Fig. 2/5.


2-29

2. Drive functions

2.7.2

Sequence for Profile Torque mode (torque and current control) Profile Torque mode is prepared by switching over the control mode with the bits CDIR - COM1/2. The drive remains at a standstill with the position controlled. The signal “MC” (Motion Complete) is used in this control mode to mean “Torque setpoint value reached”. After the setpoint specification, the start signal (start bit) builds up the torque/moment using the torque ramp (CMMP-AS only) in the direction indicated by the setpoint value’s prefix (+ or -) and the active Profile Torque mode is displayed via the bits SDIR - COM1/2. For CMMP: The speed is limited to the value in the parameter “Maximum speed”. Once this speed has been reached, the bit “Speed limit reached” is set in the status byte SDIR. Once the setpoint value has been reached, taking into account the target window and the time window, the “MC” signal is set. Torque/moment continue to be controlled.

Causes of errors in application –

2-30



2. Drive functions

Setpoint specification / actual value query in direct mode in Profile Torque mode: CCON.B6 (OPM1) = 1, CCON.B7 (OPM2) = 0 CDIR.B1 (COM1) = 1, CDIR.B2 (COM2) = 0

Direct mode Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Output data

CCON

CPOS

CDIR

Setpoint Setpoint value 2 value 1 (torque) (reserved)

Input data

SCON

SPOS

SDIR

Actual value 1 (actual torque)

Byte 7

Byte 8

Actual value 2 (actual position)

Data

Meaning

Unit(s)

Setpoint value 1

Reserved (no function, = 0)

–

Setpoint value 2

Setpoint torque

Percentage of rated torque (PNU 1036)

Actual value 1

Actual torque

Percentage of rated torque (PNU 1036)

Actual value 2

Actual position

Positioning unit, see appendix A.1


2-31

2. Drive functions

2.7.3

Sequence for Profile Velocity mode Profile Velocity mode (speed adjustment) is only supported in “Direct mode”. Only “discrete setpoint adjustment” (compare section 2.7.1) is supported. Speed adjustment is requested by switching the closed-loop control mode. The drive remains in the operating mode that was set previously. After the setpoints are specified, the start signal (start bit) switches the system to Profile Velocity mode and the velocity setpoint value comes into effect. The torque is limited here to the value set in the “Torque limit” parameter (PNU 565). The signal “MC” (Motion Complete) is used in this control mode to mean “target velocity reached”.

Motion Complete / standstill notification The same comparator type is used to determine “velocity reached” and “velocity 0” and it behaves as per Fig. 2/7, see Tab. 2/15.

Setpoint value

Specifications for reaching MC (Motion Complete)

≠0

Target velocity: Setpoint value as per input data Tolerance: Velocity target window (PNU 561) Response time: Damping time for velocity target window (PNU 562)

=0

Target velocity: Setpoint value as per input data Tolerance: Standstill target window (PNU 563) Response time: Damping time for standstill target window (PNU 564)

Tab. 2/15: Motion Complete / standstill notification specifications

2-32


2. Drive functions

Velocity (rpm)

Target rpm + tolerance Target rpm Target rpm - tolerance

Timer

Damping time

Motion Complete (SPOS.B2) or Standstill control (SPOS.B6)

1

0

Fig. 2/7: Motion Complete / standstill notification


2-33

2. Drive functions

2.8

Standstill control Standstill control makes it possible to detect the drive exiting the target position window while at a standstill. Standstill control is relevant solely for Profile Position mode (position control). When the target position has been reached and MC signalled in the status word, the drive switches to the “standstill” state, and bit SPOS.B6 (Standstill control) is reset. If, in this status, the drive is removed from the standstill position window for a defined time due to external forces or other influences, the bit SPOS.B6 will be set. As soon as the drive is in the standstill position window again for the standstill timeout time, the bit SPOS.B6 will be reset.

1 Target position 2 Actual position

1

5 6

3 Standstill control (SPOS.B6)

4 Motion Complete

2

(SPOS.B2)

5 Standstill position window

8 1

3 0

6 Target position window

7 Monitoring time (position window time)

8

1

4 0

7

8 Standstill timeout Fig. 2/8:

2-34

Standstill control


2. Drive functions

Standstill control cannot be switched on or off explicitly. It becomes inactive when the standstill position window is set to “0”.


Description

PNU

Target position window

1022

Position window time

1023

Setpoint position

1040

Current position

1041

Standstill position window

1042

Standstill timeout

1043

Start (FHPP)

SPOS.B2 = positive edge: Motion Complete

Feedback (FHPP)

SPOS.B6 = 1: Drive has moved out of standstill position window

Requirement


Tab. 2/16: Parameters involved in standstill control


2-35

2. Drive functions

2.9

On-the-fly measurement (position sampling) To find out whether this function is supported by the controller you are using and its firmware version, see the help for the associated FCT plug-in. The local digital inputs can be used as quick sampling inputs: with every rising and falling edge at the configured sample input (only possible using the FCT), the current position value is written into a register of the controller and can afterwards be read out (PNU 350:01/02) by the higher-level control system (PLC/IPC).

Parameters for position sampling (on-the-fly measurement) Parameter / Description

PNU

Position value for a rising edge in user-defined units

350:01

Position value for a falling edge in user-defined units

350:02

Tab. 2/17: Parameters for on-the-fly measurement

2-36


Fault reaction and diagnosis

Chapter 3

Fault reaction and diagnosis


3-1

3. Fault reaction and diagnosis

Contents

3.1

3.2 3.3 3.4

Classifying the faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 3-4

3.1.2 Fault type 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.3 Fault type 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Warning memory (CMMP only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5 3-6 3-7 3-8

3.5

Fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 3.4.1 CMMP fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 3.4.2 CMMS/CMMD fault numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47 Diagnosis using FHPP status bytes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53

3-2



3.1

Classifying the faults We differentiate between the following types of fault: –

Warnings

–

Fault type 1 (output stage not switched off )

–

Fault type 2 (output stage switched off)

The classification of the possible faults is specified separately for each controller. The basis for this classification is the way in which each controller has to behave for each fault.

The controllers indicate faults by appropriate error messages or warnings. These can be evaluated via the following: –

Display

–

Status bytes (see section 1.4)

–

Bus-specific diagnosis (see description of the fieldbus for the controller in question)

–

Diagnostic memory (see section 3.2)

–

FCT (see FCT help)


3-3


3.1.1

Warnings A warning provides the user with information that does not have any effect on the drive’s behaviour.

Behaviour in the event of warnings –

Controller and output stage remain active.

–

The current positioning task is not interrupted.

–

Depending on the fault number a new positioning task may be possible.

–

The SCON.B2 (WARN) bit is set.

–

If the cause of the warning disappears, the SCON.B2 bit is automatically cleared again.

–

CMMP only: The warning numbers are logged in the warning register (PNU 211).

Causes of warnings

3-4

–

Parameters cannot be written or read (not permitted in the operating mode, invalid PNU, ...)

–

Following (drag) error, drive has exceeded the tolerance after Motion Complete, and similar minor control errors.



3.1.2 Fault type 1 In the event of a fault, the service that was requested cannot be provided. The drive switches from its current status to the “Fault” status.

Behaviour in the event of type 1 faults –

The output stage is not switched off.

–

The current positioning task is interrupted.

–

The speed is reduced on the emergency ramp.

–

The sequence control switches to the Fault status. No new positioning task can be carried out.

–

The SCON.B3 (FAULT) bit is set.

–

The “Fault” status can be exited by switching off, with a positive edge at input CCON.B3 (RESET), or by resetting/ setting DIN5 (closed-loop controller enable).

–

Holding brake is activated when the drive is stopped.

Causes of type 1 faults –

Software end positions are violated.

–

Motion Complete timeout.

–

Following error monitoring (monitoring of drag error).


3-5


3.1.3

Fault type 2 In the event of a fault, the service that was requested cannot be provided. The drive switches from its current status to the “Fault” status.

Behaviour in the event of type 2 faults –

The output stage is switched off.

–

The current positioning task is interrupted.

–

The drive runs down.

–

The sequence control switches to the Fault status. No new positioning task can be carried out.

–

The SCON.B3 (FAULT) bit is set.

–

The “Fault” status can be exited by switching off, with a positive edge at input CCON.B3 (RESET), or by resetting/ setting DIN5 (closed-loop controller enable).

–

Holding brake is activated when the drive is stopped.

Causes of type 2 faults –

Load voltage is missing (e.g. if emergency off has been implemented)

–

Hardware fault:

–

3-6

–

Measuring system fault.

–

Bus fault.

–

SD card fault.

Impermissible operating mode switch.



3.2

Diagnostic memory (faults) The diagnostic memory for faults contains the codes of the last fault messages that occurred. The diagnostic memory is protected against power failure. If the diagnostic memory is full, the oldest element will be overwritten (FIFO principle).

Structure of the diagnostic memory in CMMS/CMMD Parameter 1)

201

Format

uint16

Meaning

Fault number

Subindex 1

Most recent/current fault

Subindex 2

2nd saved fault

Subindex 3

3rd saved fault

Subindex 4

4th saved fault

1)

See section 4.4.5

Tab. 3/1: Structure of diagnostic memory in CMMS/CMMD

Structure of the faults diagnostic memory in CMMP Parameter 1)

200

201

202

Format

uint8

uint16

uint32

Meaning

Diagnostic event

Fault number

Time

Subindex 1

Most recent/current fault

Subindex 2

2nd saved fault

... 2)

...

Subindex 32

32nd saved fault

1)

See section 4.4.5

Tab. 3/2: Structure of diagnostic memory in CMMP


3-7


3.3

Warning memory (CMMP only) Some controllers have a separate diagnostic memory for warnings. The warning memory contains the codes of the last warnings that occurred. It functions in the same way as the diagnostic memory for faults.

Structure of the warning memory Parameter 1)

210

211

212

Format

uint8

uint16

uint32

Meaning

Warning event

Warning number

Time

Subindex 1

Most recent/current warning

Subindex 2

Second saved warning message

...

...

Subindex 16

Last warning message

1)

(see section 4.4.5)

Tab. 3/3: Structure of the warning memory

3-8



3.4

Fault numbers The error messages of the controller are displayed and recorded as fault numbers. Sections 3.4.1 and 3.4.2 contain the error messages from the latest firmware versions at the time of printing of this document. For a complete, up-to-date list of error messages, see the hardware description for the controller in question, type P.BE-CMM...-HW-...

3.4.1

CMMP fault numbers

Error messages CMMP Main SubMessage index index 0

Causes

Measures

0

Invalid error

Information: an invalid error entry (corrupted) was found in the diagnostic memory marked with this error number. The system time entry is set to “0”.

–

1

Invalid error detected and corrected

Information: an invalid error entry (corrupted) was found in the diagnostic memory and corrected. The additional information contains the original error number. The system time entry contains the address of the corrupted error number.

–

2

Error cleared

Information: active errors were reset.

–


3-9


Error messages CMMP Main index

Sub- Message index

Causes

1

0

Incorrect firmware? Sporadic high processor load due to cycle time being too short and specific processorintensive processes (save parameter set etc.).

2

0

Stack overflow

Intermediate circuit Intermediate circuit voltage is undervoltage falling below the parametrised threshold. Error priority set too high?

Measures

• • •

•

• •

•

Load a new firmware release. Reduce the processor load. Contact Technical Support.

Quick discharge due to mains supply being switched off. Check the power supply. Couple the intermediate circuits, if technically possible. Check intermediate circuit voltage (measure it).

Additional information (PNU 203/213): Higher 16 bits: state number of internal state machine Lower 16 bits: intermediate circuit voltage in internal scaling (approx. 17.1 digital increments/V). 3

0

1

3-10

Analogue motor overtemperature

Digital motor overtemperature

Motor overloaded, temperature too high. Suitable sensor or sensor characteristics parametrised? Sensor defective?

If there is overloading: Check parameters (current regulator, current limits). Check the parametrisation of the sensor or the sensor characteristics. If the error remains even when the sensor is jumpered out: device defective. •

•




Sub- Message index

Causes

... 3

2

The measured resistance value is above the threshold for wire break detection.

Analogue motor overtemperature: Broken wire

Measures

•

•

3

Analogue motor overtemperature: Short circuit

The measured resistance value is below the threshold for short circuit detection.

•

•

4

0

1

5

Power section over- Device is overheated; is displayed temperature plausible? temperature Device fan defective? Device overloaded? Intermediate circuit overtemperature

0

Failure of internal voltage 1

1

Failure of internal voltage 2

2

Failure of driver supply

3

Undervoltage of digital I/O

The monitoring of the internal power supply reported undervoltage. Either an internal defect or overload/short circuit from connected peripheral devices.

Defective peripheral device?

•

•

•

•

•

4

Overcurrent of digital I/O


Check the connecting cables of the temperature sensor for wire breaks. Check the parametrisation (threshold value) for wire break detection. Check the connecting cables of the temperature sensor for wire breaks. Check the parametrisation (threshold value) for short circuit detection (Subindex 3). Check installation conditions; are the control cabinet fan filters dirty? Check the drive layout (due to possible overloading in continuous duty). Disconnect the device from all peripherals and check whether the error is still there after resetting. If yes, then there is an internal defect and repair by the manufacturer is necessary. Check connected peripherals for short circuit / rated loads. Check connection of the brake (connected incorrectly?).

3-11



Sub- Message index

6

0

Causes

Measures

Short circuit of out- Faulty motor, e.g. interturn short Dependent on the state of the circuit due to motor overheating system; cases a) to f): put stage or short to earth inside motor. Short circuit in the cable or the a) Fault only with active brake connecting plugs, i.e. short circhopper: cuit between motor phases or to Check external braking resisthe screen/earth. tor for short circuit or insuffiOutput stage defective (short cient resistance value. Check circuit). the circuitry of the brake Incorrect parametrisation of the chopper output on the motor current regulator. controller (jumpering etc.). b) Error message as soon as the power supply is switched on: internal short circuit in the output stage (short circuit of a complete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly external) fuses are tripped. Repair by the manufacturer is necessary. c) Short circuit error message not until the output stage or closedloop controller is enabled. d) Disconnection of motor plug X6 directly on the motor controller. If the error still occurs, there is a fault in the motor controller. Repair by the manufacturer is necessary. e) The error occurs only with motor cable connected: check the motor and cable for short circuits, e.g. with a multimeter. f) Check parametrisation of the current regulator. Oscillations in an incorrectly parametrised current regulator can generate currents up to the short circuit threshold, usually clearly audible as a high-frequency whistling. Verify if necessary with the oscilloscope function (actual active current value).

1

Brake chopper overcurrent

Overload current at the brake chopper output.

•

•

3-12

Check external braking resistor for short circuit or insufficient resistance value. Check the circuitry of the brake chopper output on the motor controller (jumpering etc.).




Sub- Message index

Causes

Measures

7

0

Overvoltage in intermediate circuit

Braking resistor is overloaded; too much braking energy which cannot be dissipated quickly enough. Resistor capacity is incorrect? Resistor not parametrised? Resistor not connected correctly?

Check the design of the braking resistor; resistance value may be too great. Check parametrisation. Check the connection to the braking resistor (internal/external).

8

0

Resolver angle encoder error

Resolver signal amplitude is faulty

Step-by-step procedure according to a) to c):

a) If possible, test with a different (error-free) resolver (replace the connecting cable too). If the error still occurs, there is a fault in the motor controller. Repair by the manufacturer is necessary. b) If the error occurs only with a specially designed resolver and its connecting cable: check the resolver signals (carrier and SIN/ COS signals); see specifications. If the signals do not comply with the signal specifications, replace the resolver. c) If the error recurs sporadically, check the screen bonding or check whether the resolver simply has an insufficient transmission ratio (standard resolver: A = 0.5). 1

Sense of rotation of the serial and incremental position evaluation is not identical

Only encoders with serial position transmission combined with an analogue SIN/COS signal track: the directions of rotation for position determination in the encoder and for incremental evaluation of the analogue track system in the motor controller are the wrong way round.

Swap the following signals on the X2B angle encoder interface (the wires in the connecting plug must be changed around), observing the technical data for the angle encoder where applicable: – Swap SIN/COS track. – Swap the SIN+/SIN- or COS+/COS- signals, as applicable.

The encoder counts positively in e.g. clockwise direction while the incremental evaluation counts in negative direction with the same mechanical rotation. The mix-up of rotational direction is detected mechanically at the first movement of over 30° and the error is triggered.


3-13



Sub- Message index

Causes

Measures

... 8

2

Incremental encoder Z0 track signals error

Signal amplitude of the Z0 track on X2B is faulty. Angle encoder connected? Angle encoder cable defective? Angle encoder defective?

Check configuration of the angle encoder interface. Proceed according to a) to c) a) Z0 evaluation activated but no track signals are connected or present (e.g. EnDat 2.2 or EnDat 2.1 without analogue track). Heidenhain encoder: order codes EnDat 22 and EnDat 21. With these encoders there are no incremental signals, even when the cables are connected. b) Encoder signals faulty? 1) c) Test with another encoder. 2)

3

Incremental encoder Z0 track signals error

Signal amplitude of the Z1 track on X2B is faulty. Angle encoder connected? Angle encoder cable defective? Angle encoder defective?

Check configuration of the angle encoder interface. Proceed according to a) to c): a) Z1 evaluation activated but not connected. b) Encoder signals faulty? 1) c) Test with another encoder. 2)

1)

Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited? Check that installation complies with EMC recommendations (cable screening on both sides?). Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect unused lines in parallel) or use voltage feedback (SENSE+ and SENSE-). 2) If the error still occurs when the configuration is correct, test with a different (error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair by the manufacturer is necessary.

3-14




Sub- Message index

Causes

Measures

... 8

4

Digital incremental encoder track signals error (X2B)

Faulty A, B, or N track signals on X2B. Angle encoder connected? Angle encoder cable defective? Angle encoder defective?

Check configuration of the angle encoder interface. Proceed according to a) and b): a) Encoder signals faulty? 1) b) Test with another encoder. 2)

5

Incremental encoder Hall generator signals error

Faulty Hall sensor signals from a digital incr. encoder on X2B. Angle encoder connected? Angle encoder cable defective? Angle encoder defective?


6

Angle encoder communication fault

Communication to serial angle encoders is disrupted (EnDat encoders, HIPERFACE encoders, BiSS encoders). Angle encoder connected? Angle encoder cable defective? Angle encoder defective?

Check configuration of the angle encoder interface: proceed according to a) to c): a) Serial encoder parametrised but not connected? Incorrect serial protocol selected? b) Encoder signals faulty? 1) c) Test with another encoder. 2)

7

Signal amplitude of Faulty A, B, or N track signals on incremental tracks X10. erroneous (X10) Angle encoder connected? Angle encoder cable defective? Angle encoder defective?


1)

Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited? Check that installation complies with EMC recommendations (cable screening on both sides?). With TTL single-ended signals (HALL signals are always TTL single-ended signals): check whether there might be an excessive voltage drop on the GND line; in this case = circuit common. Check whether there might be an excessive voltage drop on the GND line; in this case = circuit common.

Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect unused lines in parallel) or use voltage feedback (SENSE+ and SENSE-). 2) If the error still occurs when the configuration is correct, test with a different (error-free) encoder (replace the connecting cable as well). If the error still occurs, there is a fault in the motor controller. Repair by the manufacturer is necessary.


3-15



Sub- Message index

Causes

Measures

... 8

8

Internal angle encoder error

Internal monitoring of the angle encoder (X2B) has detected a fault and forwarded it via serial communication. Angle encoder defective?

Possible causes: Encoder-specific or manufacturer-specific, e.g. diminishing illumination intensity in optical encoders or excessive rpm. If the error is ongoing, test with a different (error-free) encoder (replace the connecting cable as well). Encoder is probably permanently faulty.

9

Angle encoder at X2B not supported

Angle encoder type read at X2B Depending on the additional inwhich is not supported or canformation 1) for the error messnot be used in the desired oper- age: ating mode. Load appropriate firmware. Incorrect or inappropriate protoCheck/correct the configurcol type selected? ation for encoder evaluation. Firmware does not support the Connect an appropriate enconnected encoder model? coder type. • •

•

1)

Additional information (PNU 203/213): 0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware. 0002: EnDat: the address space in which the encoder parameters would have to lie does not exist with the connected EnDat encoder -> check the encoder type. 0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware. 0004: EnDat: encoder rating plate cannot be read from the connected encoder. -> change encoder or load more recent firmware. 0005: EnDat: EnDat 2.2 interface parametrised, but connected encoder only supports EnDat2.1. -> change encoder type or change parameters to EnDat 2.1. 0006: EnDat: EnDat2.1 interface parametrised with analogue tracking but the rating plate of the connected encoder says that it does not support track signals. -> change encoder or switch off Z0 track signal evaluation. 0007: Displacement encoder with EnDat2.1 connected but parametrised as a purely serial encoder. Purely serial evaluation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue track signal evaluation -> switch to analogue Z0 track signal evaluation.

3-16




Sub- Message index

Causes

Measures

9

0

Old angle encoder parameter record

Warning: An encoder parameter record in an old format was found in the EEPROM of the connected encoder. This has been converted and saved in the new format.

No action necessary at this point. The warning should not re-appear when the 24V supply is switched back on.

1

Angle encoder Data in the EEPROM of the parameter record angle encoder could not be read cannot be decoded completely, or access to it was partly refused.

The EEPROM of the encoder contains data (communication objects) which is not supported by the loaded firmware. The data in question is then discarded. The parameter record can be adapted to the current firmware by writing the encoder data to the encoder. Alternatively, appropriate (more recent) firmware must be loaded.

2

Unknown version of The data saved in EEPROM is angle encoder not compatible with the current parameter record version. A data structure was found which is unable to decode the loaded firmware.

Save the encoder parameters again in order to delete the parameter record in the encoder and replace it with a readable record (this will, however, delete the data in the encoder irreversibly). Alternatively, appropriate (more recent) firmware must be loaded.

3

Defective data structure in angle encoder parameter record

Save the encoder parameters again in order to delete the parameter record in the encoder and replace it with a readable record. If the error still occurs after that, the encoder may be faulty. Replace the encoder as a test.


Data in EEPROM do not match the stored data structure. The data structure was identified as valid but may be corrupted.

3-17



Sub- Message index

Causes

Measures

... 9

4

EEPROM data: Faulty user-specific configuration

Only with specialised motors: The plausibility check returns an error, e.g. because the motor was repaired or replaced.

If motor was repaired: carry out homing again and save in the angle encoder, after that (!) save in the motor controller. If motor replaced: parametrise the controller again, then carry out homing again and save in the angle encoder, after that (!) save in the motor controller.

7

Write-protected angle encoder EEPROM

Data cannot be saved in the A data field in the encoder EEPROM of the angle encoder. EEPROM is write-protected Occurs with Hiperface encoders. (e.g. after operation on a motor controller from another manufacturer). No solution possible, encoder memory must be unlocked with an appropriate parametrisation tool (from manufacturer).

9

Angle encoder EEPROM too small

It is not possible to save all the Reduce the number of data redata in the EEPROM of the angle cords to be saved. Please read encoder. the documentation or contact Technical Support.

0

Overspeed (spinning protection)

Motor racing (“spinning”) Check the commutation angle because the commutation angle offset. Check the limit value setoffset is incorrect. ting in the parameters. Motor is parametrised correctly but the limit for spinning protection is set too low.

10

3-18




Sub- Message index

Causes

Measures

11

0

Error when homing is started

Controller enable missing.

Homing can only be started when closed-loop controller enable is active. Check the condition or sequence.

1

Error during homing

Homing was interrupted, e.g. by: – Withdrawal of controller enable. – Reference switch is beyond the limit switch. – External stop signal (a phase was aborted during homing).

• •

•

Check the homing sequence. Check the arrangement of the switches. If applicable, lock the stop input during homing if it is not desired.

2

Homing: No valid index pulse

Reserved for later extensions (required index pulse missing).

–

3

Homing: Timeout

The parametrised maximum time for the homing run was exceeded before the homing run was completed.

Check the time setting in the parameters.

4

Homing: Incorrect/ invalid limit switch

Relevant limit switch not connected. Limit switches swapped? No reference switch found between the two limit switches. Reference switch is at the limit switch. “Index pulse/index pulse” method: active limit switch in the area of the index pulse (not permitted). Both limit switches active at the same time.

Check whether the limit switches are connected in the correct direction of travel or whether the limit switches act on the intended inputs. Reference switch connected? Check the arrangement of the reference switch. Move the limit switch so that it is not in the area of the index pulse.


3-19

3. Fault Fault reacti reaction on and and diagno diagnosis sis


Sub- Message index

Causes

Measures

Homing: It / following error

Accelerati Acceleration on ramps ramps not suitably suitably parametrised. Reversing due to premature triggering of following (drag) error; error; check parametris parametrisation ation of following error (drag error). No reference switch reached between the end stops. stops. Index pulse method: end stop reached (not permitted here).

Parametrise the acceleration ramps so they they are flatter flatter. Check connectio connection n of a reference reference switch. Method appropriate for the application?

6

Homing: End of search path

The maximum permissible path Fault Fault in switch switch detection. detection. for the the homing homing run run has been been tra- Switch for homing is defective? velled without reaching the reference point or the homing run target.

0

CAN: Double node number

Node Node numbe numberr assig assigned ned twice. twice.

Check Check the config configura uratio tion n of the CAN bus stations

1

CAN: Communication error, error, bus OFF

The CAN chip has switched off communic communication ation due to communicati munication on errors (BUS OFF).

Check wiring: wiring: cable specifications adhered to; broken broken cable; cable; maximum cable length exceeded; terminating resistors correct; cable screening earthed; all signals connected? It may be helpful helpful to try replacin replacing g the device as a test. If a different device works without errors with the same cabling, send the device to the manufacturer for checking.

... 11 5

12

3-20




Sub- Message index

... 12 2

CAN: Communication error durin during g transmission

Causes

Measures

The signals are interrupted when messages are sent. Device boot up is so fast that no other nodes nodes on the bus has yet yet been been detect detected ed when when the boot-up message is sent.

Check wiring wiring:: cable specifications adhered to; broken broken cable; cable; maximum cable length exceeded; terminating resistors correct; cable screening earthed; all signals connected? It may be helpful helpful to try replacin replacing g the device device as a test. If a different different device works without errors with the same cabling, send the device to the manufacturer for checking. Check the start sequen sequence ce of the application.

3

CAN: Communica- The signals are interrupted when Check wiring wiring:: tion error durin during g re- messages are received. cable specifications adhered to; ception broken broken cable; cable; maximum cable length exceeded; terminating resistors correct; cable screening earthed; all signals connected? It may be helpful helpful to try replacin replacing g the device device as a test. If a different different device works without errors with the same cabling, send the device to the manufacturer for checking.

4

CAN: Node Guarding

Node Guarding telegram not received ceived within the parametrised parametrised time. Faulty Faulty signals? signals?

5

CAN: RPDO too short

A received RPDO does not con- The number of parametrised tain the parametrise parametrised d number of bytes does not match the bytes. number of bytes received. Check the parametris parametrisation ation and correct.

9

CAN CAN: Protocol error Fa Faulty bus protocol.


Compare the cycle time of the remote remote frames with that of the control system, or control system failure.

Check the parametrisation of the selected CAN bus protocol.

3-21



Sub- Message index

Causes

Measures

13

0

CAN bus timeout

Error message from manufacturer-specific turer-specific protocol.

Check the CAN parametrisati parametrisation on

14

0

Insufficient power supply supply for identifiidentification

Current regulator parameters cannot be determined (because of insufficient insufficient supply). supply).

The available intermediate circuit voltage is too low for measurement.

1

Current controller Too few or too many measuremeasureidentification: ment cycles required for the Measurement cycle connected motor. motor. insufficient

Automatic Automatic determin determination ation of parameters has supplied a time constant outside the parametrisable value range. The parameter must be be manually manually optimised. optimised.

2

Output stage enable could not be issued

The output stage has not been enabled.

Check Check the connec connectio tion n of DIN4.

3

Output stage was prematurely switched off

Output stage enable was switched off during identification.

Check the sequence sequence control. control.

4

Identification does not support the configured device type

Reserved for later extensions: – Identifi Identificatio cation n cannot cannot be carried carried out with the parametrised angle encoder settings.

5

Index pulse not found

The index pulse was not found after the maximum permissible number of electrical rotations.

6

Hall Hall sign signal alss inv invalid alid

Hall Hall sign signal alss fau faulty lty or inv invalid alid.. Check connectio connection. n. The pulse pulse train or segmentin segmenting g of Refer to the technical data to the Hall signals is inappropriate. check whether whether the encoder encoder shows three Hall signals with 120° or 60° segments; if necessary, contact Technical Support.

3-22

Check the index pulse pulse signal. signal. Angle encoder parametrised correctly?




Sub- Message index

Causes

Measures

... 14

7

Identification not possible

Angl Angle e encod encoder er at a stand standsti still ll..

Ensu Ensure re there there is suffi sufficie cient nt interintermediate circuit voltage. Encoder cable connected to the correct motor? Is motor blocked, e.g. holding brake will not release?

8

Invalid number of pairs of poles

The calculated number of pole pairs lies outside the parametrisable range.

Compare result with the technical data specifications for the motor. Check the parametrised parametrised number number of lines.

0

Division by 0

Internal firmware error. Divi Divisi sion on by 0 when when usin using g the the math library.

1

Range exc exceeded

Internal firmware are err error. Overflow Overflow when using using the math library.

Load the default parameter record. Check Check the firmware firmware to make sure that released firmware has been been loaded. loaded.

2

Coun ounter ter underr errun

Inte Intern rnal al firm firmw ware are erro errorr. Internal Internal correction correction factors factors could could not be calculated.

Check the setting setting of the factor factor group for extreme values and change if necessary.

0

Error in program execution

Internal firmware error. Error during program execution. Illegal CPU command found in the program sequence.

If error is repeated, load firmware again. If the error appears again, the hardware is faulty.

1

Ill Illegal egal interr terru upt

Error rror durin ring prog rogram ram exec execu ution. on. An unused unused IRQ vector was used used by the CPU CPU..

2

Ini Initial tialiisati sation on err error

Inte Intern rnal al firm firmw ware are erro errorr.

3

Unex Unexp pecte ected d stat state e

Erro rror during peri eriphery ery acce accesss withi within n the CPU CPU or error in in the program sequence (illegal branching in case structures). structures).

15

16


3-23



Sub- Message index

17

0

Following error limit The threshold threshold of comparison comparison to exceeded the following (drag) error limit was exceeded.

Enlarge error window. window. Accelerati Acceleration on parameter parameter too large. Motor overloaded (current limitatio limitation n from it monitoring is active?).

1

Encoder difference monitoring

Deviation Deviation between between the actual position value value and commutation commutation position position is too great. External angle encoder not connected or faulty?

Deviation Deviation fluctuate fluctuates, s, e.g. due to gear backlash; cut-off threshold may need to be increased increased.. Check Check connec connectio tion n of the actual actual value encoder.

18

0

Analogue motor temperature

Motor temperature (analogue) greater greater than than 5° below T_max.

Check parametri parametrisati sation on of curren currentt regulator and/or speed regulator. Motor permanently overloaded? overloaded?

21

0

Error 1 current measurement U

Offset for current measurement If the error appears again, the hardware is faulty. 1 phase U is too great. The closed-loop controller carries out offset compens compensation ation of the current current measurement measurement every time its controller enable is issued. Tolerances which are too high lead to to an error. error.

1

Error 1 current measurement V

Offset for current measurement 1 phase V is too great.

2

Error 2 current measurement U

Offset for current measurement 2 phase U is too great.

3

Error 2 current measurement V

Offset for current measurement 2 phase V is too great.

0

PROFIBU IBUS: Faulty initialisation

Faulty Faulty initial initialisat isation ion of the Profibus technology technology module. TechTechnology nology module module defective? defective?

Replace Replace the technolog technologyy module. module. Repair Repair by the manufactur manufacturer er may be an option option..

2

PROFIBUS communicati munication on error

Fault aultss in comm commun unic icat atio ion. n.

Chec Check k the the slav slave e addr addres esss set. set. Check bus termination termination.. Check wiring. wiring.

22

3-24

Causes

Measures




Sub- Message index

... 22 3

25

26

Causes

Measures

PROFIBUS: Invalid slave address

Communication was started with Select a different slave address. slave address 126.

4

PROFIBUS: Value range error

During conversion with the factor group, the value range was exceeded. Mathematical error when converting physical units.

0

Invalid device type

Device coding not recognised or Fault cannot be rectified indeinvalid. pendently. Send the motor controller to the manufacturer.

1

Device type not supported

Device coding valid, but not sup- Load up-to-date firmware. If ported by the loaded firmware. newer firmware is not available, the problem may be a hardware defect. Send the motor controller to the manufacturer.

2

Hardware version not supported

The controller’s hardware version is not supported by the loaded firmware.

Check the firmware version; update the firmware to a more recent version if necessary.

3

Device functionality Device is not unlocked for this limited! function

Device is not unlocked for the desired functionality and may need to be unlocked by the manufacturer. The device must be sent to the manufacturer for this.

0

Missing user parameter set

No valid user parameter record in the flash memory

Load factory settings. If the error persists, the hardware may be faulty.

1

Checksum error

Checksum error in a parameter record

Load factory settings. If the error persists, the hardware may be faulty.


Value range of the data and the physical units do not match. Check and correct.

3-25



Sub- Message index

Causes

Measures

... 26

2

Flash: Write error

Error when writing to internal or external flash memory

Repeat the last operation. If the error appears again, the hardware may be faulty.

3

Flash: Delete error

Error when clearing internal or external flash memory

Repeat the last operation. If the error appears again, the hardware may be faulty.

4

Flash: Internal flash The default parameter record is error corrupted / data error in the FLASH range where the default parameter record is located.

Load firmware again. If the error appears again, the hardware may be faulty.

5

Missing calibration data

Factory-set calibration parameters incomplete/corrupted.

Fault cannot be rectified independently.

6

Missing user position data sets

Position data records incomplete or corrupt.

Load the factory settings or save the current parameters again so that the position data is written again.

7

Faulty data tables (CAM)

Data for the cam disk is corrupted.

Load the factory settings; if necessary, reload the parameter record. If the error persists, contact Technical Support.

0

Following error warning threshold

Motor overloaded? Check motor capacity. Acceleration or braking ramps are set too steep. Motor blocked? Commutation angle correct?

Check the parametrisation of the motor data. Check parametrisation of following error (drag error).

27

3-26




Sub- Message index

Causes

Measures

28

0

Missing operating hour meter

No record for an hours-run meter could be found in the parameter block. A new hoursrun meter was created. Occurs during initial start-up or a processor change.

Warning only, no further action necessary.

1

Operating hour meter: Write error

The data block in which the hours-run meter is stored could not be written to. Cause unknown; possibly problems with the hardware.

Warning only, no further action necessary. If the error occurs again, the hardware may be faulty.

2

Operating hour meter corrected

The hours-run meter has a Warning only, no further action backup copy. If the controller’s necessary. 24V power supply fails precisely when the hours-run meter is being updated, the written record may be corrupted. In such cases, the controller restores the hours-run meter from the intact backup copy when it switches back on.

3

Operating hour meter converted

Firmware was loaded in which Warning only, no further action the hours-run meter has a differ- necessary. ent data format. The next time the controller is switched on, the old hours-run meter record is converted to the new format.

0

Internal conversion error

Range exceeded for internal scaling factors which are dependent on the parametrised controller cycle times.

30


Check whether extremely short or extremely long cycle times were set in the parameters.

3-27



Sub- Message index

Causes

Measures

31

0

Motor It

Motor blocked? Motor under-sized?

Check power dimensioning of drive package.

1

Servo controller It

The It monitoring is responding frequently. Motor controller does not have the required capacity? Mechanical system is sluggish?

Check the design characteristics of the motor controller; use a more powerful type if necessary. Check the mechanical system.

2

PFC It

PFC power rating exceeded.

Parametrise operation without PFC (using FCT).

3

Braking resistor It

Overloading of the internal braking resistor. External braking resistor connected but not activated?

Use an external braking resistor and activate it. Check parametrisation of the external load resistance (FCT).

0

Intermediate circuit The intermediate circuit could charging time not be charged after the mains exceeded voltage was applied. A fuse may be faulty, or an internal braking resistor may be faulty, or, in the case of operation with an external resistor, that resistor is not connected.

Check interface to the external braking resistor. Alternatively, check whether the jumper for the internal braking resistor is in place. If the interface is correct, the internal braking resistor or the built-in fuse is probably faulty. On-site repair is not possible.

1

Undervoltage for active PFC

Check the power supply.

32

3-28

The PFC cannot be activated at all until an intermediate circuit voltage of about 130 VDC is reached.




Sub- Message index

... 32 5

Brake chopper overload. Intermediate circuit could not be discharged.

Causes

Measures

The utilisation of the brake chopper when quick discharge began was already in the range above 100%. Quick discharge took the brake chopper to the maximum load limit and was prevented/aborted.

No measures required

6

Intermediate circuit Intermediate circuit could not be discharge time ex- quickly discharged. The internal ceeded braking resistor may be faulty or, in the case of operation with an external resistor, that resistor is not connected.

Check interface to the external braking resistor. Alternatively, check whether the jumper for the internal braking resistor is in place. If the internal resistor has been activated and the jumper has been positioned correctly, the internal braking resistor is probably faulty. On-site repair is not possible.

7

Power supply missing for controller enable

Controller enable was issued when the intermediate circuit was still in its charging phase after mains voltage was applied and the mains relay was not yet activated. The drive cannot be enabled in this phase, because the drive is not yet firmly connected to the mains (through the mains relay).

In the application, check whether the mains supply and controller enable signals were sent one quickly after the other.

8

Power supply failure during controller enable

Interruptions/failure in the power supply while the controller enable was activated.


9

Phase failure

Failure of one or more phases (only in the case of three-phase supply).



3-29



Sub- Message index

Causes

Measures

33

0

Encoder emulation following error

The critical frequency for encoder emulation was exceeded (see manual) and the emulated angle at X11 was no longer able to follow. Can occur when very high numbers of lines are programmed at X11 and the drive reaches high velocities.

Check whether the parametrised number of lines may be too high for the velocity being represented. Reduce the number of lines if necessary.

34

0

No synchronisation When activating the interpolated Check the settings for the convia Fieldbus position mode, the controller troller cycle times. could not be synchronised to the fieldbus. The synchronisation messages from master may have failed. Or the IPO interval is not correctly set to the synchronisation interval of the fieldbus.

1

Fieldbus synchronisation error

3-30

Synchronisation via fieldbus messages during ongoing operation (interpolated position mode) has failed. Synchronisation messages from master failed? Synchronisation interval (IPO interval) set too small/too large?

Check the settings for the controller cycle times.




Sub- Message index

Causes

Measures

35

0

Linear motor spinning protection

Encoder signals are faulty. The motor may be racing (“spinning”) because the commutation position has been shifted by the faulty encoder signals.

Check that installation complies with EMC recommendations. In the case of linear motors with inductive/optical encoders with separately mounted measuring tape and measuring head: check the mechanical clearance. In the case of linear motors with inductive encoders, make sure that the magnetic field of the magnets or the motor winding does not leak into the measuring head (this effect usually occurs when high accelerations = high motor current).

5

Error during the determination of the commutation position

The rotor position could not be Check the method for determinidentified clearly. The selected ing the commutation position. 1) method may be inappropriate. The selected motor current for the identification may not be set appropriately.

1)

Notes on determining the commutation position: a) The alignment method is inappropriate for locked or sluggish drives or drives capable of low-frequency oscillation. b) The microstep method is appropriate for air-core and iron-core motors. As only very small movements are carried out, it works even when the drive is on elastic stops or is locked but can still be moved elastically to some extent. Due to the high excitation frequency, however, the method is very susceptible to oscillations in the case of poorly damped drives. In such cases, you can attempt to reduce the excitation current (%). c) The saturation method uses local occurrences of saturation in the iron of the motor. Recommended for locked drives. Air-core drives are by definition not suitable for this method. If the (iron-core) drive moves too much when locating the commutation position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient.


3-31



Sub- Message index

Causes

Measures

36

0

Parameter was limited

An attempt was made to write a value which was outside the permitted limits, so the value was limited.

Check the user parameter record.

1

Parameter was not accepted

An attempt was made to write to an object which is “read only” or is not write-capable in the current state (e.g. with controller enable active).

0

SERCOS: Received data disrupted

The signal on the Sercos bus is faulty. The cause in this case could be poor plug connectors or screw fittings which have not been tightened. This problem can also occur when the light output is set too high (overloading).

Check all connections and cables (broken cable or connector not tightened). Check the settings for light output in the ring (too high/too low).

1

SERCOS: Fibreoptic ring interrupted

The Sercos ring is not closed. The cause could be a broken cable.

Check that all cables are connected and none are broken.

2

SERCOS: 2-fold MST failure

Two successive master sync telegrams from the master are missing. This error usually occurs together with “Ring not closed” or “Massive distortion”. Either the ring was interrupted during operation, or the master is no longer sending sync telegrams.

Check the Sercos ring (and check for interruptions). Check that the master is still operating correctly.

3

SERCOS: Invalid The master specifies an invalid Check the program in the phase specification phase shift (e.g. a phase is to be SERCOS master. in MST info skipped). The cause lies in the master software.

37

3-32




Sub- Message index

Causes

Measures

Two successive master data telegrams from the master are missing. This error usually occurs together with “Ring not closed” or “Massive distortion”. Either the ring was interrupted during operation, or the master is no longer sending data telegrams.

Check the Sercos ring and check for interruptions. Check that the master is still operating correctly.

5

SERCOS: Shift to The master wants to go into an unknown operating operating mode which is not mode supported by the drive.

Check the settings for the operating modes in IDNs S-0-0032 to S-0-0035.

6

SERCOS: T3 invalid The master specifies an invalid time for taking on the setpoint values (T3). This lies within the transmission time of ATs or MDTs on the bus. The T3 time is determined by the master during phase run-up. The cause could be either invalid timing by the master or the transmission of too much cyclic data for the cycle time used.

Increase the baud rate to shorten the transmission time of the telegrams on the bus. Increase the cycle time. Move T3 time manually (can be done by manually entering an offset for T3 on the Beckhoff control systems, for example).

0

SERCOS: SERCON status event

SERCOS prog.: error during inIf possible, replace the technolitialisation of the SERCON chip ogy module and send it to the on the SERCOS technology mod- manufacturer for checking. ule.

1

SERCOS: No module present

When the Sercos bus was activated, no valid module was detected.

... 37 4

38

SERCOS: 2-fold MDT failure


Check that a Sercos module is plugged into TECH2. Replace the technology module if possible.

3-33



Sub- Message index

... 38 2

3-34

SERCOS: Defective module

Causes

Measures

The hardware test of the module Replace the technology module (the memory test) failed when and send it to the manufacturer the Sercos bus was activated. for checking. If the error still occurs with a replacement technology module, the motor controller must be sent to the manufacturer for checking.

3

SERCOS: S-0-0127: In the command “Phase transiInvalid data in tion CP2 -> CP3” it was found S-0-0021 that some of the configuration data transmitted in CP2 is faulty. The following settings are checked here by the master: – Configuration of the cyclically transmitted parameters in AT and MDT. – Timing information.

Configuration of the cyclic data for MDT and AT (in some circumstances, parameters not supported there might be configured). Time slot calculation by the master?

4

SERCOS: S-0-0127: Unknown/invalid IDNs were Check the configuration of the Invalid IDNs in AT configured for the parameters to data to be transmitted cyclically. or MDT be transmitted cyclically in MDT and AT.

5

SERCOS: S-0-0128: In the command “Phase transiInvalid data in tion CP3 -> CP4” it was found S-0-0022 that some of the configuration data in CP3 is faulty. The following settings are checked: – Weighting settings. – Operating mode settings.

Check the weighting settings. Check the operating mode settings (also for internal/external angle encoder).

6

SERCOS: S-0-0128: Invalid weighting settings were Weighting found in the command “Phase parameters faulty transition CP3 -> CP4”.

Check the weighting settings.




Sub- Message index

... 38 6

39

Causes

Measures

SERCOS: S-0-0128: SERCOS phase run-up: error in Please contact Technical Weighting paracommand S-0-0128 - error in the Support if necessary. meters faulty setting of the weighting parameters.

7

SERCOS: Invalid IDN in S-0-0026 / S-0-0027

8

SERCOS: Error dur- An internal conversion error has ing conversion occurred (when converting from bus into internal basic units, or vice versa). The weighting settings must be checked here. Overflow, underflow or some other internal mathematical error has occurred.

9

SERCOS: SERCON 410b mode active

SERCOS activation: SERCON 816 Replace the technology module is being operated in SERCON and send it to the manufacturer 410b compatibility mode. for checking.

0

SERCOS: List S-0-0370: MDT data container configuration error

Reserved: SERCOS: error in configuration list S-0-0370 for MDT data container.

1

SERCOS: List S-0-0371: AT data container configuration error

Reserved: SERCOS: error in configuration list S-0-0371 for AT data container.

2

SERCOS: Error in MDT cyclic channel

Reserved: SERCOS: error in MDT cyclic channel.

3

SERCOS: Error in AT cyclic channel

Reserved: SERCOS: error in AT cyclic channel.


Invalid IDNs were configured for the Sercos “signal status word” or the “Sercos signal control word”.

Check the configuration in signal status and control words in the IDN lists S-0-0026 and S-0-0027. Check the use of an alternative weighting.

–

3-35



Sub- Message index

Causes

Measures

... 39

4

SERCOS: Error in MDT cyclic data container

Reserved: SERCOS: error in MDT cyclic data container.

–

5

SERCOS: Error in AT cyclic data container

Reserved: SERCOS: error in AT cyclic data container.

0

Negative software limit switch reached

The position setpoint has reached or exceeded the respective software limit switch.

1

Positive software limit switch reached

2

Target position behind the negative software limit switch

3

Target position behind the positive software limit switch

41

0

Record chaining: Synchronisation error

Start of synchronisation without Check the derivative action setprior sampling pulse tings in the parameters.

42

0

Positioning: Missing subsequent positioning: Stop

The positioning target cannot be reached due to the options for positioning or ancillary parameters.

1

Positioning: Rotation reversal is not allowed: Stop

2

Positioning: Rotation reversal after stop is not allowed

40

3-36

Check the target data. Check the positioning range.

Start of a positioning task was suppressed because the target lies behind the respective software limit switch.

Check parameters of the position records in question.




Sub- Message index

... 42 3

43

Causes

Measures

Start positioning rejected: Wrong mode of operation

Switching of the operating mode Check parameters of the by the positioning record was position records in question. not possible.

4

Start positioning rejected: Please enforce homing run!

A normal positioning record was started, but the drive needs a valid reference position before starting.

Reset optional “Homing required” parameter. Carry out homing again after resetting an angle encoder error.

5

Rotary axis: Direction of rotation is not allowed

The positioning target cannot be reached due to the options for positioning or ancillary parameters. The calculated direction of rotation is not permitted for the rotary axis in the set mode.

Check the selected mode.

9

Error when starting Acceleration limit exceeded or the positioning task positioning record disabled.

0

Limit switch: Nega- Negative hardware limit switch Check parameters, wiring, and limit switches. tive setpoint locked reached.

1

Limit switch: Posi- Positive hardware limit switch tive setpoint locked reached.

2

Limit switch: Positioning suppressed


The drive has left the intended range of motion. Technical defect in the system?

Check parametrisation and sequence control and correct if necessary.

Check the intended range of motion.

3-37



Sub- Message index

Causes

Measures

44

0

Fault in the cam disk tables

Cam disk to be started not available.

Check transmitted cam disk number. Correct parametrisation or programming

1

Cam disk: general fault in referencing

Starting a cam disk when homing is required but the drive is not yet referenced.

Carry out homing.

Start homing with active cam disk

Deactivate cam disk. Then restart cam disk if necessary

45

0

Driver supply can- During activation of “Safe standnot be switched off still” the driver supply was not switched off within an adequate time.

The internal logic may be being disrupted by high-frequency switching operations at the input for safe standstill. Check control; the error must not appear again. If the error occurs repeatedly: Check the firmware (released version?) If all of the above possibilities have been ruled out, the motor controller hardware is faulty. •

1

47

3-38

Driver supply cannot be activated

During deactivation of “Safe standstill” the driver supply was not switched on within an adequate time.

2

Driver supply was activated

The internal driver supply was re-applied even though safe standstill had been activated.

0

Thread mode error: The speed required for setCheck the processing of the conTimeout expired ting-up was not reduced enough trol-side requirements. in the time allotted.

•

If the error appears repeatedly when safe standstill is activated, the motor controller hardware is faulty.




Sub- Message index

Causes

49

2

DCO file: Data fault

– Formatting error in the DCO – file. – Faulty parameters in the DCO file (invalid value). – Error during KO access (read or write). Note: error 49-2 is not triggered in the case of the SD card. Instead error 29-2 is triggered (due to compatibility with CMMS-ST)

50

0

Too many synchronous PDOs

More PDOs have been activated than can be processed in the underlying SYNC interval. This message also appears if only one PDO is to be transmitted synchronously, but a high number of other PDOs with a different transmission type have been activated.

Check the activation of PDOs. If the configuration is appropriate, the warning can be suppressed using error management. Extend the synchronisation interval.

1

SDO errors have occurred

An SDO transfer has caused an SDO abort, for example due to data exceeding the value range or accessing of an object which does not exist.

Check the command sent.


Measures

3-39



Sub- Message index

Causes

Measures

51

0

No/unknown FSM module

Unknown module type (reading of EEPROM).

–

1

FSM: Driver supply is faulty

Signal RM_5V_OS or RM_5V_US – is not present (FSM blind).

2

Unequal module type

Unequal module type (reading EEPROM and comparing with data in the parameter FLASH memory).

–

3

Unequal module version

Unequal version number for an otherwise equal module type (reading EEPROM and comparing with data in the parameter FLASH memory).

–

60

0

Ethernet user-specific (1)

Reserved.

–

61

0

Ethernet user-specific (2)

Reserved.

–

3-40




Sub- Message index

Causes

Measures

62

0

EtherCAT: general bus error

No EtherCAT bus present.

Switch on the EtherCAT master. Check cabling.

1

EtherCAT: Initialisa- Error in the hardware. tion fault

2

EtherCAT: Protocol error

CAN over EtherCAT is not in use. Incorrect protocol. EtherCAT bus cabling fault.

3

EtherCAT: Invalid RPDO length

Sync manager 2 buffer size is too large.

Check the RPDO configuration of the motor controller and the higher-level control system.

4

EtherCAT: Invalid TPDO length

Sync manager 3 buffer size is too large.

Check the TPDO configuration of the motor controller and the higher-level control system.

5

EtherCAT: Cyclic data transmission error

Emergency shut-down due to failure of cyclic data transmission.

Check the configuration of the master. Synchronous transmission is unstable.

0

EtherCAT: Defective Error in the hardware. module

Replace the technology module and send it to the manufacturer for checking.

1

EtherCAT: Invalid data

Faulty telegram type.

Check the cabling.

2

EtherCAT: TPDO data not read

The buffer for sending the data is full.

The data was sent faster than the motor controller could process it. Reduce the cycle time on the EtherCAT bus.

63


Replace the technology module and send it to the manufacturer for checking.

3-41



Sub- Message index

Causes

Measures

EtherCAT: No distributed clocks active

Warning: firmware is synchronising with the telegram, not with the distributed clocks system. When the EtherCAT was started, no hardware SYNC (distributed clocks) was found. The firmware now synchronises with the EtherCAT frame.

If necessary, check whether the master supports the distributed clocks feature. If not: ensure that the EtherCAT frames are not disrupted by other frames if the interpolated position mode is to be used.

4

A SYNC message is missing in the IPO cycle

Telegrams are not being sent in the time slot pattern of the IPO.

Check the station responsible for distributed clocks.

0

DeviceNet: Duplicate MAC ID

The duplicate MAC ID check has Change the MAC ID of one of the found two nodes with the same nodes to a value which is not alMAC ID. ready used.

1

DeviceNet: Bus voltage missing

The DeviceNet module is not supplied with 24 V DC.

2

DeviceNet: Receive Too many messages received buffer overflow within a short period.

Reduce the scan rate.

3

DeviceNet: Send buffer overflow

Not sufficient free space on the CAN bus for sending messages.

Increase the baud rate, reduce the number of nodes or reduce the scan rate.

4

DeviceNet: IO message not sent

Error in sending I/O data.

Check that the network is connected correctly and has no faults.

5

DeviceNet: Bus Off

The CAN controller is BUS OFF.

Check that the network is connected correctly and has no faults.

6

DeviceNet: CAN controller reports overrun

The CAN controller has an overrun.

Increase the baud rate, reduce the number of customer nodes or reduce the scan rate.

... 63 3

64

3-42

In addition to the motor controller the DeviceNet module must also be connected to 24 V DC.




Sub- Message index

Causes

65

0

DeviceNet activated, but no module

The DeviceNet communication is Deactivate the DeviceNet comactivated in the parameter remunication or connect a module. cord of the motor controller, but no module is available.

1

IO connection time- Interruption of an I/O connecout tion.

No I/O message received within the expected time.

1

FHPP: Overrun/underrun or division by Mathematical error zero during calculation of cyclic data.

Check the cyclic data and/or check the factor group.

2

FHPP: Factor group invalid

Check the factor group.

3

FHPP: Invalid oper- Changing from the current to the Check your application. It may ating mode change desired operating mode is not be that not every change is perpermitted. mitted.

1

FHPP: Invalid receive telegram

Too little data is being transmitted by the control system (data length too short).

2

FHPP: Invalid response telegram

Too much data is set to be transmitted from the CMMP-AS to the control system (data length too great).

0

Overflow current controller IRQ

1

Overflow speed controller IRQ

The process data could not be Please contact Technical calculated in the set current/vel- Support. ocity/position interpolator cycle.

2

Overflow position controller IRQ

3

Overflow interpolator IRQ

4

Overflow low-level IRQ

5

Overflow MDC IRQ

70

71

80

81


Calculation of the factor group leads to invalid values.

Measures

Check the data length parametrised in the control system for the controller’s received telegram and/or check the configured data length in the FHPP+ Editor in the FCT.

3-43



Sub- Message index

82

0

Sequencing control IRQ4 overflow (10 ms low-level IRQ).

Internal sequence control: process interrupted. Only for information - no measures required.

83

0

Invalid technology module

The technology module plugged in could not be detected or the loaded firmware was unknown. A supported technology module might be plugged into the wrong slot (e.g. SERCOS 2, EtherCAT).

Check the firmware to find out whether the technology module is supported. If yes, then check that the technology module is in the right place and is plugged in correctly. If necessary, replace technology module and/or firmware.

1

Technology module The technology module plugged not supported in could be detected, but is not supported by the loaded firmware.

Check the firmware to find out whether the technology module is supported. If necessary, replace the firmware.

2

Technology module: Hardware version not supported

The technology module plugged in could be detected and is also usually supported, however in this case the current hardware version is not supported (because it is too old). Examples include the ProfiBus piggy-back and the EA88 piggyback, which were produced in an initial 5V version (Version 1.0) but which cannot run on the current motor controller.

The technology module must be replaced. If necessary, contact Technical Support. With the ProfiBus or EA88 module, use hardware version 2.0 or greater.

3

Service module: Write error

Data access to the service module (FLASH technology module) is being disrupted. There were sectors which could not be written or cleared.

Switch on the device again (24V). If the error appears again, the hardware of the FLASH module is faulty. In that case replace the module. If that is not successful, the hardware of the motor controller is defective and on-site repair is not possible.

4

MC2000 Watchdog

Reserved.

–

... 83

3-44

Causes

Measures




Sub- Message index

Causes

Measures

85 ... 89

0

Reserved.

–

–

90

0

Missing hardware External SRAM not detected / component (SRAM) not sufficient.

Hardware error (SRAM component or board is defective).

1

Missing hardware component (FLASH)

External FLASH not detected / not sufficient.

Hardware error (FLASH component or board is defective).

2

Error at FPGA boot-up

The FPGA cannot be booted. The Switch on the device again FPGA is booted serially when the (24V). If the error appears again, device is started, but in this case the hardware is faulty. it could not be loaded with data or it reported a checksum error.

3

Error at SD-ADU start

SD-ADUs cannot be started. One Switch on the device again or more SD-ADUs are not sup(24V). If the error appears again, plying any serial data. the hardware is faulty.

4

SD-ADU synchronisation error after start

SD-ADU not synchronous after Switch on the device again starting. During operation, the (24V). If the error appears again, SD-ADUs for the resolver signals the hardware is faulty. continue running with strict synchronisation once they have been initially started synchronously. The SD-ADUs could not be started at the same time during that initial start phase.


3-45



Sub- Message index

Causes

Measures

... 90

5

SD-ADU not synchronous

SD-ADU not synchronous after starting. During operation, the SD-ADUs for the resolver signals continue running with strict synchronisation once they have been initially started synchronously. This is checked continually during operation and an error may be triggered.

Severe EMC interference could theoretically also cause this effect. Switch on the device again (24V). If the error appears again, the hardware is faulty (almost certainly one of the three SD-ADUs).

6

IRQ0 (current controller): Trigger error

The output stage is not trigger- Switch on the device again ing the software IRQ which then (24V). If the error appears again, operates the current regulator. the hardware is faulty. Very likely to be a hardware error on the board or in the processor.

7

No CAN controller present

CAN controller chip could not be In the case of a firmware error, found or is defective. an update must be loaded. In the case of a hardware error (CAN chip or board defective), the hardware is faulty.

8

Device parameters checksum error

The device parameter record, Check the firmware version, which includes description of and update the firmware if the output stage data, is incon- necessary. sistent. Since it is itself part of the firmware, this error can only occur with beta versions.

9

DEBUG firmware loaded

A beta version compiled for the Check the firmware version, debugger was loaded as normal. and update the firmware if necessary.

0

Internal initialisation error

Internal SRAM too small for the compiled firmware. Can only occur with beta versions.

91

3-46

Check the firmware version, and update the firmware if necessary.



3.4.2

CMMS/CMMD fault numbers

Error messages CMMS/CMMD Main index

SubFault index code

Meaning of error message

Measures

01

0

6180

Stack overflow

Incorrect firmware? Reload standard firmware if necessary. Contact Technical Support.

02

0

3220

Undervoltage in intermediate circuit

Undervoltage monitoring is configured using the FCT. Measure intermediate circuit voltage. Check configuration.

03

0

4310

Motor temperature monitoring

Motor too hot? Check parameters (current regulator, current limits) Right sensor? Cable broken? Sensor defective? If the error remains even when the sensor is bridged: device defective.

03

1

4310

Motor temperature monitoring

Fault in digital motor temperature sensor.

04

0

4210

Over-/under-temperature in power electronics

Temperature display plausible? Check installation conditions (cooling: via the housing surface, the integrated heat sink and back wall)

05

0

5114

5V supply fault

Fault cannot be rectified independently. Send the motor controller to the manufacturer.

1

5115

24V supply fault (out of range)

16V < U24V < 32V = OK, otherwise NOK

2

5116

12V electronics supply fault

11V < U12V < 13V = OK, otherwise NOK

8000

Driver supply fault

Fault in the plausibility check of the driver supply (safe standstill)


3-47



Sub- Fault index code


Measures

06

0

2320

Overcurrent of the intermediate circuit/power stage

Motor defective? Short circuit in the cable? Output stage defective?

07

0

3210

Overvoltage in intermediate circuit

Check the connection to the braking resistor. Check design (application).

08

2

7380

Encoder supply fault

4V < U_encoder < 6V = OK, otherwise NOK

6

7386

CMMS-AS/ CMMD-AS only: SINCOS-RS485 communication error

Angle encoder cable connected?

8

7388

CMMS-AS/ CMMD-AS only: Internal angle encoder error

Alarm bit set in the EnDat encoder.

11

1

8A81

Error during homing

Homing was interrupted, e.g. by withdrawal of controller enable or by a limit switch. Check whether the limit switches are connected in the correct direction of travel or whether the limit switches have an effect on the intended inputs. Check phase sequence of the motor connection. Check configuration of the reference switches. Move limit switch so that it is not in the zero pulse area.

12

2

8181

CAN communication error

Common error: 1. Error when sending a message (e.g. no bus connected) 2. Timeout when receiving the SYNC messages in interpolated position mode

14

9

6197

Motor identification fault

Error when automatically determining the motor parameters.

16

2

6187

Initialisation fault

Error initialising the default parameters.

16

3

6183

Unexpected status/programming error

The software went into an unexpected state, e.g. unknown state in the FHPP state machine.

3-48






Measures

17

0

8611

Following error limit exceeded

Enlarge error window. Acceleration parameter too large.

18

0

4380

Motor temperature 5°C below maximum

The motor temperature is less than 5°C below the parametrised maximum temperature

1

4280

Output stage temperature 5°C below maximum

CMMS-ST: the output stage temperature is greater than 80°C CMMS-AS/CMMD-AS: the output stage temperature is greater than 90°C

19

0

2380

I T at 80%

Common error: 80% of the maximum IT utilisation has been reached by the closed-loop controller or by the motor.

21

0

5210

Fault in offset current measurement

Fault cannot be rectified independently. Send the motor controller to the manufacturer.

22

0

7500

PROFIBUS: faulty initialisation

Extension module defective? Please contact Technical Support.

2

7500

Communication fault PROFIBUS

Check the set slave address. Check bus termination Check wiring

25

1

6081

Hardware error

Motor controller and firmware are not compatible. Update the firmware.

26

1

5581

Checksum error

Fault cannot be rectified independently. Please contact Technical Support.

29

0

7680

No SD

Tried to access missing SD card.

1

7681

SD initialisation error

Error on initialisation / communication not possible.

2

7682

SD parameter record error

Checksum incorrect / file missing / incorrect file format / error when saving the parameter file to the SD card


3-49





Measures

31

0

2312

It fault on motor (It at 100%)

It monitoring of the motor has responded; motor/ mechanical system blocked or sluggish?

1

2311

I t fault on controller (It at 100%)

It monitoring of the controller has responded. Check power dimensioning of drive package.

0

3280

CMMS-AS/ CMMD-AS only: Intermediate circuit pre-charging fault

Intermediate circuit could not be charged (UIC < 150V)

8

3285

CMMS-AS/ CMMD-AS only: Fault: controller enable without intermediate circuit

Power failure after controller enable is issued

35

1

6199

Timeout for quick stop

The parametrised time for quick stop was exceeded

40

0

8612

Fault: SW limit switch reached

Negative software limit switch reached.

1

8612


Positive software limit switch reached.

2

8612


Target position is behind the negative software limit switch

3

8612


Target position is behind the positive software limit switch

8

6193

Fault: record chaining, unknown command

Unknown command found during record chaining

9

6192

Route program jump target error

Jump to a positioning record outside the permitted range

32

41

3-50






Measures

42

1

8681

Positioning: Error in pre-calculation

The positioning target cannot be reached due to the options for positioning or ancillary parameters. Check parameters of the position records in question.

4

8488

Homing required

No positioning possible without homing. Homing must be carried out.

9

6191

Position data record error

Common error: 1. An attempt is being made to start an unknown or deactivated position record. 2. The set acceleration is too small for the maximum velocity permitted. (Risk of computational overrun in trajectory calculation)

0

8612

Fault in limit switch

Negative hardware limit switch reached. Check parameters, wiring, and limit switches.

1

8612


Positive hardware limit switch reached. Check parameters, wiring, and limit switches.

9

8612


Both limit switches active at the same time. Check parameters, wiring, and limit switches.

0

8000

Driver supply fault

The driver supply is still active despite request of the 'Safe Halt'. 1)

1

8000

Driver supply fault

The driver supply is activated again, even though the "Safe Halt" has been requested. 1)

2

8000

Driver supply fault

The driver supply has not been reactivated, even though the 'Safe Halt' is no longer requested. 1)

3

8087

DIN4 plausibility error

Error during plausibility check of output stage enable.

43

45

1) The internal logic might malfunction due to high-frequency switching operations at the input for the safe halt -> Check activation. If the error occurs again -> Check firmware (released version?). If these possibilities have been excluded, the hardware of the motor controller is defective.


3-51





Measures

64

1

7584

DeviceNet general error

The 24V bus voltage is missing

2

7582

DeviceNet communication error

Receive buffer overflow

3

7582


Send buffer overflow

4

7582


IO message could not be sent

5

7582


Bus Off

6

7582


Overrun in the CAN controller

0

7584

DeviceNet general error

Common error: Communication has been activated even though there is no piggy-back module plugged in. The DeviceNet piggy-back is attempting to read an unknown KO. Unknown DeviceNet error.

1

7583

DeviceNet initialisation error

DeviceNet piggy-back initialisation error: Node number exists twice

7582


IO connection timeout

2

6195

General arithmetic error

The FHPP factor group cannot be calculated correctly.

3

6380

Operating mode error

Prohibited change of operating mode. E.g. Profile Torque mode (torque control) on CMMSST in open-loop-controlled operation or parametrisation mode in FHPP; change in operating mode when output stage is released.

65

70

3-52






Measures

76

0

8100

CMMD-AS only: SSIO communication error (master - slave)

Common error: 1. Checksum error during transmission of SSIO protocol 2. Timeout during transmission

1

8100

CMMD-AS only: SSIO communication error (partner)

SSIO partner has error 760.

0

7510

RS232 communication error

Overrun when receiving RS232 commands.

79

3.5

Diagnosis using FHPP status bytes The controller supports the following diagnosis options using FHPP status bytes (see section 1.4): –

SCON.B2 (WARN) – Warning

–

SCON.B3 (FAULT) – Fault

–

SPOS.B5 (DEV) – Drag fault

–

SPOS.B6 (STILL) – Standstill control

In addition, all diagnostic information available as PNU (e.g. the diagnostic memory) can be read over FPC (Festo Parameter Channel  Section 5.1) or FHPP+ (  Appendix B.1).


3-53


3-54


Parameters

Chapter 4

Parameters


4-1

4. Parameters

Contents

4.1 4.2

FHPP general parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 4.4

4.2.1 Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 Overview of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Descriptions of FHPP parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13 4.4.1 Representation of the parameter entries . . . . . . . . . . . . . . . . . . . . . 4-13 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.4.7 4.4.8 4.4.9 4.4.10 4.4.11 4.4.12 4.4.13 4.4.14

4-4 4-5

PNUs for the telegram entries for FHPP+ . . . . . . . . . . . . . . . . . . . . . Device data – Standard parameters . . . . . . . . . . . . . . . . . . . . . . . . . Device data – Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . On-the-fly measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Record list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – General project data . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project data – Direct mode, Profile Position mode . . . . . . . . . . . . . Project data – Direct mode, Profile Torque mode . . . . . . . . . . . . . . Project data – Direct mode, Profile Velocity mode . . . . . . . . . . . . .

4-14 4-16 4-17 4-20 4-24 4-29 4-30 4-42 4-43 4-44 4-45 4-46 4-47

Function data – Camming function . . . . . . . . . . . . . . . . . . . . . . . . . . Function data – Position triggers and rotor position triggers . . . . . Axis parameters for electric drives 1 – Mechanical parameters . . . Axis parameters for electric drives 1 – Homing parameters . . . . . . Axis parameters for electric drives 1 – Closed-loop controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.20 Axis parameters for electric drives 1 – Electronic rating plate . . . . 4.4.21 Axis parameters for electric drives 1 – Standstill control . . . . . . . .

4-48 4-50 4-53 4-56

4.4.15 4.4.16 4.4.17 4.4.18 4.4.19

4-58 4-61 4-62

4.4.22 Axis parameters for electric drives 1 – Drag error monitoring . . . . 4-63 4.4.23 Axis parameters for electric drives 1 – Other parameters . . . . . . . . 4-63 4.4.24 Function parameters for digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . 4-64

4-2


4. Parameters

4.1

FHPP general parameter structure A controller contains a parameter record for each axis with the following structure.

Group

Indices

Description

Administrative and configuration data

1 ... 99

Special objects, e.g. for FHPP+

Device data

100 ... 199

Device identification and device-specific settings, version numbers, etc.

Diagnostics

200 ... 299

Diagnostic events and diagnostic memory. Fault numbers, fault time, incoming/outgoing event.

Process data

300 ... 399

Current setpoint and actual values, local I/Os, status data etc.

Record list

400 ... 499

A record contains all the setpoint value parameters required for a positioning procedure.

Project data

500 ... 599

Basic project settings. Maximum speed and acceleration, project zero point offset etc. --> parameters are the basis for the record list.

Function data

700 ... 799

Parameters for special functions, e.g. for the camming function.

Axis data for electric drives 1

1000 ... 1099 All axis-specific parameters for electric drives: gear ratio, feed constant, reference parameters, etc.

Function parameters for digital I/Os

1200 ... 1239 Specific parameters for control and evaluation of the digital I/Os.

Tab. 4/1: Parameter structure


4-3

4. Parameters

4.2

Access protection

4.2.1 Access via PLC and FCT The user can prevent the drive from being operated simultaneously by PLC and FCT. The CCON.B5 bit (FCT access locked) and the SCON.B5 bit (FCT control sovereignty) are used for this.

Preventing FCT operation: CCON.B5 (LOCK) By setting the CCON.B5 control bit, the PLC prevents the FCT from taking over control sovereignty. So if the LOCK is set, FCT cannot write parameters or control the drive, execute homing etc. The PLC is programmed not to enable this until the user carries out the relevant action. This generally exits automatic operation. This means that the PLC programmer can ensure that the PLC always knows when it has control over the drive. Important: the block is active if the CCON.B5 bit has logic 1. It therefore does not need to be set compulsorily. A user who does not need this type of locking can always set the bit to 0.

Control sovereignty acknowledgment for FCT: SCON.B5 (LOCK) This bit informs the PLC that the drive is controlled by the FCT and that the PLC no longer has any control over the drive. This bit does not need to be evaluated. The PLC can react by switching to stop or manual operation.

4-4


4. Parameters

4.3

Overview of FHPP parameters The following overview (Tab. 4/2) shows the F HPP’s parameters. The parameters are described in sections 4.4.2 to 4.4.21. General remarks on the parameter names: The names are largely based on DS 402. Some names may vary from product to product while the functionality remains the same (e.g. in FCT). Examples: velocity and speed, or torque and force.

Name

Controller FHPP PNU

Subind.

Type

PNUs for the FHPP+ telegram entries (see section 4.4.2) FHPP Receive Telegram (FHPP telegram received by controller)

CMMP

40

1 ... 10

uint32

FHPP Response Telegram (FHPP telegram sent by controller)

CMMP

41

1 ... 10

uint32

FHPP Receive Telegram State (state of FHPP telegram received by controller)

CMMP

42

1

uint32

FHPP Response Telegram State (state of FHPP telegram sent by controller)

CMMP

43

1

uint32

Manufacturer Hardware Version

All

100

1

uint16

Manufacturer Firmware Version

All

101

1

uint16

Version FHPP

All

102

1

uint16

Project Identifier

All

113

1

uint32

Controller Serial Number

CMMP

114

1

uint32

1 ... 12

uint8

Device data Device data – Standard parameters (see section 4.4.3)

CMMS/CMMD 114


4-5

4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

Device data – Extended parameters (see section 4.4.4) Manufacturer Device Name

All

120

1 ... 30

uint8

User Device Name

All

121

1 ... 32

uint8

Drive Manufacturer

All

122

1 ... 30

uint8

HTTP Drive Catalog Address

All

123

1 ... 30

uint8

Festo Order Number

All

124

1 ... 30

uint8

Device Control

All

125

1

uint8

Data Memory Control

All

127

1 ... 6

uint8

Diagnostic Event

CMMP

200

1 ... 32

uint8

Fault Number

CMMP

201

1 ... 32

uint16

CMMS/CMMD 201

1 ... 4

uint16

Fault Time Stamp

CMMP

202

1 ... 32

uint32

Fault Additional Information

CMMP

203

1 ... 32

unt32

Diagnosis Memory Parameter

CMMP

204

1, 2, 4

uint8

Fieldbus Diagnosis

CMMP

206

5

uint8

Device Warnings

CMMP

210

1 ... 16

uint8

Warning Number

CMMP

211

1 ... 16

uint16

Warning Time Stamp

CMMP

212

1 ... 16

uint32

Warning Additional Information

CMMP

213

1 ... 16

unt32

Warning Memory Parameter

CMMP

214

1, 2, 4

uint8

Position Values

All

300

1 ... 3

int32

Torque Values

All

301

1 ... 3

int32

Local Digital Inputs

All

303

1, 2, 4

uint8

Local Digital Outputs

All

304

1, 3

uint8

Maintenance Parameter

All

305

3

uint32

Velocity Values

All

310

1 ... 3

int32

State Signal Outputs

All

311

1, 2

uint32

Diagnosis (see section 4.4.5)

Process data (see section 4.4.6)

4-6


4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

All

350

1, 2

int32

Record Status

All

400

1 ... 3

uint8

Record Control Byte 1

CMMP

401

1 ... 250

uint8

CMMS/CMMD 401

1 ... 63

uint8

CMMP

1 ... 250

uint8

CMMS/CMMD 402

1 ... 63

uint8

CMMP

1 ... 250

int32

CMMS/CMMD 404

1 ... 63

int32

CMMP

1 ... 250

int32

CMMS/CMMD 405

1 ... 63

int32

CMMP

1 ... 250

uint32

CMMS/CMMD 406

1 ... 63

uint32

CMMP

1 ... 250

uint32

CMMS/CMMD 407

1 ... 63

uint32

CMMP

1 ... 250

uint32

CMMS/CMMD 408

1 ... 63

uint32

Record Velocity Limit

CMMP

412

1 ... 250

uint32

Record Jerkfree Filter Time

CMMP

413

1 ... 250

uint32

CMMS/CMMD 413

1 ... 63

uint32

Record Profile

CMMS/CMMD 414

1 ... 63

uint8

Record Following Position

CMMP

1 ... 250

uint8

CMMS/CMMD 416

1 ... 63

uint8

Record Torque Limitation

CMMP

418

1 ... 250

uint32

Record CAM ID (cam disk number for record)

CMMP

419

1 ... 250

uint8

Record Remaining Distance Message

CMMP

420

1 ... 250

uint32

Record Control Byte 3

CMMP

421

1 ... 250

uint8

On-the-fly measurement (see section 4.4.7) Position Value Storage

Record list (see section 4.4.8)

Record Control Byte 2 Record Setpoint Value Record Preselection Value Record Velocity Record Acceleration Record Deceleration


402 404 405 406 407 408

416

4-7

4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

Project data Project data – General project data (see section 4.4.9) Project Zero Point

All

500

1

int32

Software End Positions

All

501

1, 2

int32

Max. Speed

All

502

1

uint32

Max. Acceleration

All

503

1

uint32

Max. Jerkfree Filter Time

All

505

1

uint32

All

520

1

uint8

Jog Mode Velocity Slow – Phase 1

All

530

1

int32

Jog Mode Velocity Fast – Phase 2

All

531

1

int32

Jog Mode Acceleration

All

532

1

uint32

Jog Mode Deceleration

All

533

1

uint32

Jog Mode Time Phase 1

All

534

1

uint32

Project data – Teaching (see section 4.4.10) Teach Target

Project data – Jog mode (see section 4.4.11)

Project data – Direct mode, Profile Position mode (see section 4.4.12) Direct Mode Position Base Velocity

All

540

1

int32

Direct Mode Position Acceleration

All

541

1

uint32

Direct Mode Position Deceleration

All

542

1

uint32

Direct Mode Jerkfree Filter Time

All

546

1

uint32

Project data – Direct mode, Profile Torque mode (see section 4.4.13) Direct Mode Torque Base Torque Ramp

CMMP

550

1

uint32

Direct Mode Torque Target Torque Window

CMMP

552

1

uint16

Direct Mode Torque Time Window

CMMP

553

1

uint16

Direct Mode Torque Speed Limit

CMMP

554

1

uint32

4-8


4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

Project data – Direct mode, Profile Velocity mode (see section 4.4.14) Direct Mode Velocity Base Velocity Ramp

All

560

1

uint32

Direct Mode Velocity Target Window

CMMP

561

1

uint16

Direct Mode Velocity Window Time (damping time for velocity target window in direct mode)

CMMP

562

1

uint16

Direct Mode Velocity Threshold (standstill target window in direct mode)

CMMP

563

1

uint16

Direct Mode Velocity Threshold Time (damping time for standstill in direct mode)

CMMP

564

1

uint16

Direct Mode Velocity Torque Limit

CMMP

565

1

uint32

CAM ID (cam disk number)

CMMP

700

1

uint8

Master Start Position Direct Mode (master start position in direct mode)

CMMP

701

1

int32

Input Config Sync. (input configuration for synchronisation)

CMMP

710

1

uint32

Gear Sync. (synchronisation gear ratio)

CMMP

711

1, 2

uint32

Output Config Encoder Emulation (output configuration for encoder emulation)

CMMP

720

1

uint32

Function data Function data – Camming function (see section 4.4.15)

Function data – Position triggers and rotor position triggers (see section 4.4.16) Position Trigger Control

CMMP

730

1

uint32

Position Trigger Low

CMMP

731

1 ... 4

int32

Position Trigger High

CMMP

732

1 ... 4

int32

Rotor Position Trigger Low

CMMP

733

1 ... 4

int32

Rotor Position Trigger High

CMMP

734

1 ... 4

int32


4-9

4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

Axis parameters for electric drives 1 – Mechanical parameters Axis parameters for electric drives 1 – Mechanical parameters (see section 4.4.17) Polarity (reversal of direction)

All

1000

1

uint8

Encoder Resolution

All

1001

1, 2

uint32

Gear Ratio

All

1002

1, 2

uint32

Feed Constant

All

1003

1, 2

uint32

Position Factor

All

1004

1, 2

uint32

Axis Parameter

All

1005

2, 3

int32

Velocity Factor

All

1006

1, 2

uint32

Acceleration Factor

All

1007

1, 2

uint32

Polarity Slave (reversal of direction for slave)

All

1008

1

uint8

Axis parameters for electric drives 1 – Homing parameters (see section 4.4.18) Offset Axis Zero Point

All

1010

1

int32

Homing Method

All

1011

1

int8

Homing Velocities

All

1012

1, 2

uint32

Homing Acceleration

All

1013

1

uint32

Homing Required

All

1014

1

uint8

Homing Max. Torque

CMMP

1015

1

uint8

Axis parameters for electric drives 1 – Closed-loop controller parameters (see section 4.4.19) Halt Option Code

All

1020

1

uint16

Position Window

All

1022

1

uint32

Position Window Time (adjustment time for position)

All

1023

1

uint16

Control Parameter Set (controller’s parameters)

All

1024

18 ... 22, 32

uint16

Motor Data

All

1025

1, 3

uint32/ uint16

Drive Data

CMMP

1026

1 ... 4, 7

uint32

CMMS/CMMD 1026

1, 3, 4, 7

uint32

4-10


4. Parameters

Name

Controller

FHPP PNU

Subind.

Type

Axis parameters for electric drives 1 – Electronic rating plate (see section 4.4.20) Max. Current

All

1034

1

uint16

Motor Rated Current

All

1035

1

uint32

Motor Rated Torque

All

1036

1

uint32

Torque Constant

All

1037

1

uint32

Axis parameters for electric drives 1 – Standstill control (see section 4.4.21) Position Demand Value (setpoint position)

All

1040

1

int32

Position Actual Value (current position)

All

1041

1

int32

Standstill Position Window

All

1042

1

uint32

Standstill Timeout

All

1043

1

uint16

Axis parameters for electric drives 1 – Drag error monitoring (see section 4.4.22) Following Error Window (drag error window)

CMMP

1044

1

int32

Following Error Time (drag error timeout)

CMMP

1045

1

uint16

Axis parameters for electric drives 1 – Other parameters (see section 4.4.23) Torque Feed Forward Control

CMMP

1080

1

int32

Setup Velocity

CMMP

1081

1

uint8

Velocity Override

CMMP

1082

1

uint8

All 1)

1230

1

uint32

Function parameters for digital I/Os (see section 4.4.24) Remaining Distance for Remaining Distance Message 1)

With CMMP-AS: in Direct mode only

Tab. 4/2: Overview of FHPP parameters


4-11

4. Parameters

4.4

Descriptions of FHPP parameters

4.4.1 Representation of the parameter entries

1 6 7 8

2

3

4

5

Encoder Resolution FHPP (all)

1001

Description

Encoder resolution in increments per revolution The encoder resolution is fixed and cannot be modified by the user. The calculated value is derived from the fraction (encoder increments/motor revolution).

Encoder Increments 1001

1 ... 2

1

uint32

uint32

Value range: 0x00000000 ... 0xFFFFFFFF (0 Motor Revolutions 1001

2

rw

rw

... 2 32-1)

uint32

rw

Fixed = 1

1

Name of the parameter (sometimes with short explanation in brackets)

2 PNU (parameter number) 3

Subindices of the parameter (1: no subindex, simple variable)

4

Element variable type

5

Read/write permission: ro = read only, rw = read and write

6

Identifier for general or limited validity (e.g. CMMP only)

7

Description of the parameter

8

Name and description of subindices, if present

Fig. 4/1: Representation of the parameter entries

4-12


4. Parameters

4.4.2 PNUs for the telegram entries for FHPP+ FHPP Receive Telegram (FHPP telegram received by controller) FHPP (CMMP)

Description

40

1 ... 10

Array

uint32

ro

This array defines the contents of the received telegrams (the output data of the higher-level control system) in the cyclic process data. The array is configured using the FHPP+ editor provided by the FCT plug-in. Gaps between 1-byte PNUs and following 16- or 32-byte PNUs are filled with placeholder PNUs, as are unused subindices. For the format, see Tab. 4/3.

1st PNU 40

1

uint32

ro

uint32

ro

1st transmitted PNU: always PNU 1:1 2nd PNU 40

2

2nd transmitted PNU: with FPC: always PNU 2:1 without FPC: any PNU 3rd PNU 40

3

uint32

ro

uint32

ro

3rd transmitted PNU: any PNU ... PNU 40

4 ... 10

...

FHPP Response Telegram (FHPP telegram sent by controller) FHPP (CMMP) Description

41

1 ... 10

Array

uint32

ro

This array defines the contents of the response telegrams (the input data of the higher-level control system) in the cyclic process data; see PNU 40. For the format, see Tab. 4/3.

1st PNU 41

1

uint32

ro

uint32

ro

1st transmitted PNU: always PNU 1:1 2nd PNU 41

2

2nd transmitted PNU: with FPC: always PNU 2:1 without FPC: any PNU 3. PNU 41

3

uint32

ro

uint32

ro

3rd transmitted PNU: any PNU ... PNU 41

4 ... 10

...


4-13

4. Parameters

Contents of a subindex for PNU 40 and 41 (uint 32 - 4 bytes) Byte

0

1

2

3

Contents

Reserved (= 0)

Subindex

Transmitted PNU (2-byte value)

Tab. 4/3: Format of the entries in PNU 40 and 41

FHPP Receive Telegram State (state of FHPP telegram received by controller) FHPP (CMMP)

42

1

Var

uint32

rw

Description

Type of error in the telegram editor. Entry and the error location: Bit Meaning Bits 0 ... 15 Error location, bit-serial, one bit per telegram entry. Bits 16 ... 23Reserved Bits 24 ... 31 Error type: Bit 24 = 1: invalid PNU (with error location in bits 0 - 15) Bit 25 = 1: PNU cannot be written (with error location in bits 0 - 15) Bit 26 = 1: maximum telegram length exceeded Bit 27 = 1: PNU cannot be mapped in a telegram Bit 28 = 1: entry cannot be modified in the current state (e.g. during active cyclic communication) Bit 29 = 1: 16/32-bit entry begins with an uneven address Bits 30 ... 31Reserved. If the transmitted telegram is correct, all bits = 0.

FHPP Response Telegram State (state of FHPP telegram sent by controller) FHPP (CMMP)

43

Description

Type of error in the telegram editor. Entry and the error location: Bit Meaning Bits 0 ... 15 Error location, bit-serial, one bit per telegram entry. Bits 16 ... 23Reserved Bits 24 ... 31 Error type: Bit 24 = 1: invalid PNU (with error location in bits 0 - 15) Bit 25 = 1: PNU cannot be read (with error location in bits 0 - 15) Bit 26 = 1: maximum telegram length exceeded Bit 27 = 1: PNU cannot be mapped in a telegram Bit 28 = 1: entry cannot be modified in the current state (e.g. during active cyclic communication) Bit 29 = 1: 16/32-bit entry begins with an uneven address Bits 30 ... 31Reserved. If the transmitted telegram is correct, all bits = 0.

4-14

1

Var

uint32

rw


4. Parameters

4.4.3 Device data – Standard parameters Manufacturer Hardware Version FHPP (all)

100

1

uint16

Description

Coding of the hardware version, specification in BCD: xxyy (xx = main version, yy = secondary version)

ro

Manufacturer Firmware Version FHPP (all)

101

1

uint16

Description

Coding of the firmware version, specification in BCD: xxyy (xx = main version, yy = secondary version)

ro

Version FHPP (FHPP version) FHPP (all)

102

1

uint16

Description

Version number of the FHPP, specification in BCD: xxyy (xx = main version, yy = secondary version)

ro

Project Identifier FHPP (all)

113

1

uint32

rw

Description

32 bit value that can be used together with the FCT plug-in to identify the project. Value range: 0x00000001 ... 0xFFFF FFFF (1 ... 2 32-1)

Controller Serial Number FHPP (all)

114

Description

Serial number for uniquely identifying the controller.


1

uint32

ro

4-15

4. Parameters

4.4.4 Device data – Extended parameters Manufacturer Device Name FHPP (all)

120

1 ... 30

uint8

ro

Description

Designation of the drive or controller (ASCII, 7 bit). Unused characters are filled with zero (00h=’\0’). Example: “CMMS-ST”

User Device Name FHPP (all)

121

1 ... 32

uint8

rw

Description

User’s designation of the controller (ASCII, 7 bit). Unused characters are filled with zero (00h=’\0’).

Drive Manufacturer FHPP (all)

122

1 ... 30

uint8

ro

Description

Name of the drive’s manufacturer (ASCII, 7-bit) Fixed: “Festo AG & Co. KG”

HTTP Drive Catalog Address (HTTP address of manufacturer) FHPP (all)

123

1 ... 30

uint8

ro

Description

Manufacturer’s Internet address (ASCII, 7-bit) Fixed: “www.festo.com”

Festo Order Number FHPP (all)

124

Description

Festo order number / order code (ASCII, 7-bit).

4-16

1 ... 30

uint8

ro


4. Parameters

Device Control FHPP (all)

125

Description

Specifies which interface currently has control sovereignty over the drive, in other words, which interface can be used to enable and start or stop (control) the drive. The following interfaces are taken into account: – Fieldbus: (CANopen, PROFIBUS, DeviceNet, ... ) – DIN: digital I/O interface (e.g. multi-pin, I/O interface) – Parametrisation interface RS 232/RS 485 (FCT) The last two interfaces are treated as equals. For all controllers of the type CMM ... , the output stage enable (DIN4) and closed-loop controller enable (DIN5) also have to be set in addition to the interface in question (logical AND operation). Value Meaning SCON.B5 (LOCK) 0x00 (0) Software has control sovereignty (+ DIN) 1 0x01 (1) Fieldbus has control sovereignty (+ DIN) 0 0x02 (2) Only DIN has control sovereignty 1 Default after power on: 0x01 (1) – Fieldbus has control sovereignty (+ DIN)


1

uint8

rw

4-17

4. Parameters

Data Memory Control FHPP (all) Description

127

1 ... 6

uint8

wo

Commands for EEPROM (non-volatile memory)

Delete EEPROM 127

1

uint8

wo

Once the object has been written, and after switching power off/on, the data in the EEPROM is reset to the factory settings. Fixed 0x10 (16): delete data in EEPROM and restore factory settings. Note: All user-specific settings except for the bus cycle will be lost on deletion (factory settings). With CMMP this also includes the fieldbus address. After deleting, always carry out the steps for commissioning the device. •

Save Data 127

2

uint8

wo

By writing the object, the data in EEPROM will be overwritten with the current user-specific settings. Fixed 0x01 (1): save user-specific data in EEPROM Reset Device 127

3

uint8

wo

By writing the object, the data is read from EEPROM and adopted as the current settings (EEPROM is not deleted or cleared; it is in the same state as after switching off and on). Values: 0x10 (16): reset device 0x20 (32): auto reset upon incorrect bus cycle (deviating from the configured bus cycle; with CMMP only) Encoder Data 127 6 uint8 wo Memory Control Transfer of the encoder data between controller and encoder. Values: 0x00 (0): No action (e.g. for test purposes) 0x01 (1): Loading of the parameters from the encoder 0x02 (2): Saving of the parameters in the encoder without zero offset 0x03 (3): Saving of the parameters in the encoder with zero offset

4-18


4. Parameters

4.4.5 Diagnostics For a description of how the diagnostic memory functions, see section 3.2.

Diagnostic Event FHPP (CMMP)

200

Description

Type of fault or diagnostic information saved in the diagnostic memory. Displays whether an incoming or outgoing fault is saved. Value Type of diagnostic event 0x00 (0) No fault (or fault message deleted) 0x01 (1) Incoming fault 0x02 (2) Reserved (outgoing fault) 0x03 (3) Reserved 0x04 (4) Reserved (Overrun time stamp) Event 1 200

1 ... 32

1

uint8

uint8

ro

ro

Type of latest/current diagnostic message Event 2 200

2

uint8

ro

Type of second saved diagnostic message Event ...

200

...

uint8

ro

1 ... 32

uint16

ro

1 ... 4

uint16

ro

...

Fault Number FHPP (CMMP)

201

FHPP (CMMS/CMMD) 201 Description

Fault number saved in the diagnostic memory; used for identifying the fault. See section 3.4. CMMP: Error number, e.g. 402 for main index 40, subindex 2, see section 3.4.1. CMMS/CMMD: Fault code, see section 3.4.2. Event 1 201

1

uint16

ro

uint16

ro

uint16

ro

Latest/current diagnostic message Event 2 201

2

2nd saved diagnostic message Event ...

201

...

...


4-19

4. Parameters

Fault Time Stamp FHPP (CMMP)

202

Description

Time of the diagnostic event in seconds after switch-on. In case of overrun, the time stamp jumps from 0xFFFFFFFF to 0. Event 1 202

1 ... 32

1

uint32

uint32

ro

ro

Time of the latest/current diagnostic message Event 2 202

2

uint32

ro

Time of the second saved diagnostic message Event ...

202

...

uint32

ro

...

Fault Additional Information (additional information for fault) FHPP (CMMP)

203

Description

Additional information for service staff. Event 1 203

1 ... 32 1

uint32

ro

uint32

ro

Additional information for the latest/current diagnostic message Event 2 203

2

uint32

ro

Additional information for the second saved diagnostic message Event ...

203

...

uint32

ro

...

Diagnosis Memory Parameter (parameters for diagnostic memory) FHPP (CMMP)

204

Description

Configuration of the diagnostic memory.

Fault Type 204

1, 2, 4 1

uint8

ro

uint8

ro

uint8

ro

uint8

ro

Incoming and outgoing faults. Fix 0x02 (2): Record only incoming faults Resolution 204

2

Time stamp resolution. Fix 0x03 (3): 1 Second Number of Entries 204

4

Read out the number of valid entries in the diagnostic memory. Value range: 0 … 32

4-20


4. Parameters

Fieldbus Diagnosis FHPP (CMMP)

206

Description

Readout of fieldbus diagnostic data.

CANopen Diagnosis 206

5 5

uint8

ro

uint8

ro

Selected profile (protocol type): Values: 0 = DS 402 (not available via FHPP) 1 = FHPP

Device Warnings FHPP (CMMP)

210

Description

Type of warning or diagnostic information saved in the warning memory. Indication of whether an incoming or outgoing warning was saved. Value Type of diagnostic event 0x00 (0) No warning (or warning message deleted) 0x01 (1) Incoming warning 0x02 (2) Reserved (outgoing warning) 0x03 (3) Power Down (with valid time stamp) 0x04 (4) Reserved (overrun time stamp) Event 1 210

1 ... 16

1

uint8

ro

uint8

ro

uint8

ro

...

uint8

ro

1 ... 16

uint16

ro

Type of latest/current warning message Event 2 210

2

Type of second saved warning message Event ...

210 ...

Warning Number FHPP (CMMP)

211

Description

Warning number saved in the warning memory (e.g. 190 for main index 19, subindex 0; used to identify the warning, see sections 3.2 and 3.4.1). Event 1 211

1

uint16

ro

uint16

ro

uint16

ro

Most recent/current warning message Event 2 211

2

2nd saved warning message Event ...

211

...

...


4-21

4. Parameters

Warning Time Stamp FHPP (CMMP)

212

Description

Time of the warning event in seconds after switch-on. In case of overrun, the time stamp jumps from 0xFFFFFFFF to 0. Event 1 212

1 ... 16

1

uint32

uint32

ro

ro

Time of the latest/current warning message Event 2 212

2

uint32

ro

Time of the second saved warning message Event ...

212

...

uint32

ro

...

Warning Additional Information (additional information for warning) FHPP (CMMP)

213

Description

Additional information for service staff. Event 1 213

1 ... 16 1

uint32

ro

uint32

ro

Time of the latest/current diagnostic message Event 2 213

2

uint32

ro

Time of the second saved diagnostic message Event ...

213

...

uint32

ro

...

Warning Memory Parameter (parameters for warning memory) FHPP (CMMP)

214

Description

Configuration of the warning memory.

Warning Type 214

1, 2, 4 1

uint8

rw/ro

uint8

ro

Incoming and outgoing warnings. Fix 0x02 (2): Record only incoming warnings Resolution 214

2

uint8

ro

uint8

ro

Time stamp resolution. Fix 0x03 (3): 1 Second Number of Entries 214

4

Read number of valid entries in the warning memory. Value range: 0 … 16

4-22


4. Parameters

4.4.6 Process data Position Values FHPP (all)

Description

300

1 ... 3

int32

ro

Current values of the position controller, stated in the positioning unit (see PNU 1004).

Actual Position 300

1

int32

ro

Nominal Position 300 2 int32 (setpoint position) Current setpoint position of the controller.

ro

Current actual position of the controller.

Actual Deviation 300

3

int32

ro

int32

ro

Current deviation.

Torque Values FHPP (all) Description

301

1 ... 3

Current values of the torque controller, stated in mNm.

Actual Force 301

1

int32

ro

Nominal Force 301 2 int32 (setpoint force) Current setpoint value of the controller.

ro

Current actual value of the controller.


3

int32

ro

Current deviation.


4-23

4. Parameters

Local Digital Inputs FHPP (all)

303

1, 2, 4

Description

The controller’s local digital inputs.

Input DIN 0 ... 7 303

1

uint8

ro

uint8

ro

Digital inputs: standard DIN (DIN 0 ... DIN 7) Input DIN 8 ... 13 303

2

uint8

ro

Digital inputs: standard DIN (DIN 8 ... DIN 13) Input CAMC DIN 0 303 4 uint8 ... 7 Digital inputs: CAMC-D-8E8A (DIN 0 ... DIN 7)

ro

PNU 303 allocation Subindex 1

Subindex 2

Subindex 4

4-24

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIN 7: righthand limit switch

DIN 6: left-hand limit switch

DIN 5: controller enable

DIN 4: output stage enable

DIN 3

DIN 2

DIN 1

DIN 0

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Reserved (= 0)

DIN A13

DIN A12

DIN 11

DIN 10

DIN 9

DIN 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIN 7

DIN 6

DIN 5

DIN 4

DIN 3

DIN 2

DIN 1

DIN 0


4. Parameters

Local Digital Outputs FHPP (all)

304

1, 3

Description

The controller’s local digital outputs.

Output DOUT 0 ... 3 304

1

uint8

rw

uint8

rw

Digital outputs: standard DOUT (DOUT 0 ... DOUT 3) Output CAMC 304 3 uint8 DOUT 0 ... 7 Digital outputs: CAMC-D-8E8A (DOUT 0 ... DOUT 7)

rw

PNU 304 allocation Subindex 1

Subindex 3

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Reserved (= 0)

DOUT: READY LED

DOUT: CAN LED

DOUT 3

DOUT 2

DOUT 1

DOUT 0: controller ready for operation

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DOUT 7

DOUT 6

DOUT 5

DOUT 4

DOUT 3

DOUT 2

DOUT 1

DOUT 0


4-25

4. Parameters

Maintenance Parameter FHPP (all)

305

Description

Information about the controller’s or the driver’s running performance.

Operating Hours 305

3 3

uint32

ro

uint32

ro

int32

ro

int32

ro

Nominal 310 2 int32 Revolutions (setpoint speed) Current setpoint value of the controller.

ro


ro

Hours-run meter in s.

Velocity Values FHPP (all) Description

310

1 ... 3

Current values of the speed regulator.

Actual Revolutions 310 1 (actual speed) Current actual value of the controller.

3

int32

Speed deviation.

4-26


4. Parameters

State Signal Outputs (status of signal outputs) FHPP (CMMP)

311

1,2

Description

Parameters for displaying the status of the signal outputs.

Outputs Part 1 311 Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17..32

1 Value 0x0000 0002 0x0000 0004 0x0000 0008 0x0000 0010 0x0000 0020 0x0000 0040 0x0000 0080 0x0000 0100 0x0000 0200 0x0000 0400 0x0000 0800 0x0000 1000 0x0000 2000 0x0000 4000 0x0000 8000 0x0001 0000

Outputs Part 2 311

2

Bit Value 0 0x0000 0001 1 0x0000 0002 2 0x0000 0004 3 0x0000 0008 4 ... 7 8 0x0000 0100 9 0x0000 0200 10 0x0000 0400 11 0x0000 0800 12 ... 15 16 0x0001 0000 17 0x0002 0000 18 0x0004 0000 19 0x0008 0000 20 ... 23 24 0x0100 0000 25 0x0200 0000 26 0x0400 0000 27 0x0800 0000 28 ... 31


uint32 uint32

ro ro

Meaning Reserved (0) I¹t monitoring of motor is active Comparison speed reached Position Xsetpoint = Xtarget Position Xactual = Xtarget Remaining positioning distance Homing is active Reference position is valid Undervoltage in intermediate circuit Drag error Output stage is active Locking brake bled Linear motor identified Negative setpoint lock is active Positive setpoint lock is active Alternative target reached Velocity 0 Reserved (0) uint32

ro

Meaning Cam controller 1 Cam controller 2 Cam controller 3 Cam controller 4 Reserved for cam controller 5 ... 8 Position trigger 1 Position trigger 2 Position trigger 3 Position trigger 4 Reserved for position triggers 5 ... 8 Rotor position trigger 1 Rotor position trigger 2 Rotor position trigger 3 Rotor position trigger 4 Reserved for rotor position triggers 5 ... 8 General action bits 1 General action bits 2 General action bits 3 General action bits 4 Reserved for general action bits 5 ... 8

4-27

4. Parameters

4.4.7 On-the-fly measurement For information about on-the-fly measurement, see section 2.9.

Position Value Storage FHPP (all)

350

1, 2

Description

Sampled positions.

int32

ro

Sample Value 350 1 int32 ro Rising Edge Last sampled position with a rising edge, stated in positioning unit (see PNU 1004). Sample Value 350 2 int32 ro Falling Edge Last sampled position with a falling edge, stated in positioning unit (see PNU 1004).

4-28


4. Parameters

4.4.8 Record list PNU 400

401

) . o n d d r s r u o o t c a c e t e r R s (

402

404

405 n o i t c e l e e s u e r l a P v

t n i o e p u t e l a S v

406

407

408

412

413 e e m e r i t f - r e k t r l e i J f

y t i c o l e V

r e l n e o c i c t A a

r e l e n c i o e t D a

t i m i l y t i c o l e V

...

1 B C R

2 B C R

uint8

uint8

uint8

int32

int32

uint32

uint32

uint32

uint32

int32

...

1

...

...

...

...

...

...

...

...

...

...

2

...

...

...

...

...

...

...

...

...

...

... 1)

...

...

...

...

...

...

...

...

...

...

1)

. . .

Number of positioning records: For CMMP ... : 1 ... 250 For CMMS/CMMD ... : 1 ... 63

Tab. 4/4: Structure of FHPP record list With FHPP, record selection for reading and writing is made via the subindex of the PNUs 401 ... . The active record for positioning or teaching is selected with PNU 400. Controller/ PNU drive 401 402

404

405

406

407

408

412

413

414

416

418 ... 421

CMMP-AS

x

x

x

x

x

x

x

x

x

–

x

x

CMMS-AS/ x CMMD-AS

x

x

x

x

x

x

–

x

x

x

–

CMMS-ST

x

x

x

x

x

x

–

x

x

x

–

x

Tab. 4/5: Supported elements in the record list


4-29

4. Parameters

With the CMMS/CMMD controllers, the “dynamic” parameters of a record are defined as a group via the record profile (PNU 414). When these parameters (PNU 405, 406, 407, 408, 413) are written in a record, the profile parameters assigned to the record are overwritten. This causes the modified parameters to become effective for all records assigned to that profile; see Fig. 4/2.

Memory structure of positioning record list and record profiles for CMMS/CMMD Record list Pointers to profile memory . o N d r o c e R

d r s u o t c a e t R s

1 B C R

2 B C R

t n i o p t e S

. l a v . l e s e r P

y t i c o l e V

. r e l e c c A

. o t . i N r e i m l e l i e l f c k o r e r e P D J

Record profiles . . l o a N v . e l l e i f s o e r r P P

y t i c o l e V

. r e l e c c A

. r e l e c e D

t i m i l k r e J

Fig. 4/2: Positioning record list and record profiles

4-30


4. Parameters

Record Status FHPP (all) Description

400

1 ... 3

uint8

rw/ro

Record status.

Demand Record 400 1 uint8 rw Number Nominal record number. The value can be changed using FHPP. In Record selection mode, the nominal record number is always copied from the master’s output data with a rising edge at START. Value range: CMMP: 0x00 ... 0xFA (0 ... 250) CMMS/CMMD: 0x00 ... 0x3F (0 ... 63) Actual Record 400 2 Number Current record number.

Record Status Byte 400

3

uint8

ro

uint8

ro

The record status byte (RSB) contains a feedback code that is transmitted in the input data. When a positioning task starts, the RSB is reset. See Tab. 4/6 for the allocation of the record control byte. Note: this byte is not the same as SDIR, there is only a feedback signal for dynamic states and not absolute/relative, for example. This makes it possible to provide feedback about record chaining, for example.

RSB allocation Bit Meaning Bit 0

RC1 Bit 1

= 0: A step enabling condition was not configured/achieved. = 1: The first step enabling condition was achieved.

Valid as soon as MC applies. RCC = 0: Record chaining cancelled. At least one step enabling condition was not achieved. = 1: Record chain was processed to the end of the chain.

Bits 2 ... 7

Reserved.

Tab. 4/6: Allocation of PNU 400/3 (RSB)


4-31

4. Parameters

Record Control Byte 1 FHPP (CMMP)

401

FHPP (CMMS/CMMD) 401

1 ... 250

uint8

rw

1 ... 63

uint8

rw

The record control byte 1 (RCB1) controls the most important settings for the positioning task in Record selection mode. The record control byte is bit-orientated. For allocation, see Tab. 4/7

Description

Record 1 401

1

uint8

rw

Record control byte 1 for positioning record 1. Record 2 401

2

uint8

rw

Record control byte 1 for positioning record 2. Record ...

401

...

uint8

rw

Record control byte 1 for positioning record ...

Bit

Description

B0 ABS

Absolute/Relative = 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value FHPP does not provide access to other modes, e.g. relative to actual value, analogue input, etc.

B1, B2 COM1/2

Bit 2 1 Control mode feedback 0 0 Profile Position mode 0 1 Profile Torque mode (torque, current ) 1 0 Profile Velocity mode (speed) 1 1 Reserved Only Profile Position mode can be used for the camming function.

B3, B4 FNUM1/2

Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 2 1 Function number *) 0 0 0 Reserved 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function

B5, B6 FGRP1/2

Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 2 1 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1 ... 3) are reserved.

B7 FUNC

= 0: Normal task = 1: Execute camming function, as per bits 3 ... 6 (only with CMMP)

Tab. 4/7: RCB1 allocation 4-32


4. Parameters


402


1 ... 250

uint8

rw

1 ... 63

uint8

rw

Record control byte 2 (RCB2) controls conditional record chaining. If a condition was defined, it is possible to prohibit automatic continuation to the following record by setting the B7 bit. This function is intended for debugging and not for normal control purposes. Bit Meaning Bit 0 ... 6 Numerical value 0 ... 128: step enabling condition as a list, see section 2.6.3 Tab. 2/13. Bit 7 = 0: record chaining (bits 0 ... 6) is not disabled = 1: record chaining is disabled

Description

Record 1 402

1

uint8

rw


2

uint8

rw


402

...

uint8

rw


Record Setpoint Value FHPP (CMMP)

404


1 ... 250

int32

rw

1 ... 63

int32

rw

Target position of the positioning record table. Setpoint position as per PNU 401/RCB1, absolute or relative, stated in positioning unit (see PNU 1004).

Record 1 404

1

int32

rw

Setpoint position for positioning record 1. Record 2 404

2

int32

rw

Setpoint position for positioning record 2. Record ...

404

...

int32

rw

Setpoint position for positioning record ... .

Control

Step size

Default

Minimum

Maximum

Position 1)

1/100 mm 1/1000 inch 1/100 °

0 (= 0.0 mm) 0 (= 0.0 inch) 0 (= 0.0 °)

-1,000,000 (= -10.0 m) -400,000 (= -400 inch) -36,000 (= -360.0 °)

1,000,000 (= 10.0 m) 400,000 (= 400 inch) 36,000 (= 360.0 °)

1)

Examples of positioning unit, see PNU 1004

Tab. 4/8: Setpoint values for positioning units in PNU 404 Festo P.BE-CMM-FHPP-SW-EN en 1011b

4-33

4. Parameters

Record Preselection Value FHPP (CMMP)

405

Description

Following position (record number of the following position with NEXT1).

Record 1 405

1 ... 250 1

int32

rw

int32

rw

int32

rw

int32

rw

int32

rw

Following position for record 1. Record 2 405

2

Following position for record 2. Record ...

405

...

Following position for record ...

Record Preselection Value FHPP (CMMS/CMMD) 405 Description

1 ... 63

Preselection value for conditional record chaining of the record profile in ms, as per step enabling condition from PNU 402 (RCB2); see section 2.6.3 Tab. 2/13. Value range: 0 ms ... 100,000 ms = 100 s When written, the value becomes effective for the record profile; see Fig. 4/2.

Record 1 405

1

int32

rw

int32

rw

int32

rw

uint32

rw

Preselection value for record 1. Record 2 405

2

Preselection value for record 2. Record ...

405

...

Preselection value for record ...

Record Velocity FHPP (CMMP)

406

Description

Velocity setpoint value in unit of velocity (see PNU 1006).

Record 1 406

1 ... 250 1

uint32

rw

Velocity setpoint value for positioning record 1 Record 2 406

2

uint32

rw

Velocity setpoint value for positioning record 2 Record ...

406

...

uint32

rw

Velocity setpoint value for positioning record ...

4-34


4. Parameters

Record Velocity FHPP (CMMS/CMMD) 406 Description

1 ... 63

uint32

rw

Velocity setpoint value of the record profile as per PNU 414, stated in the unit of velocity (see PNU 1006). When written, the value becomes effective for the record profile; see Fig. 4/2.

Record 1 406

1

uint32

rw

Velocity setpoint value of the record profile of positioning record 1. Record 2 406

2

uint32

rw

Velocity setpoint value of the record profile of positioning record 2. Record ...

406

...

uint32

rw

Velocity setpoint value of the record profile of positioning record ...

Record Acceleration FHPP (CMMP)

407

Description

Acceleration setpoint value for start-up, stated in unit of acceleration (see PNU 1007).

Record 1 407

1 ... 250

1

uint32

uint32

rw

rw

Acceleration setpoint value for positioning record 1. Record 2 407

2

uint32

rw

Acceleration setpoint value for positioning record 2. Record ...

407

...

uint32

rw

Acceleration setpoint value for positioning record ...

Record Acceleration FHPP (CMMS/CMMD) 407 Description

1 ... 63

uint32

rw

Acceleration setpoint value for the record profile as per PNU 414 for start-up, stated in the unit of acceleration (see PNU 1007). When written, the value becomes effective for the record profile; see Fig. 4/2.

Record 1 407

1

uint32

rw

Acceleration setpoint value of the record profile of positioning record 1. Record 2 407

2

uint32

rw

Acceleration setpoint value of the record profile of positioning record 2. Record ...

407

...

uint32

rw

Acceleration setpoint value of the record profile of positioning record ...


4-35

4. Parameters

Record Deceleration FHPP (CMMP)

408

Description

Deceleration setpoint value for braking, stated in unit of acceleration (see PNU 1007).

Record 1 408

1 ... 250

1

uint32

uint32

rw

rw

Deceleration setpoint value for positioning record 1 Record 2 408

2

uint32

rw

Deceleration setpoint value for positioning record 2 Record ...

408

...

uint32

rw

Deceleration setpoint value for positioning record ...

Record Deceleration FHPP (CMMS/CMMD) 408 Description

1 ... 63

uint32

rw

Deceleration setpoint value for the record profile as per PNU 414 for braking, stated in the unit of acceleration (see PNU 1007). When written, the value becomes effective for the record profile; see Fig. 4/2.

Record 1 408

1

uint32

rw

Deceleration setpoint value of the record profile of positioning record 1. Record 2 408

2

uint32

rw

Deceleration setpoint value of the record profile of positioning record 2. Record ...

408

...

uint32

rw

Deceleration setpoint value of the record profile of positioning record ...

Record Velocity Limit FHPP (CMMP)

412

Description

Velocity limit for Profile Torque mode, stated in the unit of velocity (see PNU 1006).

Record 1 412

1 ... 250

1

uint32

rw

uint32

rw

uint32

rw

uint32

rw

Velocity limit for positioning record 1. Record 2 412

2

Velocity limit for positioning record 2. Record ...

412

...

Velocity limit for positioning record ...

4-36


4. Parameters

Record Jerkfree Filter Time FHPP (CMMP)

413

Description

Jerk-free filter time in ms. Specifies the filter time constant for the output filter that is used to smooth the linear movement profiles. Completely jerk-free movement is achieved if the filter time is the same as the acceleration time.

Record 1 413

1 ... 250

1

uint32

uint32

rw

rw

Jerk-free filter time for positioning record 1. Record 2 413

2

uint32

rw

Jerk-free filter time for positioning record 2. Record ...

413

...

uint32

rw

Jerk-free filter time for positioning record ...

Record Jerkfree Filter Time FHPP (CMMS/CMMD) 413 Description

1 ... 63

uint32

rw

Jerk-free filter time of the record profile as per PNU 414, stated in ms. Specifies the filter time constant for the output filter that is used to smooth the linear movement profiles. Completely jerk-free movement is achieved if the filter time is the same as the acceleration time. When written, the value becomes effective for the record profile; see Fig. 4/2.

Record 1 413

1

uint32

rw

Jerk-free filter time of the record profile of positioning record 1. Record 2 413

2

uint32

rw

Jerk-free filter time of the record profile of positioning record 2. Record ...

413

...

uint32

rw

Jerk-free filter time of the record profile of positioning record ...


4-37

4. Parameters

Record Profile FHPP (CMMS/CMMD) 414 Description

1 ... 63

uint8

rw

Specifies affiliation to a record profile. The positioning records are assigned to the profiles (0 ... 7). The following parameters are defined in a profile: – Preselection value (PNU 405) – Positioning velocity (PNU 406) – Acceleration (PNU 407) – Deceleration (PNU 408) – Jerk-free filter time (PNU 413) – Maximum positioning time 1) – Start delay 1) – Final velocity 1) – Start during an ongoing positioning task 1) The settings in the record profile are uniformly effective for all assigned records; see Fig. 4/2. Value range: 0 ... 7 (equates to the assigned record profile)

Record 1 414

1

uint8

rw

uint8

rw

uint8

rw

1 ... 250

uint8

rw

1 ... 63

uint8

rw

Record profile for positioning record 1. Record 2 414

2

Record profile for positioning record 2. Record ...

414

...

Record profile for positioning record ... 1)

Cannot be parametrised with FHPP, access via FCT only

Record Following Position (for record chaining) FHPP (CMMP)

416


Record number to which record chaining jumps when the step enabling condition is met. Value range: 0x01 ... 0x7F (1 ... 250)

Record 1 416

1

uint32

rw

Following position for positioning record 1. Record 2 416

2

uint32

rw

Following position for positioning record 2. Record ...

416

...

uint32

rw

Following position for positioning record ...

4-38


4. Parameters

Record Torque Limitation FHPP (CMMP)

418

Description

Torque/current current limitation in Profile Position mode in mNm.

Record 1 418

1 ... 250 1

uint32 uint32

rw rw

Torque limitation for positioning record 1. Record 2 418

2

uint32

rw

Torque limitation for positioning record 2. Record ...

418

...

uint32

rw

Torque limitation for positioning record ...

Record CAM ID (cam disk number for record) FHPP (CMMP)

419

Description

This parameter is used to select the cam disk for the relevant record. Value range: 0 ... 16 (with value 0 the cam disk from PNU 700 is used)

Record 1 419

1 ... 250

1

uint8

uint8

rw

rw

Cam disk number for positioning record 1. Record 2 419

2

uint8

rw

Cam disk number for positioning record 2. Record ...

419

...

uint8

rw

Cam disk number for positioning record ...

Record Remaining Distance Message FHPP (CMMP)

420

Description

Message reporting the remaining positioning distance in the record list, stated in positioning units (see PNU 1004).

Record 1 420

1 ... 250

1

int32

int32

rw

rw

Remaining distance message for positioning record 1. Record 2 420

2

int32

rw

Remaining distance message for positioning record 2. Record ...

420

...

int32

rw

Remaining distance message for positioning record ...


4-39

4. Parameters


421

Description

Record control byte 3 (RCB3) controls the specific behaviour of the record when particular events occur. The record control byte is bit-orientated. For allocation, see Tab. 4/9

Record 1 421

1 ... 250

1

uint8

uint8

rw

rw


2

uint8

rw


421

...

uint8

rw


Bit

Description

B0, B1

Start command during active positioning: Bit 1 0 Description 0 0 Ignore 0 1 Interrupt active 1 0 Append to active positioning (wait) 1 1 Reserved

B2 ... B9

Reserved (= 0 !)

Tab. 4/9: RCB3 allocation

4-40


4. Parameters

4.4.9 Project data – General project data Project Zero Point (project zero point offset) FHPP (all)

500

1

int32

Description

Offset from axis zero point to project zero point in positioning unit. (see PNU 1004). Point of reference for position values in the application (see PNU 404).

rw

Software End Positions FHPP (all)

501

Description

Software end positions in positioning unit (see PNU 1004) A setpoint specification (position) outside the end positions is not permitted and will lead to a fault. The offset to the axis zero point is entered. Plausibility rule: min. limit ≤ max. limit

Lower Limit 501

1, 2

1

int32

rw

int32

rw

int32

rw

uint32

rw

Lower software end position Upper Limit 501

2


Max. Speed FHPP (all)

502

1

Description

Max. permissible speed in unit of velocity (see PNU 1006). This value limits the speed in all operating modes except torque mode.

Max. Acceleration FHPP (all)

503

1

uint32

Description

Max. permissible acceleration in unit of acceleration (see PNU 1007).

rw

Max. Jerkfree Filter Time FHPP (all)

505

Description

Max. permissible jerk-free filter time in ms. Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295) CMMS/CMMD: 0x00000000 ... 0x00000033 (0 ... 51)


1

uint32

rw

4-41

4. Parameters

4.4.10 Project data – Teaching Teach Target FHPP (all)

520

Description

The parameter defined is the one written with the actual position by the next Teach command (see section 2.5). Values: 0x01 (1): Setpoint position in positioning record (default) – With Record selection: positioning record as per F HPP – control bytes – With Direct mode: positioning record as per PNU 400/1 0x02 (2): axis zero point (PNU 1010) 0x03 (3): project zero point (PNU 500) 0x04 (4): lower software end position (PNU 501/01) 0x05 (5): upper software end position (PNU 501/02)

4-42

1

uint8

rw


4. Parameters

4.4.11 Project data – Jog mode Jog Mode Velocity Slow – Phase 1 FHPP (all)

530

1

int32

Description

Maximum velocity for phase 1 in unit of velocity (see PNU 1006).

rw

Jog Mode Velocity Fast – Phase 2 FHPP (all)

531

1

int32

Description

Maximum velocity for phase 2 in unit of velocity (see PNU 1006).

rw

Jog Mode Acceleration FHPP (all)

532

1

uint32

Description

Acceleration during jogging in unit of acceleration (see PNU 1007).

rw

Jog Mode Deceleration FHPP (all)

533

1

uint32

Description

Deceleration during jogging in unit of acceleration (see PNU 1007).

rw

Jog Mode Time Phase 1 FHPP (all)

534

Description

Time duration of phase 1 (T1) in ms.


1

uint32

rw

4-43

4. Parameters

4.4.12 Project data – Direct mode, Profile Position mode Direct Mode Position Base Velocity FHPP (all)

540

1

int32

rw

Description

Base velocity during direct Profile Position mode in unit of velocity (see PNU 1006).

Direct Mode Position Acceleration FHPP (all)

541

1

uint32

Description

Acceleration during direct Profile Position mode in unit of acceleration (see PNU 1007).

rw

Direct Mode Position Deceleration FHPP (all)

542

1

uint32

Description

Deceleration during direct Profile Position mode in unit of acceleration (see PNU 1007).

rw

Direct Mode Position Jerkfree Filter Time FHPP (all)

546

Description

Jerk-free filter time during direct Profile Position mode in ms. Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295) CMMS/CMMD: 0x00000000 ... 0x00000033 (0 ... 51)

4-44

1

uint32

rw


4. Parameters

4.4.13 Project data – Direct mode, Profile Torque mode Direct Mode Torque Base Torque Ramp FHPP (CMMP)

550

1

uint32

Description

Base value for torque ramp in direct Profile Torque mode in mNm/s.

rw

Direct Mode Torque Target Torque Window FHPP (CMMP)

552

1

uint16

rw

Description

Torque in mNm, being the amount by which the actual torque is permitted to differ from the setpoint torque in order to be interpreted as still being in the target window. The width of the window is twice the value transmitted, with the target torque in the centre of the window.

Direct Mode Torque Time Window FHPP (CMMP)

553

1

uint16

rw

Description

Damping time for the torque target window during direct Profile Torque mode in ms.

Direct Mode Torque Speed Limit FHPP (CMMP)

554

Description

When Profile Torque mode is active, the velocity is limited to this value, stated in unit of velocity (PNU 1007). Note: PNU 514 allows an absolute speed limit to be specified, which triggers a fault if it is reached. If both functions (limitation and monitoring) are to be active at the same time, PNU 554 must be significantly less than PNU 514.


1

uint32

rw

4-45

4. Parameters

4.4.14 Project data – Direct mode, Profile Velocity mode Direct Mode Velocity Base Velocity Ramp FHPP (all)

560

1

uint32

rw

Description

Base acceleration value (velocity ramp) during direct Profile Velocity mode in unit of acceleration (see PNU 1007).

Direct Mode Velocity Target Window FHPP (CMMP)

561

1

uint16

rw

Description

Velocity target window during direct Profile Velocity mode in unit of velocity (see PNU 1006).

Direct Mode Velocity Window Time (damping time for velocity target window in direct mode) FHPP (CMMP)

562

1

uint16

rw

Description

Damping time for velocity target window during direct Profile Velocity mode in ms.

Direct Mode Velocity Threshold (standstill target window in direct mode) FHPP (CMMP)

563

1

uint16

rw

Description

Standstill target window during direct Profile Velocity mode in unit of velocity (see PNU 1006).

Direct Mode Velocity Threshold Time (damping time for standstill in direct mode) FHPP (CMMP)

564

1

uint16

rw

Description

Damping time for standstill target window during direct Profile Velocity mode in ms.

Direct Mode Velocity Torque Limit FHPP (CMMP)

565

Description

Torque limitation during direct Profile Velocity mode in unit of torque (mNm).

4-46

1

uint32

rw


4. Parameters

4.4.15 Function data – Camming function Selecting cam disk CAM ID (cam disk number) FHPP

700

1

uint8

rw

Description

This parameter is used to select the number of the cam disk in Direct mode. Value range 1 ... 16

Master Start Position Direct Mode (master start position in direct mode) FHPP

701

1

int32

Description

Defines the start position of the master for the camming function.

rw

Synchronisation (input, X10) Input Config Sync. (input configuration for synchronisation) FHPP

710

Description

Configuration of the encoder input for synchronisation (physical master on X10, slave operation). Bit Name Description 0 Ignore index pulse Bit 0 = 1: without index pulse Bit 0 = 0: with index pulse 1 – Reserved = 0 2 Switch off A/B track Bit 2 = 1: without A/B track Bit 2 = 0: with A/B track 3 ... 31 – ... Reserved = 0


1

uint32

rw

4-47

4. Parameters

Gear Sync. (synchronisation gear ratio) FHPP

711

Description

Gear ratio for synchronisation with an external input (physical master on X10, slave operation).

Motor Revolutions 711

1, 2

1

uint32

rw

uint32

rw

uint32

rw

Motor revolutions (drive input). Shaft revolutions 711

2

Shaft rotations (output).

Encoder emulation (output, X11) Output Config Encoder Emulation (output configuration for encoder emulation) FHPP

720

Description

Configuration of the encoder for encoder emulation (virtual master). Bit Name Description 0 Switch off A/B track Bit 0 = 1: without A/B track Bit 0 = 0: with A/B track 1 Suppress index pulse Bit 1 = 1: without index pulse Bit 1 = 0: with index pulse 2 Reversal of direction of rotation Bit 2 = 1: with reversal of direction of rotation Bit 2 = 0: without reversal of direction of rotation 3 ... 31 – ... Reserved = 0

4-48

1

uint32

rw


4. Parameters

4.4.16 Function data – Position triggers and rotor position triggers Position Trigger Control FHPP

730

1

uint32

rw

Description

Bit-by-bit activation of the corresponding triggers. Bit is set = trigger is computed, i.e. the position comparison is carried out. Triggers which are not computed save computing time. Bit (hex value) Description 0 (0x0000 0001) Position trigger (actual position) 0 1 (0x0000 0002) Position trigger (actual position) 1 2 (0x0000 0004) Position trigger (actual position) 2 3 (0x0000 0008) Position trigger (actual position) 3 4 ... 15: Reserved 16 (0x0001 0000) Rotor position trigger 0 17 (0x0002 0000) Rotor position trigger 1 18 (0x0004 0000) Rotor position trigger 2 19 (0x0008 0000) Rotor position trigger 3 19 ... 31 Reserved

Position Trigger Low FHPP

731

Description

Position values for the low position trigger, stated in the positioning unit (see PNU 1004).

Position Trigger 1 731

1 ... 4

1

int32

int32

rw

rw

Position values of the first low position trigger. Position Trigger 2 731

2

int32

rw

Position values of the second low position trigger. Position Trigger 3 731

3

int32

rw

Position values of the third low position trigger. Position Trigger 4 731

4

int32

rw

Position values of the fourth low position trigger.


4-49

4. Parameters

Position Trigger High FHPP

732

Description

Position values for the high position trigger, stated in the positioning unit (see PNU 1004).

Position Trigger 1 732

1 ... 4

1

int32

rw

int32

rw

Position values of the first high position trigger. Position Trigger 2 732

2

int32

rw

Position values of the second high position trigger. Position Trigger 3 732

3

int32

rw

Position values of the third high position trigger. Position Trigger 4 732

4

int32

rw

Position values of the fourth high position trigger.

Rotor Position Trigger Low FHPP

733

Description

Angle for the low rotor position trigger, stated in °. Value range: -180 ... 180

4-50

1 ... 4

int32

rw

Rotor Position 733 1 int32 Trigger 1 Angle of the first low rotor position trigger.

rw

Rotor Position 733 2 int32 Trigger 2 Angle of the second low rotor position trigger.

rw

Rotor Position 733 3 int32 Trigger 3 Angle of the third low rotor position trigger.

rw

Rotor Position 733 4 int32 Trigger 4 Angle of the fourth low rotor position trigger.

rw


4. Parameters

Rotor Position Trigger High FHPP

734

1 ... 4

int32

Description

Angle for the high rotor position trigger, stated in °. Value range: -180 ... 180

rw

Rotor Position 734 1 int32 Trigger 1 Angle of the first high rotor position trigger.

rw

Rotor Position 734 2 int32 Trigger 2 Angle of the second high rotor position trigger.

rw

Rotor Position 734 3 int32 Trigger 3 Angle of the third high rotor position trigger.

rw

Rotor Position 734 4 int32 Trigger 4 Angle of the fourth high rotor position trigger.

rw


4-51

4. Parameters

4.4.17 Axis parameters for electric drives 1 – Mechanical parameters Polarity (reversal of direction) FHPP (all)

1000

1

Description

Direction of the position values. Values: Position value (vector) 0x00 (0): normal (default) 0x80 (128): inverted (multiplied by -1)

uint8

rw

uint32

rw

Encoder Resolution FHPP (all)

1001

Description

Encoder resolution in encoder increments / motor revolutions. Specified internal conversion factor. The calculated value is derived from the fraction “encoder increments/motor revolution”.

Encoder Increments 1001

1, 2

1

uint32

rw

uint32

rw

uint32

rw

Fixed: 0x00010000 (65536) Motor Revolutions 1001

2

Fixed: 0x00000001 (1)

Gear Ratio FHPP (all)

1002

Description

Ratio of motor revolutions to gearing shaft revolutions (drive output revolutions), see appendix A.1. Gear ratio = motor revolutions / shaft revolutions

Motor Revolutions 1002

1, 2

1

uint32

rw

Gear ratio – numerator. Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(2 31-1)) Shaft Revolutions 1002

2

uint32

rw

Gear ratio – denominator. Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(2 31-1))

4-52


4. Parameters

Feed Constant FHPP (all)

1003

Description

The feed constant specifies the pitch of the drive’s shaft per revolution, see appendix A.1. Feed constant = feed / shaft revolution Feed 1003

1, 2

uint32

1

uint32

rw

rw

Feed constant – numerator. Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(2 31-1)) Shaft Revolutions 1003

2

uint32

rw

Feed constant - denominator. Value range: 0x00000000 ... 0x7FFFFFFFF (0 ... +(2 31-1))

Position Factor FHPP (all)

1004

1, 2

Description

Conversion factor for all positioning units (for converting the user-defined units into internal controller units). See appendix A.1 for the calculation. Position Factor

Numerator 1004

uint32

=

rw

Encoder Resolution * Gear Ratio Feed Constant

1

uint32

rw

uint32

rw

int32

rw

int32

rw

Position factor - numerator. Denominator 1004

2

Position factor – denominator.

Axis Parameter (axis parameters) FHPP (all)

1005

Description

Specify and read out axis parameters.

Gear Numerator 1005

2, 3 2

Gear ratio – axis gear numerator Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(2 31-1)) Gear Denominator 1005

3

int32

rw

Gear ratio – axis gear denominator Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(2 31-1))


4-53

4. Parameters

Velocity Factor FHPP (all)

1006

1, 2

Description

Conversion factor for all units of velocity (for converting the user-defined units into internal controller units). See appendix A.1 for the calculation. Velocity Factor

Numerator 1006

uint32

=

rw

Encoder Resolution * Time Factor_v Feed Constant

1

uint32

rw

uint32

rw

uint32

rw

Velocity factor – numerator. Denominator 1006

2

Velocity factor – denominator.

Acceleration Factor FHPP (all)

1007

1, 2

Description

Conversion factor for all units of acceleration (for converting the user-defined units into internal controller units). See appendix A.1 for the calculation. Acceleration Factor

Numerator 1007

=

Encoder Resolution * Time Factor_a Feed Constant

1

uint32

rw

uint32

rw

uint8

rw

Acceleration factor – numerator. Denominator 1007

2

Acceleration factor – denominator.

Polarity Slave (reversal of direction for slave) FHPP (all)

1008

Description

This parameter can be used to reverse the position specification for signals on X10 (slave operation) This applies to the functions “Synchronisation” (including electronic gear units), “Flying saw”, “Cam disks”. Value Description 0x00 Position value vector normal (default) 0x80 Position value vector inverted

4-54

1


4. Parameters

4.4.18 Axis parameters for electric drives 1 – Homing parameters Offset Axis Zero Point FHPP (all)

1010

1

int32

rw

Description

Axis zero point offset in positioning unit (see PNU 1004). The offset for the axis zero point (home offset) defines the axis zero point as a dimensional reference point relative to the physical reference point . The axis zero point is the point of reference for the project zero point and for the software end positions. All positioning operations refer to the project zero point (PNU 500). The axis zero point (AZ) is calculated from: AZ = REF + axis zero point offset

Homing Method FHPP (all)

1011

1

int8

Description

Defines the method which the drive uses to carry out the homing. (see section 2.3, Tab. 2/4).

rw

Homing Velocities FHPP (all)

1012

Description

Speeds during homing in unit of velocity (see PNU 1006).

Search for Switch 1012

1, 2 1

uint32 uint32

rw rw

Speed when searching for the reference point REF or a stop or switch. Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(2 31-1)) Running for Zero 1012

2

uint32

rw

Speed of travel to the axis zero point AZ. Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(2 31-1))

Homing Acceleration FHPP (all)

1013

Description

Acceleration during homing in unit of acceleration (see PNU 1007). Value range: 0x00000000 ... 0x7FFFFFFF (0 ... +(2 31-1))


1

uint32

rw

4-55

4. Parameters

Homing Required FHPP (all)

1014

1

uint8

rw

Description

Defines whether or not homing must be carried out after switching on in order to carry out positioning tasks. Drives with the multi-turn absolute displacement encoder only need one homing run after being installed. Values: 0x00 (0): Reserved 0x01 (1): Homing must be carried out Fixed: 0x01 (1)

Homing Max. Torque FHPP (CMMP)

1015

Description

Max. torque during homing. Specified as a multiple of the rated torque in % (see PNU 1036). The maximum permitted torque (via current limiting) during homing. If this value is reached, the drive identifies the stop (REF) and travels to the axis zero point.

4-56

1

uint8

rw


4. Parameters

4.4.19 Axis parameters for electric drives 1 – Closed-loop controller parameters Halt Option Code FHPP (all)

1020

1

uint16

Description

Reaction to a Halt command (falling edge at SPOS.B0). Values: 0x00 (0): Reserved (switch off motor – coil without current, brake not actuated) 0x01 (1): Brake with stop ramp 0x02 (2): Reserved (brake with emergency stop ramp)

rw

Position Window FHPP (all)

1022

1

uint32

rw

Description

Tolerance window in positioning unit (see PNU 1004). Amount by which the current position may deviate from the target position, in order that it may still be regarded as being within the target window. The width of the window is twice the value transmitted, with the target position in the centre of the window.

Position Window Time (adjustment time for position) FHPP (all)

1023

Description

Adjustment time in milliseconds. If the actual position has been in the target position window this amount of time, the bit “Target reached” will be set in the status word.


1

uint16

rw

4-57

4. Parameters

Control Parameter Set (controller’s parameters) FHPP (all)

1024

Description

Control parameters as well as parameters for “quasi-absolute position registering”.

Gain Position 1024

18 ... 22, 32

uint16

18

rw

uint16

rw

uint16

rw

Time Velocity 1024 20 uint16 (velocity time Time constant for the closed-loop velocity controller. constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)

rw

Gain of closed-loop position controller. Value range: 0x0000 ... 0xFFFF (0 ... 65535) Gain Velocity 1024

19

Gain of closed-loop velocity controller. Value range: 0x0000 ... 0xFFFF (0 ... 65535)

Gain Current 1024

21

uint16

rw

Time Current 1024 22 (current time Time constant for the current regulator. constant) Value range: 0x0000 ... 0xFFFF (0 ... 65535)

uint16

rw

Save Position 1024

uint16

rw

Gain of current regulator. Value range: 0x0000 ... 0xFFFF (0 ... 65535)

32

Save the current position when switching off (“quasi-absolute” positioning). See also PNU 1014. Values: 0x00F0 (240) = Current position will not be saved at power-off (default) 0x000F (15) = Reserved

Motor Data FHPP (all) Description

1025

1, 3

uint32/uint16

ro/rw

uint32

ro

Motor-specific data.

Serial Number 1025

1

Festo serial number and motor’s serial number. Time Max. Current 1025

3

uint16

rw

I2t time in ms. When the I2t time elapses, the current is limited automatically to the motor rated current in order to protect the motor (Motor Rated Current, PNU 1035).

4-58


4. Parameters

Drive Data FHPP (CMMP)

1026

1 ... 4, 7

uint32

ro/rw


1, 3, 4, 7

uint32

ro/rw

Description

General motor data.

Power Temp. 1026 1 uint32 (output stage temp.) Temperature of the output stage in ° C. Power Stage 1026 2 uint32 Max. Temp. (output stage max. CMMP only: temp.) Maximum temperature of the output stage in ° C.

ro

ro

Motor Rated 1026 3 uint32 Current Rated motor current in mA, identical to PNU 1035.

rw

Current Limit 1026 4 uint32 (max. motor Maximum motor current, identical to PNU 1034. current)

rw

Controller Serial 1026 7 Number Controller’s internal serial number.


uint32

ro

4-59

4. Parameters

4.4.20 Axis parameters for electric drives 1 – Electronic rating plate Max. Current FHPP (all)

1034

1

uint16

rw

Description

Servo motors may normally be overloaded for a certain time period. The highest permissible motor current is set with PNU 1034 (identical to PNU 1026). It refers to the motor rated current (PNU 1035) and is set in thousandths. The value range is limited upward by the maximum controller current (see technical data, depending on the controller cycle time and the final stage frequency). PNU 1034 may only be written when PNU 1035 was previously validly written. Note: please note that the current limitation also limits the maximum possible velocity and that (higher) setpoint velocities may therefore not be achieved.

Motor Rated Current FHPP (all)

1035

1

uint32

Description

The motor’s rated current in mA, identical to PNU 1026/3.

rw

Motor Rated Torque FHPP (all)

1036

1

Description

The motor’s rated torque in 0.001 Nm.

uint32

rw

uint32

rw

Torque Constant FHPP (all)

1037

Description

Ratio between the current and torque in the motor used in mNm/A.

4-60

1


4. Parameters

4.4.21 Axis parameters for electric drives 1 – Standstill control Position Demand Value (setpoint position) FHPP (all)

1040

1

int32

ro

Description

Setpoint target position of the last positioning task, stated in positioning unit (see PNU 1004).

Position Actual Value (current position) FHPP (all)

1041

1

int32

ro

Description

Current position of the drive, stated in the positioning unit (see PNU 1004).

Standstill Position Window FHPP (all)

1042

1

uint32

Description

Standstill position window in positioning unit (see PNU 1004). Amount by which the drive may move after MC, until standstill control responds.

rw

Standstill Timeout FHPP (all)

1043

Description

Standstill control timeout in ms. Time during which the drive must be outside the standstill position window before standstill control responds.


–

uint16

rw

4-61

4. Parameters

4.4.22 Axis parameters for electric drives 1 – Drag error monitoring Following Error Window (drag error window) FHPP (CMMP)

1044

1

uint32

rw

Description

Define or read the permitted range for drag errors, stated in positioning units. 0xFFFFFFFF = drag error monitoring OFF

Following Error Time (drag error timeout) FHPP (CMMP)

1045

1

uint16

Description

Define or read a timeout time for drag error monitoring in ms. Value range: 1 ... 60000

rw

4.4.23 Axis parameters for electric drives 1 – Other parameters Torque Feed Forward Control FHPP (CMMP)

1080

1

int32

rw

Description

Torque feed forward control in mNm (only effective for direct mode with position control).

Setup Velocity FHPP (CMMP)

1081

1

uint8

rw

Description

Setup velocity as % of whatever velocity is specified. Value range: 0 ... 100

Velocity Override FHPP (CMMP)

1082

Description

Velocity override as % of whatever velocity is specified. Value range: 0 ... 255

4-62

1

uint8

rw


4. Parameters

4.4.24 Function parameters for digital I/Os Remaining Distance for Remaining Distance Message FHPP (all)

1230

Description

The remaining positioning distance is the trigger condition for the remaining distance message, which can be issued on a digital output. With CMMP-AS: effective in Direct mode only.


1

uint32

rw

4-63

4. Parameters

4-64


Parametrisation with FPC

Chapter 5

Parametrisation with FPC


5-1

5. Parametrisation with FPC

Contents

5.1

5-2

Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) . . . . . . . .

5-3 5-3

5.1.2 5.1.3

5-5 5-7

Task identifiers, response identifiers and error numbers . . . . . . . . Rules for task-response processing . . . . . . . . . . . . . . . . . . . . . . . . .



5.1 5.1.1

Parametrisation with FHPP Festo Parameter Channel (FPC) for cyclic data (I/O data) The parameter channel is used for transmitting parameters. The parameter channel comprises the following:

Components

Description

Parameter identifier (ParID)

Parameter channel component which contains the task identifier (“request” identifier, ReqID) or response identifier (ResID) and the parameter number (PNU). The parameter number serves for identifying or addressing the individual parameter. The task or response identifier (ReqID/ResID) describes the task/response in the form of an identifier number.

Subindex (IND)

Addresses an element of an array parameter (sub-parameter number)

Parameter value (Value)

Value of the parameter. If a task for parameter processing cannot be carried out, an error number will be transmitted in the response telegram instead of the value. The error number describes the cause of the error.

Tab. 5/1: Components of the parameter channel (FPC) The parameter channel consists of 8 octets. The following table shows the structure of the parameter channel in relation to the size or type of the parameter value:

FPC Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Output data

0

IND

ParID

Value

Input data

0

IND

ParID

Value

IND ParID Value

Byte 8

Subindex - for addressing an array element Parameter identifier - consists of ReqID or ResID and PNU Parameter value: – With double word: bytes 5...8 – With word: bytes 7, 8 – With byte: byte 8

Tab. 5/2: Structure of parameter channel Festo P.BE-CMM-FHPP-SW-EN en 1011b

5-3


Parameter identifier (ParID) The parameter identifier contains the task identifier (“request” identifier, ReqID) or response identifier (ResID) and the parameter number (PNU).

ParID Octet 2 (byte 4) Bit

15

14

13

Octet 1 (byte 3) 12

11

10

9

8

7

6

Task

ReqID

Rsvd Parameter number (PNU)

Response

ResID

Rsvd Parameter number (PNU)

ReqID ResID Value (PNU)

5

4

3

2

1

0

Request identifier – task identifier (read, write, ...) Response identifier (transmit value, fault, ...) Parameter number – serves for identifying or addressing the relevant parameter (see section 5.1). The task/response identifier identifies the type of task or response (see section 5.1.2).

Tab. 5/3: Structure of parameter identifier (ParID)

5-4



5.1.2 Task identifiers, response identifiers and error numbers The task identifiers are shown in the following table:

ReqID

Description

Response identifier Positive

Negative

0

No task

0

–

6

Request parameter (array)

5

7

8

Modify parameter value (array, double word)

5

7

13

Request lower limit value

5

7

14

Request upper limit value

5

7

Tab. 5/4: Task identifiers and response identifiers If the task cannot be carried out, response identifier 7 as well as the appropriate error number will be transmitted (negative response). The following table shows the response identifiers:

ResID

Description

0

No response

5

Parameter value transmitted (array, double word)

7

Task cannot be carried out (with error number) 1)

1)

For error numbers, see following table

Tab. 5/5: Response identifiers


5-5


If the task for parameter processing cannot be carried out, an appropriate error number will be transmitted in the response telegram (octets 7 and 8 of the FPC range). The order of error checking and the possible error numbers are shown in the following table:

No.

Checking of

Error numbers

Description

1

PNU defined

0

0x00

Impermissible PNU. The parameter does not exist.

2

If array: IND defined

3

0x03

Faulty subindex

3

ReqID permissible

101

0x65

Festo: ReqID is not supported

4

Access rights (read, write)

1

0x01

Parameter value cannot be changed (read only)

102

0x66

Parameter is write-only (with passwords)

5

If change: operating status

17

0x11

Task cannot be carried out due to operating status

6

If change: higher-order

11

0x0B

No higher-order

7

If change: password

12

0x0C

Incorrect password

8

If change: value permissible

2

0x02

Lower or upper value limit exceeded

Tab. 5/6: Order of error checking and error numbers

5-6



5.1.3 Rules for task-response processing Rules

Description

1

If the master transmits the identifier for “No task”, the controller responds with the response identifier for “No response”.

2

A task or response telegram always refers to a single parameter.

3

The master must continue to send a task until it has received the appropriate response from the controller.

4

The master recognises the response to the task requested: – By evaluating the response identifier – By evaluating the parameter number (PNU) – If applicable, by evaluating the subindex (IND) – If applicable, by evaluating the parameter value

5

The controller supplies the response until the master sends a new task.

6

a) A write task, even with cyclic repetition of the same task, will only be carried out once by the controller. b) Between two consecutive tasks with the same task identifier (ReqID), parameter number (PNU) and subindex (IND), the task identifier 0 (no task) must be sent and the response identifier 0 (no response) must be awaited. This ensures that an “old” response is not interpreted as a “new” response.

Tab. 5/7: Rules for task-response processing


5-7


Sequence of parameter processing Caution Observe the following when modifying parameters: An FHPP control signal which is to refer to a modified parameter must not be issued until the response identifier “Parameter value transmitted” is received for the relevant parameter and (if applicable) for the index. If, e.g. a position value in a position register is to be modified and if a movement is then to be made to this position, the positioning command must not be given until the controller has completed and confirmed the modification of the position register.

Caution In order to be sure that an “old” response cannot be interpreted as a “new” response, the task identifier 0 (no task) must be sent and the response identifier 0 (no response) must be awaited between two consecutive tasks with the same task identifier (ReqID), parameter number (PNU) and subindex (IND).

Evaluating errors In the case of tasks which cannot be carried out, the slave responds as follows:

5-8

–

Output of response identifier = 7

–

Output an error number in bytes 7 and 8 of the parameter channel (FPC).



Example of parametrisation via FPC The following tables show an example of parametrising a positioning task in the positioning record table via FPC (Festo Parameter Channel). Step 1

Output status of the 8 bytes of FPC data: Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Reserved Subindex ReqID/ResID + PNU

Byte 6

Byte 7

Byte 8

Parameter value

Output data

0x00

0x00

0x00

0x00

0x00

0x00

0x00

0x00

Input data

0x00

0x00

0x00

0x00

0x00

0x00

0x00

0x00

Step 2

Write record number 1 with absolute positioning: PNU 401, subindex 2 – Modify parameter value, array, byte: ReqID 12 (0xC) with value 0x00. Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8


Parameter value

Output data

0x00

0x02

0xC1

0x91

Unused

Unused

Unused

0x00

Input data

0x00

0x02

0xC1

0x91

0x00

0x00

0x00

0x00

Step 3

After receiving the input data with ResID 0xC send output data with ReqID = 0x0 and wait for input data with ResID = 0x0: Byte 1

Byte 2

Byte 3

Byte 4


Byte 5

Byte 6

Byte 7

Byte 8

Parameter value

Output data

0x00

0x02

0x01

0x91

Unused

Unused

Unused

0x00

Input data

0x00

0x02

0x01

0x91

0x00

0x00

0x00

0x00


5-9


Step 4

Write record number 1 with target position 0x1234 (decimal 4660 increments): PNU 404, subindex 2 – Modify parameter value, array, double word: ReqID 8 (0x8) with value 0x00001234. Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8


Parameter value

Output data

0x00

0x02

0x81

0x94

0x00

0x00

0x12

0x34

Input data

0x00

0x02

0x81

0x94

0x00

0x00

0x12

0x34

Step 5

After receiving the input data with ResID 0x8 send output data with ReqID = 0x0 and wait for input data with ResID = 0x0: Byte 1

Byte 2

Byte 3

Byte 4


Byte 5

Byte 6

Byte 7

Byte 8

Parameter value

Output data

0x00

0x02

0x01

0x94

0x00

0x00

0x12

0x34

Input data

0x00

0x02

0x01

0x94

0x00

0x00

0x12

0x34

Step 6

Write record number 1 with speed 0x7743 (decimal 30531 increments/s): PNU 406, subindex 2 – Modify parameter value, array, double word: ReqID 8 (0x8) with value 0x00007743. Byte 1

Byte 2

Byte 3

Byte 4


Byte 5

Byte 6

Byte 7

Byte 8

Parameter value

Output data

0x00

0x02

0x81

0x96

0x00

0x00

0x77

0x43

Input data

0x00

0x02

0x81

0x96

0x00

0x00

0x77

0x43

Step 7

After receiving the input data with ResID 0x8 send output data with ReqID = 0x0 and wait for input data with ResID = 0x0: Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8


Parameter value

Output data

0x00

0x02

0x01

0x94

0x00

0x00

0x77

0x43

Input data

0x00

0x02

0x01

0x94

0x00

0x00

0x77

0x43

5-10


Technical appendix

Appendix A

Technical appendix


A-1

A. Technical appendix

Contents

A.1

Conversion factors (factor group) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.2 A.1.3 A.1.4 A.1.5

A-2

A-3 A-3

Objects in the factor group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5 Calculating the positioning units . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6 Calculating the units of velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9 Calculating the units of acceleration . . . . . . . . . . . . . . . . . . . . . . . . A-13



A.1

Conversion factors (factor group)

A.1.1 Overview Motor controllers are used in a wide variety of applications: as direct drives, with downstream gear units, for linear drives etc. In order to enable simple parametrisation for all applications, the motor controller can be parametrised with the parameters in the “factor group” (PNU 1001 to 1007, see section 4.4.17) in such a way that variables such as the rotational velocity can be directly specified or read in the units of measurement required. The motor controller then uses the factor group to convert the entries into its internal units of measurement. One conversion factor is available for each of the physical parameters: position, velocity and acceleration. These conversion factors adjust the user’s units of measurement to the application in question. Fig. A/1 clarifies the function of the factor group: Factor group

User units

Internal controller units

Position ±1 Positioning units

Position Factor

±1 position_polarity_flag

Velocity ±1

Units of velocity

Velocity Factor

±1 velocity_polarity_flag 1)

Increments (inc)

CMMS/ CMMD

CMMP

1 rev

1 rev

min.

4096 min

Acceleration Units of acceleration

Acceleration Factor 1)

1 rpm 256 sec

Only with CMMP

Fig. A/1: Factor group


A-3


All parameters are always saved in the motor controller in its internal units of measurement and are only converted (using the factor group) when the parameters are written or read out. For this reason, the factor group should be set first during parametrisation and should not be changed again during parametrisation. The factor group is set to the following units by default:

Variable

Name

Unit

Explanation

Length

Positioning units

Increments

65536 increments per revolution

Velocity

Units of velocity

min-1

Revolutions per minute

Acceleration

Units of acceleration

(min-1 )/s

Velocity increase per second

Tab. A/1: Factor group default settings

A-4



A.1.2 Objects in the factor group Tab. A/2 shows the parameters in the factor group.

Name

PNU

Object

Type

Access

Polarity (reversal of direction)

1000

Var

uint8

rw

Position Factor

1004

Array

uint32

rw

Velocity Factor

1006

Array

uint32

rw

Acceleration Factor

1007

Array

uint32

rw

Tab. A/2: Overview of the factor group Tab. A/3 shows the parameters involved in the conversion.

Name

PNU

Object

Type

Access

Encoder Resolution

1001

Array

uint32

rw

Gear Ratio

1002

Array

uint32

rw

Feed Constant

1003

Array

uint32

rw

Axis Parameter

1005

Array

uint32

rw

Tab. A/3: Overview of parameters involved


A-5


A.1.3 Calculating the positioning units The position factor (PNU 1004, see section 4.4.17) is used to convert all the length values from the user’s positioning units into the internal unit increments (65536 increments are equivalent to one motor revolution). The position factor consists of numerators and denominators. Motor with gear unit

Drive

x in positioning unit (e. g. “degrees”)

revsOUT

revsIN

Motor

Gear unit

x in positioning unit (e. g. “mm”)

Fig. A/2: Calculating the positioning units The following parameters are involved in the position factor’s calculation formula: Gear Ratio

Gear ratio between revolutions at the input side (revs IN ) and revolutions at the output side (revs OUT ).

Feed Constant

Ratio between movement in positioning units at the drive and revolutions at the gear unit’s output (revs OUT ). (e. g. 1 rev Z 63.15 mm or 1 rev Z 360° degrees)

A-6



The position factor is calculated using the following formula: Position Factor

=

Gear Ratio * IncrementsRevolutions Feed Constant

The position factor must be written to the motor controller separated into numerators and denominators. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly.

Example First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified, along with the application’s gear ratio and its feed constant (if applicable). The feed constant is then displayed in the desired positioning units (column 2). In this way, all the values can be entered into the formula and the fraction can be calculated:

Position factor calculation sequence Positioning units 1)

Feed constant 2)

degrees, 1 dp

1 r OUT

Gear ratio 3)

=

3600 ° 10

1/10 degree ( °/ 10 )

1/1

Formula 4)

1r Inc * 65536 r 1r 3600 ° 10 1r

Result shortened

=

65536 Inc 3600 ° 10

num : 4096 div : 225

Fig. A/3: Position factor calculation sequence


A-7


Examples of calculating the position factor Positioning units 1)

Feed constant 2)

increments, 0 dp

1 r OUT

Gear ratio 3)

=

65536 Inc

1/1

Formula 4)

1r Inc * 65536 r 1r 65536 Inc 1r

Result shortened

=

1 Inc 1 Inc

num : 1 div : 1

=

65536 Inc 3600 °

num : 4096 div : 225

65536 Inc r 100

num : 16384 div : 25

131072 Inc r 300

num : 32768 div : 75

2621440 Inc mm 31575

num: 524288 div: 6315

inc.

degrees, 1 dp

1 r OUT

=

3600 ° 10

1/1

1/10 degree ( °/ 10 )

revs, 2 dp

1 r OUT 100

=

U 100

1/1

1/100 revs ( revs/100 )

2/3

mm, 1 dp 1/10 mm ( mm/10 )

1 r OUT = mm 631.5 10

4/5

1r Inc * 65536 r 1r 3600 ° 10 1r

1r Inc * 65536 r 1r r 100 100 1r 2r Inc * 65536 r 3r r 100 100 1r 4r Inc * 65536 r 5r mm 631.5 10 1r

10

=

100

=

100

=

10

1) 2)

Desired unit at the output Positioning units per revolution (revsOUT ). Drive’s feed constant (PNU 1003) * 10 -dp (decimal places taken into consideration) 3) revs per revs IN OUT 4) Insert values into formula.

Tab. A/4: Examples of calculating the position factor

A-8



A.1.4 Calculating the units of velocity The velocity factor (PNU 1006, see section 4.4.17) is used to convert all the velocity values from the user’s units of velocity into the internal unit: –

With CMMS/CMMD: revolutions per minute

–

With CMMP-AS: revolutions per 4096 minutes

The velocity factor consists of numerators and denominators. The velocity factor is calculated in two parts: a conversion factor from internal units of length into the user’s positioning units and a conversion factor from internal units of time into user-defined units of time (e.g. from seconds to minutes). The first part is equivalent to calculating the position factor; an additional factor is required to calculate the second part: Time factor_v

Ratio between the internal unit of time and the user-defined unit of time: (e.g. with CMMS 1 min = 1 /4096 4096 min)

Gear Ratio

Gear ratio between revolutions at the input side (revsIN ) and revolutions at the output side (revs OUT ).

Feed Constant

Ratio between movement in positioning units at the drive and revolutions at the gear unit’s output (revs OUT ). (e. g. 1 rev Z 63.15 mm or 1 rev Z 360° degrees) The velocity factor is calculated using the following formula:

Velocity Factor

=

Gear Ratio * Time Factor_v Feed Constant Like the position factor, the velocity factor also has to be written to the motor controller separated into numerators and denominators. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly.


A-9


Example First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified, along with the application’s gear ratio and its feed constant (if applicable). The feed constant is then displayed in the desired positioning units (column 2). Then, the desired unit of time is converted into the motor controller’s unit of time (column 3). In this way, all the values can be entered into the formula and the fraction can be calculated:

Velocity factor calculation sequence Units of velocity 1)

Feed con- Time constant 3) Gear Formula 5) 4) stant 2)

mm/s, 1 dp

63.15

1/10 mm/s ( mm/10 s )

mm r

⇒

1 r OUT = 631.5 mm 10

1 1 s

=

60 1 min

4/5 =

1 60 * 4096 4096 min

4r * 5r

60 * 4096

Result shortened 1

4096 min 1 1 s mm 631.5 10 1r

1966080 =

r

4096min 6315 mm 10s

num: 131072 div: 421

Fig. A/4: Velocity factor calculation sequence (here CMMP-AS)

A-10



Examples of calculating the position factor with CMMS/CMMD Units of velocity 1)


rpm, 0 dp

1 r OUT

=

65536 Inc

1/100 revs/ min °/s, 1 dp

1 =

1/1

1 r 1 r min * * 1r 1r 1

1 r OUT

=

3600 ° 10

1 1s

=

=

1/1

60 1 min

1 r 1 r * * 1r 1r

1/100 revs/min ( revs/100 min )

1 1 min 1 1 min

min r

1

num: div:

1 1

num: div:

1 60

num: div:

1 100

num: div:

1 150

num: div:

40 421

num: div:

32 421

min

1 60* min 1 s

r

60

=

3600 ° 10 1r

1 r OUT = 100 r 100

r

1

min 1r 1r

1/10 °/s ( ° /10 s ) rpm, 2 dp

1 1 min 1 1 min

Result shortened

min 3600 ° 10 s

1 =

1/1

1 r 1 r min * * 1r 1r 1

1

min 100

=

r

100 1r

100

r min r 100 min

1

2/3

1 r 2 r min * * 1r 3r 1

2

min r 100 100 1r

mm r

mm/s, 1 dp

63.15

1/10 mm/s ( mm/10 s )

1 r OUT = 631.5 mm 10

⇒

1 1s

=

60 1 min

1/1

4/5

=

1 60* min 1 s mm 631.5 10 1r

300

1 r 1 r * * 1r 1r

1 60* min 1 s mm 631.5 10 1r

r min r 100 min

r

120 =

1 r 4 r * * 1r 5r

1263

96 =

min mm 10 s

r min mm

1263

10 s

1) 2)

Desired unit at the output Positioning units per revolution (revsOUT ). Drive’s feed constant (PNU 1003) * 10 -dp (decimal places taken into consideration) 3) Time factor_v: desired unit of time per internal unit of time 4) Gear ratio: revs per revs IN OUT 5) Insert values into formula.

Tab. A/5: Examples of calculating the position factor with CMMS/CMMD


A-11


Examples of calculating the position factor with CMMP-AS Units of velocity 1)


rpm, 0 dp

1 r OUT 1 r OUT

( revs/

=

1 r OUT = 100 r 100

1/10 mm/s ( mm/10 s )

1

4096

4096 min 1 1 min

1 1 min 4096

=

1 4096 min

2/3

2r * 3r

1 r OUT

=

3600 ° 10

1 1 s

=

60 1 min

1/1 =

1r * 1r

1 60 * 4096 4096 min

63.15 mm r ⇒

1 r OUT = mm 631.5 10

1 1s

=

60 1 min

1 60 * 4096 4096 min

4r * 5r

1

r

num: 4096 div: 1

4096 min r min

1

4096

4096 min 1 1 min

60 * 4096

8192 =

300

4096 min 1 1 s

60 * 4096

r

num: 2048 div: 75

4096 min r 100 min

1

245760 =

3600 ° 10 1r

4/5 =

4096 =

r 100 100 1r

1/10 °/s ( ° /10 s ) mm/s, 1 dp

1/1

1r * 1r

1r 1r

1/100 revs/min ( revs/100 min ) °/s, 1 dp

=

1 4096 4096 min

min )

rpm, 2 dp

1 1 min

Result shortened

r 4096 min

3600

° 10 s

num: 1024 div: 15

1

4096 min 1 1 s mm 631.5 10 1r

1966080 =

r

4096min 6315 mm 10 s

num: 131072 div: 421

1) 2)

Desired unit at the output Positioning units per revolution (revsOUT ). Drive’s feed constant (PNU 1003) * 10 -dp (decimal places taken into consideration) 3) Time factor_v: desired unit of time per internal unit of time 4) Gear ratio: revs per revs IN OUT 5) Insert values into formula.

Tab. A/6: Examples of calculating the position factor with CMMP-AS

A-12



A.1.5 Calculating the units of acceleration The acceleration factor (PNU 1007, see section 4.4.17) is used to convert all the acceleration values from the user’s units of acceleration into the internal unit revolutions per minute per 256 seconds . The acceleration factor consists of numerators and denominators. The acceleration factor is also calculated in two parts: a conversion factor from internal units of length into the user’s positioning units and a conversion factor from internal units of time squared into user-defined units of time squared (e.g. from seconds2 to minutes2 ). The first part is equivalent to calculating the position factor; an additional factor is required to calculate the second part: Time factor_a

Ratio between the internal unit of time squared and the userdefined unit of time squared (e. g. 1 min2 = 1 min * 1 min = 60 s * 1 min = 60/256 min * s).

Gear Ratio

Gear ratio between revolutions at the input side (revsIN ) and revolutions at the output side (revs OUT ).

Feed Constant

Ratio between movement in positioning units at the drive and revolutions at the gear unit’s output (revs OUT ). (e. g. 1 rev Z 63.15 mm or 1 rev Z 360° degrees) The acceleration factor is calculated using the following formula:

Acceleration Factor

Gear Ratio * Time Factor_a Feed Constant

=

Like the position and velocity factors, the acceleration factor also has to be written to the motor controller separated into numerators and denominators. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly.


A-13


Example First, the desired unit (column 1) and the desired number of decimal places (dp) have to be specified, along with the application’s gear ratio and its feed constant (if applicable). The feed constant is then displayed in the desired positioning units (column 2). Then, the desired unit of time 2 is converted into the motor controller’s unit of time2 (column 3). In this way, all the values can be entered into the formula and the fraction can be calculated:

Examples of calculating the acceleration factor Units of acceler. 1)


mm/s2, 1 dp

63.15

1/10 mm/s2 ( mm/10 s2 )

mm r

⇒

1 r AUS = 631.5 mm 10

1 1 s2

=

1 60 min * s

4/5 =

1

60 * 256

min

256 * s

4r * 5r

60 * 256

Result shortened 1

256 min* s 1 1 s2

mm 10 1r

631.5

r

122880 =

6315

min 256 s mm 10s2

num: 8192 div: 421

Fig. A/5: Calculating the acceleration factor

A-14



Examples of calculating the acceleration factor Units of acceler. 1)


rpm/s, 0 dp

1 r OUT 1 r OUT

revs/

=

=

3600 ° 10

1/10 °/s2 ( °/ 10 s2 )

1/10 mm/s2 ( mm/

2 10 s )

1

1/1

1r * 1r

256 * s

1 s2

=

1/1

1 60 min * s

60 * 256 1 r OUT = r 100 100

1

1r * 1r

=

min

2/3

2r * 3r

=

s

⇒

1 r OUT = 631.5 mm 10

1 1 s2

=

1 60 min * s

4/5 =

1

60 * 256

min

256 * s

4r * 5r

min

num: 256 div: 1

256* s r min s

1 1

256 min* s 1 1 s2

r

15360 =

3600

min 256 * s ° 10 s 2

num: 64 div: 15

1

256

256 min* s 1 60 min2

r

512 =

r

100 1r

256 min 60 256 * s mm r

256 =

60 * 256

100

1

63.15

r

3600 ° 10 1r

256 * s

1

1 60

256 min s 1 1 min * s

=

min

1 min2

1

256

1r 1r

1

1/100 revs/ 2 min ( revs/100 2 min ) mm/s2, 1 dp

=

min

256

1 r OUT

rpm2, 2 dp

1 min * s 1

min s

°/s2, 1 dp

1

Result shortened

18000

100 min2

num: 32 div: 1125

1

60 * 256

256 min* s 1 1 s2

631.5

min 256 s r

mm 10

r

=

min 122880 256 s mm 6315 10 s 2

num: 8192 div: 421

1r

1) 2)

Desired unit at the output Positioning units per revolution (revsOUT ). Drive’s feed constant (PNU 1003) * 10 -dp (decimal places taken into consideration) 3) Time factor_a: desired unit of time2 per internal unit of time2 4) Gear ratio: revs per revs IN OUT 5) Insert values into formula.

Tab. A/7: Examples of calculating the acceleration factor


A-15


A-16


FHPP+ and cam disk expansions

Appendix B

FHPP+ and cam disk expansions


B-1

B. FHPP+ and cam disk expansions

Contents

B.1

FHPP+ overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Structure of the FHPP+ telegram . . . . . . . . . . . . . . . . . . . . . . . . . . .

B-3 B-4

B.1.2 B.1.3 B.1.4 B.1.5

B-5 B-6 B-6 B-6

Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration of the fieldbuses with FHPP+ . . . . . . . . . . . . . . . . . . . Telegram editor for FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of FHPP+ parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2

CMMP-AS - operation of cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7 B.2.1 Camming function in Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . B-8 B.2.2 Camming function in Record selection mode . . . . . . . . . . . . . . . . . B-10 B.2.3 Parameters for the camming function . . . . . . . . . . . . . . . . . . . . . . . B-10 B.2.4 Extended finite state machine with camming function . . . . . . . . . . B-11

B-2



B.1

FHPP+ overview FHPP+ is an expansion of the FHPP communication protocol. To find out whether this function is supported by the controller you are using and its firmware version, see the help for the associated FCT plug-in. The FHPP+ expansion allows additional PNUs configured by the user to be transmitted via the cyclic telegram, in addition to the control and status bytes and the optional parameter channel (FPC). The minimum configuration for each telegram contains the control and status bytes, meaning that 8 bytes are sent and received. If the parameter channel is transmitted as well, it directly follows the I/O channel. FHPP+ can be used to attach additional setpoint values to the received telegram which are not represented in the control and status bytes or in the FPC. Additional actual values can be forwarded in the response telegram, such as the intermediate circuit voltage or the temperature of the output stage. The additional data (FHPP+) must always be transmitted in multiples of 8 bytes, up to a total length of 32 bytes. The data transmitted via FHPP+ is configured using the FHPP+ telegram editor in the controller’s FCT plug-in.

Note Not all PNUs can be configured for the FHPP+ telegram. For example, the PNUs 40 to 43 cannot be transmitted at all; PNUs without write access cannot be configured in the output data; etc.


B-3


B.1.1 Structure of the FHPP+ telegram The first entry in the telegram (address 0) is reserved for the I/O channel. Optionally, if the parameter channel FPC is required by the application and it has been defined in the bus configuration, it must be selected as the second entry (address 8). The parameter channel must only be configured in this position. From the third entry onwards in the telegram (address 16), or the second entry if FPC is not used (address 8), all remaining PNUs can be mapped which are required in the application. With certain control systems (e.g. SIEMENS S7), make sure that PNUs with lengths of 2 or 4 bytes are in suitable addresses. These PNUs should only be inserted in even addresses. Placeholders are defined so that any gaps can be filled. They can be used to ensure that PNUs can be mapped in the addresses desired. All unused parts of a telegram and especially all unused entries in the telegram editor are filled with the placeholders.

B-4



B.1.2 Examples Example 1 With FPC, maximum 16 bytes for FHPP+

Output data, bytes 1 ... 31 1

2

3

4

5

6

7

8

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

CCON, CPOS, ...

FPC, PNU, SI

Control bytes

Parameter channel FPC

... ...

PNU...

PNU...

PNU...

PNU... PNU...

FHPP+ (max. 16 bytes)

Input data, bytes 1 ... 31 1

2

3

4

5

6

7

8

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

SCON, SPOS, ...

FPC, PNU, SI

Status bytes

Parameter channel FPC

PNU...

PNU...

PNU...

PNU...


Example 2 Without FPC, maximum 24 bytes for FHPP+

Output data, bytes 1 ... 31 1

2

3

4

5

6

7

8

CCON, CPOS, ...

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 PNU...

PNU...

Control bytes

PNU...

PNU...

PNU...

PNU...

PNU... PNU...


Input data, bytes 1 ... 31 1

2

3

4

5

SCON, SPOS, ...

6

7

8

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 PNU...

Status bytes


PNU...

PNU...

PNU...

... ...

PNU...

PNU...


B-5


B.1.3 Configuration of the fieldbuses with FHPP+ The length and contents of the transmitted data are defined using the telegram editor. The data defined in this way must be configured on the master/scanner specifically for each fieldbus, for example by means of the corresponding GSD or EDS files. Information about configuration can be found in the relevant fieldbus manual.

B.1.4 Telegram editor for FHPP+ The transmitted data is configured solely via the FHPP+ editor provided by the FCT plug-in. The relevant PNUs 40 and 41 are read-only; see section B.1.5. The FHPP+ telegram editor assigns the data contents of the cyclic FHPP telegram uniquely to the PNUs. The specifications provide generally for 16 entries per received and sent telegram. The current stage of development permits up to 10 entries for the CMMP-AS controller. The maximum length of a telegram is restricted to 32 bytes. The PNUs for telegram mapping settings must not be mapped in the FHPP+ telegram.

B.1.5 Overview of FHPP+ parameters The special parameters for FHPP+ are described in section 4.4.2.

B-6



B.2

CMMP-AS - operation of cam disks The CMMP-AS has the option of operating 16 cam disks each with 4 cam tracks assigned to it. This function is available with CMMP-AS firmware version 3.5.1501.4.1 and higher. The CMMP-AS provides the following functionality for this purpose via FHPP: –

Operation in synchronisation with an external input, slave mode.

–

Operation in synchronisation with an external input with cam disk, slave mode.

–

Virtual master (internal) with cam disk.

Control is possible in the following modes: –

Record selection.

–

Direct mode, positioning.

The cam disks are parametrised via the FCT plug-in. For information about parametrisation, see the help for the CMMP-AS plug-in. For complete information on the camming function, see the special cam disk manual.


B-7


B.2.1 Camming function in Direct mode Synchronisation with an external master controller with cam disk (slave operation) Synchronisation operation allows a slave controller to follow a master controller via an additional external input in accordance with parametrised rules. This can be purely position synchronisation or it can be done with an additional camming function, the CAM function.

Activating synchronisation operation in Direct mode: Synchronised operation can be selected with control byte 3, CDIR by setting CDIR.B7 (FUNC), and the desired functionality can be selected in the function group and the function number, CDIR.B6 ... B3 (FGRP, FNUM). Synchronised operation is then activated with a positive edge at the bit CPOS.B1 (START). The bit CCON.B1 (STOP) stops synchronisation operation. The bit CPOS.B0 (HALT) has no intermediate stop function (goes to “ready” with a stop ramp). The negative edge of CPOS.B1 (START) also stops synchronisation operation.

B-8



Setpoint and actual values according to the function numbers Function number

Allocation of the setpoint/actual values

FNUM = 0: reserved

–

FNUM = 1, FNUM = 2: synchronisation operation without/with cam disk

Setpoint value 1 Irrelevant as the position setpoint comes via the external input. Setpoint value 2 Irrelevant as the position setpoint comes via the external input. Actual value 1 Actual velocity of the slave as in Profile Position mode (according to the cam disk) Actual value 2 Actual position of the slave as in Profile Position mode (according to the cam disk)

FNUM = 3: virtual master (internal) with cam disk

Setpoint value 1 Setpoint velocity of the master, subject to the operating mode of the master Setpoint value 2 Setpoint position of the master, subject to the operating mode of the master Actual value 1 Actual velocity of the slave (according to the cam disk) Actual value 2 Actual position of the slave (according to the cam disk)

Tab. B/1: Allocation of setpoint/actual values The cam disk is selected with PNU 700. FHPP+ can be used to map this selection to the process data.


B-9


B.2.2 Camming function in Record selection mode With Record selection, the type of record is defined with the record control byte in the record list. The expansion to camming operation can be activated as for Direct mode with the bit provided for general function expansion, bit 7 (FUNC) in record control byte 1. The cam disk number is selected with PNU 419. If PNU 419 = 0, the contents of PNU 700 are used.

B.2.3 Parameters for the camming function The parameters for the camming function can be found in section 4.4.15.

B-10



B.2.4 Extended finite state machine with camming function From all states

Switched off T7* always has the highest priority.

T7* S5


Reaction to fault

T1 S2 Drive disabled

T5

T8

T11

S6 T9

Fault

T2 T10

S3 Drive enabled

T6

T4 SA5 Jog positive

TA9

T3

SA1

TA7

TA10 SA6 Jog negative

TA8

Ready

TA11 TA12

TA13

TA2

TA6

SA7 Prepare cam disk

TA14 TA19

TA5

SA4 Homing is being carried out

TA1

SA2 Positioning task active

TA4

TA3

SA3 Intermediate stop

TA16

TA15

SA8 Cam disk active and being run

TA18

TA17

SA9 Cam disk intermediate stop

S4 Operation enabled

Fig. B/1: Finite state machine with camming function Festo P.BE-CMM-FHPP-SW-EN en 1011b

B-11


TA

TA13

TA14, TA19

Description

Prepare cam disk (activate)

De-activate cam disk

Event with

Ancillary condition

Record selection

Direct mode

“Rising” edge (change) of record number.

–

Old record: FUNC = 0 New record: FUNC = 1

–

Rising edge at FUNC.

–

Rising edge at STOP or ENABLE (activation of controller enable).

FUNC = 1

“Rising” edge (change) of record number.

–

Old record: FUNC = 1 New record: FUNC = 0

–

Falling edge at FUNC.

–

STOP or withdrawal of ENABLE.

None, FUNC = any Drive is in TA 13.

TA15

Cam disk active and being run

Rising edge at START.

TA16

Change cam disk

Rising edge at START.

–

Changed cam disk number in PNU 419 or PNU 700. FUNC = 1

“Rising” edge (change) of record number and rising edge at START.

–

Changed cam disk number in PNU 419 or PNU 700. FUNC = 1

–

Rising edge at START, starts the virtual master automatically.

PNU 700 has been changed. FUNC = 1

TA17

Intermediate stop

HALT = 0

TA18

End intermediate stop

HALT = 1

B-12

Intermediate stop with virtual master only.


Index

Appendix C

Index


C-1

C. Index

C-2


C. Index

A Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18, 4-32 Axis zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII, 4-55

C Cam disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII

D Diagnostic memory (faults) . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Diagnostics, FHPP status bytes . . . . . . . . . . . . . . . . . . . . 3-53 Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII

E Effective stroke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Electric axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII Error numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

F Festo Configuration Tool (FCT) . . . . . . . . . . . . . . . . . . . . . . XIII Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . . XIII, 5-3 FHPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 FHPP operating mode Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 FHPP+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3 Festo P.BE-CMM-FHPP-SW-EN en 1011b

C-3

C. Index

H HMI (see device control) . . . . . . . . . . . . . . . . . . . . . . . . . . XIII Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIII Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Homing method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

XIV XIII XIV XV

J Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV

O Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

XIV XIV XIV XIV XV XV

Operating mode (FHPP operating mode) Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

P Parameter channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Parameter identifier (ParID) . . . . . . . . . . . . . . . . . . . . 5-3, 5-4 Parameter number (PNU) . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 Parameter value (Value) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Parametrisation with FHPP . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Pictograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Positioning record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV C-4


C. Index

Profile Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Profile Torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV Profile Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Project zero point . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV, 4-41

R Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18, 4-32 Response identifier (ResID) . . . . . . . . . . . . . . . . . . . . . 5-4, 5-5

S Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX Software end position . . . . . . . . . . . . . . . . . . . . . . . . XV, 4-41 Negative (lower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Positive (upper) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Speed adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Subindex (IND) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

T Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX Task identifier (ReqID) . . . . . . . . . . . . . . . . . . . . . . . . . 5-4, 5-5 Teach mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XV Text designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI

U User instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X


C-5

Festo Cmms-As Fhpp

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