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Description
Device profile FHPP
Festo profile,
handling and
positioning
for motor controller
– CMMS-AS-...-G2
– CMMD-AS-...
– CMMS-ST-...-G2
via fieldbus:
– CANopen
– PROFIBUS
– DeviceNet
with interface:
– CAMC-PB
– CAMC-DN
8040108
1404NH
[8034528]
FHPP for motor controller
CMMS-AS/CMMD-AS/CMMS-ST
CMMS-AS/CMMD-AS/CMMS-ST
2 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH –
Translation of the original instructions
GDCP-CMMS/D-C-HP-EN
CANopen®, CiA®, PROFIBUS®, STEP 7®, DeviceNet® are registered trademarks of the respective
trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 3
Table of contents – CMMS-AS/CMMD-AS/CMMS-ST – FHPP
1 Overview of FHPP with the motor controllers CMMS/D 11. . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Overview of Festo Handling and Positioning Profile (FHPP) 11. . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Fieldbus interfaces 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Mounting interface CAMC-... 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 CANopen 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 CANopen standards 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 CANopen interface 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Connection and display components 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Bus/CAN LED 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Pin allocation CAN [X4] 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Cabling notes 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Configuration of CANopen participants (via DIP switches) 17. . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Overview of DIP switches [S1.1…12] 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Configure node ID (CAN address) 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Configure data rate 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.4 Activate CAN interface 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 Activate terminating resistor 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.6 Setting of the physical units (factor group) 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Configuration CANopenmaster 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Access procedure 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Introduction 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 PDO message 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.3 SDO access 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.4 SYNC message 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.5 EMERGENCY-Message 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.6 Network Management (NMT service) 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.7 Bootup (Boot-up Protocol) 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.8 Start Remote Node 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.9 Stop Remote Node 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.10 Enter Pre-Operational 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.11 Reset Node 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.12 Reset Communication 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.13 Heartbeat (Error Control Protocol) 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.14 Nodeguarding (Error Control Protocol) 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.15 Table of identifiers 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.16 Internal time sequence of CANopen processing 39. . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
4 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
3 PROFIBUS DP – optional interface CAMC-PB 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 PROFIBUS interface CAMC-PB 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Connection and display components at the interface CAMC-PB 40. . . . . . . . . . . . .
3.2.2 PROFIBUS LED 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Pin assignment of PROFIBUS interface 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4 Termination and bus terminating resistors 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Configuration of PROFIBUS participants (via DIL switch) 43. . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Overview of DIL switches [S1.1…12] 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Configure bus address 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Configure fieldbus interface 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4 Configure terminating resistor 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5 Setting of the physical units (factor group) 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.6 Usage of FPC 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.7 Storing the configuration 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 PROFIBUS I/O configuration 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Assignment of the I/O data for CMMD 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Internal time sequence of PROFIBUS processing 47. . . . . . . . . . . . . . . . . . . . . . . .
3.5 PROFIBUS master configuration 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 DeviceNet – optional interface CAMC-DN 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Overview 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 DeviceNet interface CAMC-DN 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Display and control elements at the CAMC-DN interface 55. . . . . . . . . . . . . . . . . .
4.2.2 DeviceNet LED 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Pin allocation 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 DeviceNet I/O configuration 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Assignment of the I/O data for CMMD 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Internal time sequence of the DeviceNet processing 57. . . . . . . . . . . . . . . . . . . . .
4.4 Configuration of DeviceNet participants (via DIP switches) 58. . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Overview of DIP switches [S1.1…12] 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Configure MAC ID 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.3 Configure data rate 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 Configure fieldbus interface 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.5 Terminating resistor 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.6 Setting of the physical units (factor group) 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.7 Usage of FPC 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Configuration of DeviceNet master 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Parameters 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Access procedure 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Explicit Messaging 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 5
5 Sequence control and I/O data 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Setpoint specification (FHPP operation modes) 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Switching the FHPP operating mode 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Record selection 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Direct mode 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 FHPP finite state machine 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Create readiness to operate 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Positioning 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Examples of control and status bytes 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Configuration of the I/O data 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Concept 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 I/O data in the various FHPP operating modes (control view) 76. . . . . . . . . . . . . .
5.4 Assignment of the control bytes and status bytes (overview) 77. . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Description of the control bytes 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 Description of the status bytes 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Drive functions 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Dimension reference system for electric drives 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Dimension reference system for linear drives 87. . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Dimension reference system for rotative drives 88. . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Calculation rules for the dimension reference system 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Homing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Homing for electric drives 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Homing methods 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Jog operation 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Teaching via fieldbus 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Carry out record (record selection) 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Record selection flow diagrams 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Sentence structure 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.3 Conditional record switching/record chaining (PNU 402) 102. . . . . . . . . . . . . . . . . .
6.7 Direct mode 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1 Position control process 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Speed mode process (speed adjustment) 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 Sequence for force mode (torque, current control) 106. . . . . . . . . . . . . . . . . . . . . . .
6.8 Standstill monitoring 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Flying measurement (position sampling) 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Display of drive functions 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
6 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
7 Malfunction behaviour and diagnostics 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Classification of malfunctions 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.1 Warnings 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Malfunction type 1 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3 Malfunction type 2 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Diagnostic memory (malfunctions) 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Diagnostics through FHPP status bytes 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Technical appendix 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Conversion factors (Factor Group) 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Overview 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Objects in the factor group 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 Calculating the position units 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Calculating the speed units 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.5 Calculating the acceleration units 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B Reference parameter 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 FHPP general parameter structure 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Access protection 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 Overview of FHPP parameters 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4 Descriptions of FHPP parameters 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.1 Representation of the parameter entries 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.2 General / system data 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.3 Device data – standard parameters 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.4 Device data – extended parameters 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.5 Diagnostics 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.6 Process data 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.7 Flying measurement 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.8 Record list 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.9 Project data – general project data 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.10 Project data – teach / direct mode general 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.11 Project data – jog operation 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.12 Project data – direct mode position control 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.13 Project data – direct mode speed adjustment 146. . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.14 Function data – synchronisation 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4.15 Axis parameters electrical drives 1 – mechanical parameters 146. . . . . . . . . . . . . .
B.4.16 Axis data electrical drives 1 - homing parameters 150. . . . . . . . . . . . . . . . . . . . . . . .
B.4.17 Axis parameters electrical drives 1 – controller parameters 151. . . . . . . . . . . . . . . .
B.4.18 Axis Parameters Electric Drives 1 – electronic rating plate 154. . . . . . . . . . . . . . . . .
B.4.19 Axis parameters electric drives 1 – standstill monitoring 154. . . . . . . . . . . . . . . . . .
B.4.20 Axis parameters for electric drives 1 – following error monitoring 155. . . . . . . . . . .
B.4.21 Function parameters for digital I/Os 156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 7
C Festo Parameter Channel (FPC) 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1 Festo parameter channel (FPC) for cyclic data (I/O data) 157. . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.1 Overview of FPC 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2 Task identifiers, response identifiers and error numbers 158. . . . . . . . . . . . . . . . . .
C.1.3 Rules for job reply processing 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D Diagnostic messages 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.1 Explanations of the diagnostic messages 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.2 Diagnostic messages with instructions for fault clearance 163. . . . . . . . . . . . . . . . . . . . . . . . .
D.3 Error codes via CiA 301/402 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4 PROFIBUS diagnostics 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E Terms and abbreviations 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
8 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 9
Notes on this documentation
This documentation describes the Festo Handling und Position Profile (FHPP) for the motor controller
corresponding to the section “Information on the version” via the fieldbus interface:
– CANopen – interface [X4] integrated into the motor controller.
– PROFIBUS DP – optional interface CAMC-PB in slot Ext or Ext 1.
– DeviceNet – optional interface CAMC-DN in slot Ext or Ext 1.
This provides you with supplementary information about control, diagnostics and parameterisation of
the motor controllers via the fieldbus.
• Always observe the general safety regulations for the motor controller.
The general safety regulations can be found in the description “Mounting and installa-
tion”, GDCP-CMM...-...-HW-... Tab. 2.
Target group
This documentation is intended exclusively for technicians trained in control and automation techno-
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This documentation refers to the following versions:
Motor controller Version
CMMS-AS-...-G2 Motor controller CMMS-...-G2 from Rev 03
FCT plug-in CMMS from version 2.0.0
CMMD-AS-... Motor controller CMMD-... from Rev 03
FCT plug-in from version 2.0.0
CMMS-ST-...-G2 Motor controller CMMS-...-G2 from Rev 05
FCT plug-in CMMS from version 2.0.0
Tab. 1 Versions
Note
With newer revisions, check whether there is a newer version of this documentation
www.festo.com
CMMS-AS/CMMD-AS/CMMS-ST
10 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Documentation
Additional information on the motor controllers can be found in the following documentation:
Documentation Type of
equipment
Contents
Assembly and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS – Mounting
I t ll ti ( i ll ti )GDCP-CMMD-AS-HW-... CMMD-AS
– Installation (pin allocation)
– Error messages
– Technical dataGDCP-CMMS-ST-G2-HW-... CMMS-ST
Functions and
commissioning
GDCP-CMMS/D-FW-... CMMS-AS
CMMD-AS
CMMS-ST
– Control interfaces
– Operating modes/operational
functions
– Commissioning with FCT
– Error messages
STO safety
function
GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
y g g
the safety function STO (safe torque
off ))GDCP-CMMS-ST-G2-S1-... CMMS-ST
Device profile
FHPP
GDCP-CMMS/D-C-HP-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interfaces:
– CAN bus (CANopen)
– Interface CAMC-PB (PROFIBUS)
– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via
the device profile FHPP (Festo
profile for handling and positioning)
with PROFIBUS, DeviceNet or
CANopen.
Device profile
CiA 402,
GDCP-CMMS/D-C-CO-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interface:
– CAN bus (CANopen, DriveBus)
– Control and parameterisation via
device profile CiA 402 (DS 402).
Software help Help on the CMMS-AS
plug-in
CMMS-AS – Surface and functions in the Festo
Configuration Tool for the plug-in
Help on the CMMD-AS
plug-in
CMMD-AS
g p g
Help for the CMMS-ST
plug-in
CMMS-ST
Tab. 2 Documentation on the motor controllers
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support portal: www.festo.com/sp
1 Overview of FHPP with the motor controllers CMMS/D
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 11
1 Overview of FHPP with the motor controllers CMMS/D
1.1 Overview of Festo Handling and Positioning Profile (FHPP)
Tailored to the target applications for handling and positioning tasks, Festo has developed an optim-
ised data profile, the “Festo Handling and Positioning Profile (FHPP)”.
The FHPP permits a uniform control and parameterisation for the various fieldbus systems and motor
controllers from Festo.
To do this, it defines for the user largely uniformly
– operating modes,
– I/O data structure,
– parameter objects,
– sequence control.
Fieldbus communication
Record selection
Free access to parameters – read
and write
. . .
Direct mode Parameterisation
Position Speed Torque
. . .
1
2
3
...
n
>
Fig. 1.1 Principle of FHPP
Control and status data (FHPP Standard)
Communication over the fieldbus takes place through 8-byte control and status data. Functions and
status messages required in operation can be written and read directly.
Parameterisation (FPC)
Through the parameter channel, control of all parameter values of the motor controller can be ac-
cessed via the fieldbus. A further 8 bytes of I/O data are used for this purpose.
1 Overview of FHPP with the motor controllers CMMS/D
12 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
1.2 Fieldbus interfaces
Control and parameterisation via FHPP is supported through various fieldbus interfaces corresponding
to Tab. 1.1. The CANopen interface is integrated into the motor controller. Through interfaces, the mo-
tor controller can be extended by PROFIBUS or DeviceNet.
Fieldbus Interface Slot Description
CAN bus [X4] – integrated – Chapter 2
PROFIBUS Interface CAMC-PB CMMS-...: Ext
CMMD-AS: Ext1
Chapter 3
DeviceNet Interface CAMC-DN CMMS-...: Ext
CMMD-AS: Ext1
Chapter 4
Tab. 1.1 Fieldbus interfaces for FHPP
2
3
4
1
2
3
1
2
3
1
4 4
1 Bus/CAN LED
2 DIP switch [S1] for fieldbus settings
3 Slot Ext / Ext 1 for interface
4 CANopen interface [X4]
Fig. 1.2 Motor controller CMMS-AS / CMMD-AS / CMMS-ST
1 Overview of FHPP with the motor controllers CMMS/D
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 13
1.2.1 Mounting interface CAMC-...
Note
Before mounting and installation work, observe the safety instructions in the specific
description “Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2 as well as
the mounting instructions accompanying the interface.
1. Unscrew screw with spring washer on the cover of the push-in slot ( Tab. 1.1).
2. Lever out and remove cover laterally with a small screwdriver.
3. Guide interface into the empty slot so the printed circuit board runs in the guides of the slot.
4. Insert interface; when you have reached the rear contact strip inside the motor controller, carefully
press it into the contact strip until it stops.
5. Finally, screw the interface to the front using the screw with spring washer. Tightening torque:
approx. 0.4 Nm ± 10 %.
2 CANopen
14 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
2 CANopen
This part of the documentation describes connection and configuration of the motor controller in a
CANopen network. It is directed at people who are already familiar with this bus protocol.
2.1 CANopen standards
CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manu-
facturers are organised in this network. This standard has largely replaced the current manufacturer-
specific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 … 207:
In these documents, the general basic principles and embedding of CANopen into the OSI shift model.
The relevant points of this book are introduced in this handbook so acquisition of CiA201 … 207 in gen-
eral is no longer necessary.
CiA 301:
Described in this document are the fundamental configuration of the object directory of a CANopen
device and access to it. The statements of CiA 201 … 207 are also made concrete. The elements of the
object directory required for the CMMS motor controller family and the related access methods are
described in this manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
Source address:
CAN in Automation (CiA) International Headquarters
AmWeichselgarten 26
D-91058 Erlangen
Tel.: +49 (0)9131-601091
Fax: +49 (0)9131-601092
www.can-cia.org
CANopen implementation of the motor controller is based on the following standards:
1 CiA Draft Standard 301, Version 4.02, 13th February 2002
2 CANopen
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 15
2.2 CANopen interface
The CAN interface is integrated in the motor controller and thus available. According to standard, the
CAN bus connection is executed standard as a 9-pin sub-D plug.
2.2.1 Connection and display components
The following elements are displayed on the front plate:
– status LED “Bus” / “CAN”
– a 9-pin sub-D plug [X4]
– DIP switches for terminating resistor, transmission rate, CAN activation, node ID (CAN address).
2.2.2 Bus/CAN LED
The LED bus on the motor controller displays the following:
LED Status
off No telegrams are sent
Lights up yellow Telegrams are sent
Tab. 2.1 Bus/CAN LED
2.2.3 Pin allocation CAN [X4]
[X4] Pin no. Designation Value Description
1 - - Not assigned
6 CAN-GND - Load
2 CAN-L - Negative CAN signal (Dominant Low)
7 CAN-H - Positive CAN signal (Dominant High)
3 CAN-GND - Load
8 - - Not assigned
4 - - Not assigned
9 - - Not assigned
5 CAN shield - Screening
Tab. 2.2 Pin allocation CAN interface[X4]
CAN bus cabling
When cabling the motor controller via the CAN bus, you should unconditionally observe
the subsequent information and notes to obtain a stable, trouble-free system.
If cabling is improperly done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for safety reasons.
2 CANopen
16 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Termination
If required, a terminating resistor (120 Ω) can be switched on the basic unit by means of DIP switches
[S1.12].
2.2.4 Cabling notes
The CAN bus offers a simple, fail-safe ability to network all the components of a system together. But a
requirement for this is that all of the subsequent instructions on cabling are observed.
120 Ω 120 Ω
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
Fig. 2.1 Cabling example
– The individual nodes of the network are connected point-to-point to each other so that the CAN
cable is looped from controller to controller ( Fig. 2.1).
– At both ends of the CAN cable, there must be exactly one terminating resistor of 120 Ω ±-5%. Such a
terminating resistor is often already integrated into CAN cards or a PLC, which must be taken into
account correspondingly.
– Screened cable with exactly two twisted conductor pairs must be used for the wiring Tab. 2.3.
One twisted pair is used for connecting CAN-H and CAN-L. The conductors of the other pair are used
together for CAN-GND. The cable screening is connected to the CAN shield connections at all nodes.
– The usage of adapters is not recommended for CAN bus cabling. If this is unavoidable, then metallic
plug housings should be used to connect the cable screening.
– To keep the disturbance coupling as low as possible, motor cables should always be laid in accord-
ance with the specification, not parallel to signal lines, and properly screened and earthed.
– For additional information on design of a trouble free CAN bus cabling, we refer to the Controller
Area Network protocol specification, version 2.0, of Robert Bosch GmbH, 1991.
Characteristic Value
Wire pairs – 2
Wire cross section [mm2] ≥ 0.22
Screening – Yes
Loop resistance [Ω/m] < 0.2
Surge impedance [Ω] 100 … 120
Tab. 2.3 Technical data, CAN bus cable
2 CANopen
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 17
2.3 Configuration of CANopen participants (via DIP switches)
Several steps are required in order to produce an operational CANopen interface. Some of these set-
tings should or must be carried out before the CANopen communication is executed. This section
provides an overview of the steps required by the slave for parameterisation and configuration. Since
some parameters only become effective after saving and restart of the motor controller, it is recommen-
ded to perform commissioning with the FCT first without connection to the CANopen bus.
Notes on commissioning with the Festo Configuration Tool can be found in the Help for
the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the node ID (CAN address), bit rate and activation of the bus communication via DIP
switches.
The status of the DIP switches is read once during Power-ON/restart.
The motor controller accepts changes in the switch settings in ongoing operation only at
the next Power ON/controller restart (FCT).
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (mode selection tab)
In addition, the following settings on the fieldbus page:
– Festo FHPP protocol (Operation Parameters tab)
– physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
Note
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopenmaster Sections 2.4 and 2.5.
2 CANopen
18 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
2.3.1 Overview of DIP switches [S1.1…12]
Fig. 2.2 Overview of DIP switches [S1.1...12]
2.3.2 Configure node ID (CAN address)
The node ID (CAN address) can be configured via the DIP switches [S1.1…7].
Fieldbus DIP switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1
CANopen
Node ID (1…127) 1) X X X X X X X
Example: node ID “57” =
(switch position)
+ 0
(OFF)
+ 32
(ON)
+ 16
(ON)
+ 8
(ON)
+ 0
(OFF)
+ 0
(OFF)
+ 1
(ON)
1) The address “0” is reserved for the higher-order controller.
Tab. 2.4 Configure node ID
Special features with CMMD-AS
The two separated CAN participants of the CMMD-AS (CAN bus is internally looped through) are con-
figured with the node ID after the DIP switch for axis 1 and after the DIP switch + 1 for axis 2. CAN activ-
ation, baud rate and completion can only be configured together and thus identically for axis 1 and
axis 2.
The two axes have a separate CAN address, each with 8 (without FPC) or 16 EA byte data (with FPC).
The address of axis 1 is set at the DIP switches.
The next address is always assigned to axis 2:
CAN address Axis 2= CAN address Axis 1 + 1
2 CANopen
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 19
2.3.3 Configure data rate
The bit/transmission rate can be configured via the DIP switches [S1.9/S1.10].
Fieldbus Bit/transmission rate DIP switch
S1.10 S1.9
CANopen (CAN bus) 125 KBit/s (125 kBaud) OFF OFF
250 KBit/s (250 kBaud) OFF ON
500 KBit/s (500 kBaud) ON OFF
1 MBit/s (1000 kBaud) ON ON
Tab. 2.5 Configure data rate
2.3.4 Activate CAN interface
The DIP switch [S1.11] may only be used for activating the CAN interface. For usage of the
CAN interface, the DIP switch [S1.11] must be at ON.
Fieldbus DIP switch
S1.11
CANopen ON
Tab. 2.6 Configure fieldbus interface
2.3.5 Activate terminating resistor
The DIP switch [S1.12] may only be used for activating the “CAN bus” terminating
resistor.
Fieldbus Note DIP switch
S1.12
CANopen ON: terminating resistor active.
OFF: terminating resistor not active.
OFF/ON
Tab. 2.7 Configure terminating resistor
2.3.6 Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, they must be parameterised via the factor group
Section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
2 CANopen
20 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
2.4 Configuration CANopen master
You can use an EDS file to configure the CANopenmaster.
The EDS file is included on the CD-ROM supplied with the motor controller or atwww.festo.com/sp.
EDS files Description
CMMS-AS_CAN-FHPP.eds Motor controller CMMS-AS-... with protocol “FHPP”
CMMD-AS_CAN-FHPP.eds Motor controller CMMD-AS-... with protocol “FHPP”
CMMS-ST_CAN-FHPP.eds Motor controller CMMS-ST-... with protocol “FHPP”
Tab. 2.8 EDS files for FHPP with CANopen
You will find the most current versions atwww.festo.com/sp.
2.5 Access procedure
2.5.1 Introduction
For access to the CAN objects through the CAN bus, there are fundamentally two methods available: A
confirmed access type, in which the motor controller acknowledges each parameter access (via so-
called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called
PDOs).
Control and parameterisation via FHPP takes place exclusively via the PDOs.
Confirmation of the
motor controller
Order from the
controllerController CMMS
Data for the controller
(actual values)
Controller CMMS(Transmit PDO)
Data from the controller
(setpoint values)
Controller CMMS(Receive PDO)PDO
PDO
SDO
SDO
Fig. 2.3 Access procedure PDO and SDO
In addition, there is the option to access the parameters of the motor controller with the
help of the SDOs via the CAN objects See description of device profile CiA 402,
GDCP-CMMS/D-C-CO-...
2 CANopen
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 21
In addition, other types of messages (so-called communication objects), which are sent either by the
motor controller or the higher-level controller, are defined for special application cases:
Overview of communication objects
PDO Process Data Object The FHPP I/O data are transferred in the PDOs
Chapter 5.
Mapping is automatically determined in parameterisation
with FCT Section 2.5.2.
SDO Service Data Objekt Parallel to the FHPP I/O data, parameters can be
transferred via SDOs corresponding to CiA 402.
SYNC Synchronisation Message Synchronisation of multiple CAN nodes
EMCY Emergency Message Transmission of error messages
NMT Network Management Network service: All CAN nodes can be worked on
simultaneously, for example.
HEART-
BEAT
Error Control Protocol Monitoring of the communications participants through
regular messages.
Tab. 2.9 Communication objects
Every message sent on the CAN bus contains a type of address, which is used to determine the bus
participant for which the message is meant and from which bus participant the message is sent. This
number is designated the identifier. The lower the identifier, the higher the priority of the message.
Identifiers are established for the above-named communication objects section 2.5.15. The follow-
ing sketch shows the basic design of a CANopenmessage:
601h Len D0 D1 D2 D3 D4 D5 D6 D7
Identifier
Data bytes 0 … 7
Number of data bytes (here 8)
2 CANopen
22 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
2.5.2 PDOmessage
A distinction is made between the following types of PDOs:
Type Path Comment
Transmit-PDO Motor controller Host Motor controller sends PDO when a certain
event occurs.
Receive-PDO HostMotor controller Motor controller evaluates PDO when a certain
event occurs.
Tab. 2.10 PDO types
The FHPP I/O data are divided among several process data objects for CANopen communication.
This assignment is established through the parameterisation during commissioning with the FCT.
The following mapping is thereby automatically created.
Supported process data objects Data mapping of the FHPP data
TxPDO 1 (motor controller at Host) FHPP Standard
8 byte status data
TxPDO 2 (motor controller at Host) FPC parameter channel
Transmission of requested FHPP parameter values
RxPDO 1 (Host to motor controller) FHPP Standard
8 byte control data
RxPDO 2 (Host to motor controller) FPC parameter channel
Read/write FHPP parameter values
Tab. 2.11 Overview of supported PDOs
2 CANopen
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 23
To make the individual parts of the FHPP PDOs visible in the control view / configuration in the control-
ler as well, the following PDO mapping is established:
I/O channel / FHPP standard
Byte 0 1 2 3 4 5 6 7
RDPO1
Parameter name CCON CPOS REC_NR/
CDIR/
CIFN
RES/
DEM_VAL1/
PARA1
RES/
DEM_VAL2/
PARA2
Index 0x3000 0x3001 0x3002 0x3003 0x3004
Allocation
Record selection CCON CPOS Record no. Reserved Reserved
Direct operation CDIR Setpoint
value1
Setpoint value2
TDPO1
Parameter name SCON SPOS REC_NR/
SDIR/
SIFN
RSB/
ACT_VAL1/
SUCC_CNT
ACT_POS/
ACT_VAL2/
ACT_POS
Index 0x3020 0x3021 0x3022 0x3023 0x3024
Allocation
Record selection SCON SPOS Record no. RSB Actual position
Direct operation CDIR Actual
value1
Actual value2
Parameter channel / FHPP FPC
Byte 8 9 10 11 12 13 14 15
RDPO2
Parameter name RES SUBINDEX REQCODE_PNU PARAVAL
Index 0x3010 0x3011 0x3012 0x3013 0x3014
Allocation
Parameter
channel
Reserved Subind. Request code + PNU Parameter value
TDPO2
Parameter name RES SUBINDEX RESPCODE_PNU PARAVAL
Index 0x3030 0x3031 0x3032 0x3033 0x3034
Allocation
Parameter
channel
Reserved Subind. Response code + PNU Parameter value
This fixed PDO mapping is used internally and cannot be read or changed via the PDO
mapping objects 1600 and 1A00.
You can find the allocation of the FHPP I/O data in Chapter 5.
2 CANopen
24 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
2.5.3 SDO access
Through the service data objects (SDO), the CiA 402 object directory of the motor controller can be
accessed.
Observe that the contents of FHPP parameters (PNUs) can differ from the CiA objects. In
addition, not all objects are available in an active FHPP protocol. You will find documenta-
tion of the objects in the Description CiA 402.
The FHPP PNUs can be reached through the following rule via the SDO access as well:
SDO main index = 5000h + PNUh
Example: On PNU 100 (= 64h), access is possible via SDO main index 5064h.
SDO access always starts from the higher-order controller (Host). This either sends the motor control-
ler a write command to modify a parameter in the object directory, or a read command to read out a
parameter. For each command, the Host receives an answer that either contains the read-out value or –
in the case of a write command – serves as an acknowledgement.
For the motor controller to recognise that the command is meant for it, the host must send the com-
mand with a specific identifier. This consists of the base 600h + node ID of the motor controller. The
motor controller answers with the identifier 580h + node ID.
The design of the commands or answers depends on the data type of the object to be read or written,
since either 1, 2 or 4 data bytes must be sent or received.
SDO sequences for reading and writing
To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
All numbers are kept in hexadecimal notation.
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Read commands Write commands
Low byte of the main index (hex)
Identifier for 8 bit
High byte of the main index (hex)
Sub-index (hex)
Command 40h IX0 IX1 SU 2Fh IX0 IX1 SU DO
Response: 4Fh IX0 IX1 SU D0 60h IX0 IX1 SU
UINT16 / INT16 Identifier for 8 bitIdentifier for 16 bit
Command 40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1
Response: 4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU
UINT32 / INT32 Identifier for 16 bitIdentifier for 32 bit
Command 40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3
Response: 43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU
Identifier for 32 bit
UINT8 / INT8
Identifier 8 bit 16 bit 32 bit
Command identifier 2Fh 2Bh 23h
Response identifier 4Fh 4Bh 43h
Error detection – – 80h
Tab. 2.12 SDO – Command/response identifier
EXAMPLE
UINT8/INT8 Reading of Obj. 6061_00h
Return data: 01h
Writing of Obj. 1401_02h
Data: EFh
Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh
Response: 4Fh 61h 60h 00h 01h 60h 01h 14h 02h
UINT16/INT16 Reading of Obj. 6041_00h
Return data: 1234h
Writing of Obj. 6040_00h
Data: 03E8h
Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h
Response: 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h
UINT32/INT32 Reading of Obj. 6093_01h
Return data: 12345678h
Writing of Obj. 6093_01h
Data: 12345678h
Command 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h
Response: 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h
Note
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.
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SDO error messages
In case of an error when reading or writing (e.g. write access to an object that can only be read), the
motor controller answers with an error message instead of the acknowledgement:
Command 23h 41h 60h 00h … … … …
Response: 80h 41h 60h 00h 02h 00h 01h 06h
Error identifier Error code (4 byte):
F0 F1 F2 F3
Error code
F3 F2 F1 F0
Significance
05 03 00 00h Protocol error: Toggle bit was not revised
05 04 00 01h Protocol error: Client / server command specifier invalid or unknown
06 06 00 00h Access faulty due to a hardware problem1)
06 01 00 00h Access type is not supported.
06 01 00 01h Read access to an object that can only be written
06 01 00 02h Write access to an object that can only be read
06 02 00 00h The addressed object does not exist in the object directory
06 04 00 41h The object must not be entered into a PDO (e.g. ro-object in RPDO)
06 04 00 42h The length of the objects entered in the PDO exceeds the PDO length
06 04 00 43h General parameter error
06 04 00 47h Overflow of an internal variable/general error
06 07 00 10h Protocol error: Length of the service parameter does not agree
06 07 00 12h Protocol error: Length of the service parameter is too large
06 07 00 13h Protocol error: Length of the service parameter is too small
06 09 00 11h The addressed subindex does not exist
06 09 00 30h The data exceed the range of values of the object
06 09 00 31h The data are too large for the object
06 09 00 32h The data are too small for the object
06 09 00 36h Upper limit is less than lower limit
08 00 00 20h Data cannot be transmitted or stored1)
08 00 00 21h Data cannot be transmitted/stored; motor controller is working locally
08 00 00 22h Data cannot be transmitted/stored, since the motor controller is not in the correct
status for this2)
08 00 00 23h There is no object dictionary available3)
1) Returned in accordance with CiA 301 in case of faulty access to store_parameters/restore_parameters.
2) “Status” here generally: For example, incorrect operating mode, module not on hand, or the like.
3) Returned, for example, if another bus system controls the motor controller or the parameter access is not permitted.
Tab. 2.13 Error codes SDO access
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2.5.4 SYNC message
Several devices of a system can be synchronised with each other. To do this, one of the devices (usually
the higher-order controller) periodically sends out synchronisation messages. All connected motor
controllers receive these messages and use them for treatment of the PDOs ( Chapter 2.5.2).
80h 0
Identifier Data length
The identifier on which the motor controller receives the SYNC message is set permanently to 080h. The
identifier can be read via the object cob_id_sync.
Index 1005h
Name cob_id_sync
Object Code VAR
Data Type UINT32
Access rw
PDOMapping no
Units --
Value Range 80000080h, 00000080h
Default Value 00000080h
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2.5.5 EMERGENCY-Message
The motor controller monitors the function of its major modules. These include the power supply, out-
put stage, angle encoder evaluation, etc. In addition, the motor (temperature, angle encoder) and limit
switch are also constantly checked. Incorrect parameter setting can also result in error messages (divi-
sion by zero, etc.).
When an error occurs, the error number is shown in the motor controller’s display and, if necessary, an
error response is introduced. If several error messages occur simultaneously, the message with the
highest priority (lowest number) is always shown in the display.
Overview
When an error occurs or an error acknowledgment is carried out, the motor controller transmits an
EMERGENCY message.
2
Error free
Error occurred
0
1
3
4
After a reset, the motor controller is in the status Error free. If an error is present from the beginning,
the status is exited again immediately. The following status transitions are possible:
No. Cause Significance
0 Initialisation completed –
1 Error occurs No error is present and an error occurs. An EMERGENCY telegram
with the error code of the occurring error is sent.
2 Error acknowledgment
(not successful)
An error acknowledgment is attempted, but not all causes have been
eliminated.
3 Error occurs An error is present and an additional error occurs. An EMERGENCY
telegram with the error code of the new error is sent.
4 Error acknowledgment
(successful)
An error acknowledgment is attempted, and all causes are
eliminated. An EMERGENCY telegram with the error code 0000 is
sent.
Tab. 2.14 Possible status transitions
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Structure of the EMERGENCYMessage
When an error occurs, the motor controller transmits an EMERGENCY message. In the default case
( Object 6510_F0), the identifier of this message is made up of the identifier 80h and the node num-
ber of the relevant motor controller.
The EMERGENCY message consists of eight data bytes, whereby the first two bytes contain an
error_code (see following table). An additional error code is in the third byte (object 1001h). The
remaining five bytes contain zeros.
81h 8 E0 E1 R0 0 0 0 0 0
Identifier: 80h + node ID
Error_code
Data length Error_register (object 1001h)
error_register (R0)
Bit M/O1) Significance
0 M generic error: Error is present (OR operation of the bits 1 … 7)
1 O current: I2t error
2 O voltage: Voltage monitoring error
3 O temperature: Motor over-temperature
4 O communication error: (overrun, error state)
5 O –
6 O Reserved, fix = 0
7 O Reserved, fix = 0
Values: 0 = no error; 1 = error present
1) M = mandatory / O = optional
Tab. 2.15 Bit assignment error_register
The error codes as well as the cause and remedial measures can be found in Section D.
Description of the objects
Object 1001h: error_register
The error type defined in the CiA standard 301 can be read via the object error_register.
Sub-Index 00hDescription error_register
Data Type UINT8
Access ro
PDOMapping yes
Units –
Value Range 0 … FFh
Default Value 0
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Object 1003h: pre_defined_error_field
The respective error_code of the error messages is also stored in a four-stage error memory. This is
structured like a shift register, so that the last occurring error is always stored in the object 1003h_01h
D (standard_error_field_0). Through read access on the object 1003h_00h
(pre_defined_error_field_0), it can be determined how many error messages are currently stored in the
error memory. The error memory is cleared by writing the value 00h into the object 1003h_00h
(pre_defined_error_field_0). To be able to reactivate the output stage of the motor controller after an
error, an error acknowledgement must also be performed.
Index 1003h
Name pre_defined_error_field
Object Code ARRAY
No. of Elements 4
Data Type UINT32
Sub-Index 01hDescription standard_error_field_0
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 02hDescription standard_error_field_1
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 03hDescription standard_error_field_2
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
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Sub-Index 04hDescription standard_error_field_3
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Object 1014h_00h: cob-id_emergency_object
This object includes the cob-id (identifier) of the emergency message.
The contents of this object is dependent on the object 6510_F0, compatibility control:
– Default, dependent on NodeID (bit 3 of 6510_F0 = 0):
Emcy CobID can be read out: 80h + NodeID
– Freely adjustable Emcy CobID (bit 3 of 6510_F0 = 1):
Value can be read and written, range of values 81h .. FFh.
Sub-Index 00hDescription cob-id_emergency_object
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value 80h + node ID
2.5.6 Network Management (NMT service)
All CANopen devices can be triggered via the Network Management. Reserved for this is the identifier
with the top priority (000h). By means of NMT, commands can be sent to one or all motor controllers.
Each command consists of two bytes, whereby the first byte contains the command code (command
specifier, CS) and the second byte the node ID (NI) of the addressed motor controller. Through the node
ID zero, all nodes in the network can be addressed simultaneously. It is thus possible, for example, that
a reset is triggered in all devices simultaneously. The motor controllers do not acknowledge the NMT
commands. Successful completion of the reset can only be determined indirectly (e.g. through the
switch-on message after a reset).
Structure of the NMTmessage:
000h 2 CS NI
Identifier: 000h
Command code
Data length Node ID
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For the NMT status of the CANopen node, statuses are established in a status diagram. Changes in
statuses can be triggered via the CS byte in the NMTmessage. These are largely oriented on the target
status.
Stopped (04h)
Initialisation
Reset communication
Pre-operational (7Fh)
Operational (05h)
aD
aC
aB
7
86
9
aJ
aA
5
2
3
4
Reset application
aE
1
Fig. 2.4 Status diagram
The NMT status of the motor controller can be influenced via the following commands:
Transition Significance CS Target status
3 Start Remote Node 01h Operational 05h
4 Enter Pre-Operational 80h Pre-Operational 7Fh
5 Stop Remote Node 02h Stopped 04h
6 Start Remote Node 01h Operational 05h
7 Enter Pre-Operational 80h Pre-Operational 7Fh
8 Stop Remote Node 02h Stopped 04h
9 Reset Communication 82h Reset Communication 1)
10 Reset Communication 82h Reset Communication 1)
11 Reset Communication 82h Reset Communication 1)
12 Reset Application 81h Reset Application 1)
13 Reset Application 81h Reset Application 1)
14 Reset Application 81h Reset Application 1)
1) The final target status is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically performed by the motor
controller.
Tab. 2.16 NMT-State Machine
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All other status transitions are performed automatically by the motor controller, e.g. because the initial-
isation is internally completed.
In the NI parameter, the node ID of the motor controller must be specified or be zero if all nodes in the
network are to be addressed (Broadcast). Depending on the NMT status, certain communication ob-
jects cannot be used: For example, it is absolutely necessary to set the NMT status to operational so
that the motor controller sends PDOs.
Name Significance SDO PDO NMT
Reset
Application
No communication. All CAN objects are reset to their reset
values (application parameter set)
– – –
Reset
Communication
No communication. The CAN controller is newly initialised. – – –
Initialising Status after hardware reset. Resetting of the CAN node,
sending of the bootup message
– – –
Pre-Operational Communication via SDOs possible. PDOs not active
(no sending/evaluating)
X – X
Operational Communication via SDOs possible. All PDOs active
(sending/evaluating)
X X X
Stopped No communication except for Heartbeating – – X
Tab. 2.17 NMT-State Machine
NMT telegrams must not be sent in a burst (one immediately after another)!
At least twice the position controller cycle time (2 x 6.4 ms) must lie between two consec-
utive NMTmessages on the bus with the same identifier (also for different nodes!) for the
motor controller to process the NMTmessages correctly.
If necessary, the NMT command “Reset Application” is delayed until an ongoing saving
procedure is completed, since otherwise the saving procedure would remain incomplete
(defective parameter set).
The delay can be in the range of a few seconds.
The NMT status must be set to operational for the motor controller to transmit and
receive PDOs.
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2.5.7 Bootup (Boot-up Protocol)
Overview
After the power supply is switched on or after a reset, the motor controller reports via a bootup mes-
sage that the initialisation phase is ended. The motor controller is then in the NMT status
preoperational ( section 2.5.6, Network Management (NMT service)).
Structure of the bootup message
The bootup message is structured almost identically to the Heartbeat message ( Section 2.5.13).
With the boot-up message, a 0 is sent instead of the NMT status.
701h 1 0
Identifier: 700h + node ID (example node ID 1)
Bootup message identifier
Data length
2.5.8 Start Remote Node
The NMTmaster uses the NMT serviceStart Remote Node to change the NMT status of the selected
NMT participant. When processed successfully, the new NMT status is operational.
Structure of the Start Remote Node message
000h 2 1 NI
Identifier: 000h
Command code
Data length Node ID
2.5.9 Stop Remote Node
The NMTmaster uses the NMT service Stop Remote Node to change the NMT status of the selected
NMT participant. When processed successfully, the new NMT status is stopped.
Structure of the Stop Remote Node message
000h 2 2 NI
Identifier: 000h
Command code
Data length Node ID
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2.5.10 Enter Pre-Operational
The NMTmaster uses the NMT service Enter Pre-Operational to change the NMT status of the selected
NMT participant. When processed successfully, the new NMT status is pre-operational.
Structure of the Enter Pre-Operational message
000h 2 128 NI
Identifier: 000h
Command code
Data length Node ID
2.5.11 Reset Node
The NMTmaster uses the NMT service Reset Node to change the NMT status of the selected NMT parti-
cipant. When processed successfully, the new sub-NMT status is reset application.
Structure of the Reset Node message
000h 2 129 NI
Identifier: 000h
Command code
Data length Node ID
2.5.12 Reset Communication
The NMTmaster uses the NMT service Reset Communication to change the NMT status of the selected
NMT participant. When processed successfully, the new sub-NMT status is reset communication.
Structure of the Reset Communication message
000h 2 130 NI
Identifier: 000h
Command code
Data length Node ID
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2.5.13 Heartbeat (Error Control Protocol)
Overview
The so-called Heartbeat protocol can be activated to monitor communication between slave (drive) and
master: Here, the drive sends messages cyclically to the master. The master can check whether these
messages occur cyclically and introduce corresponding measures if they do not.
Since both Heartbeat and Nodeguarding telegrams ( Section 2.5.14) are sent with the
identifier 700h + node ID, both protocols cannot be active at the same time. If an attempt
is made to activate both protocols simultaneously, only the Heartbeat protocol is active.
Structure of the Heartbeat message
The Heartbeat telegram is transmitted with the identifier 700h + node ID. It includes only 1 byte of user
data, the NMT status of the motor controller ( Chapter 2.5.6, Network Management (NMT service)).
701h 1 N
Identifier: 700h + node ID (example node ID 1)
NMT status
Data length
N Significance
00h Boot-up
04h Stopped
05h Operational
7Fh Pre-Operational
Description of the objects
Object 1017h: producer_heartbeat_time
To activate the Heartbeat function, the time between two Heartbeat telegrams can be established via
the object producer_heartbeat_time.
Index 1017h
Name producer_heartbeat_time
Object Code VAR
Data Type UINT16
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Access rw
PDO no
Units ms
Value Range 0 … 65535
Default Value 0
The producer_heartbeat_time can be stored in the parameter record. If the motor controller starts with
a producer_heartbeat_time not equal to 0, the bootup message is the first heartbeat.
The motor controller can only be used as a so-called heartbeat producer. The object 1016h
(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and always
returns 0.
2.5.14 Nodeguarding (Error Control Protocol)
Overview
The so-called Nodeguarding protocol can alternatively be used to monitor communication between
slave (drive) and master. In contrast to the Heartbeat protocol, master and slave monitor each other:
The master queries the drive cyclically about its NMT status. In every response of the motor controller,
a specific bit is inverted (toggled). If these responses are not made or the motor controller always re-
sponds with the same toggle bit, the master can react correspondingly. Likewise, the drive monitors the
regular arrival of the Nodeguarding requests from the master: If messages are not received for a certain
time period, the motor controller triggers error 12-4. Since both Heartbeat ( Chapter 2.5.13) and
Nodeguarding telegrams are sent with the identifier 700h + node ID, both protocols cannot be active at
the same time. If an attempt is made to activate both protocols simultaneously, only the Heartbeat
protocol is active.
Structure of the Nodeguarding messages
The master’s request must be sent as a so-called remote frame with the identifier 700h + node ID. In
the case of a remote frame, a special bit is also set in the telegram, the remote bit. Remote frames have
no data.
701h R 0
Identifier: 700h + node ID (example node ID 1)
Remote bit (remote frames have no data)
The response of the motor controller is constructed analogously to the Heartbeat message. It includes
only 1 byte of user data, the toggle bit and the NMT status of the motor controller ( Chapter 2.5.6).
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701h 1 T/N
Identifier: 700h + node ID (example node ID 1)
Toggle bit / NMT status
Data length
The first data byte (T/N) is constructed in the following way:
Bit Value Name Significance
7 80h toggle_bit Changes with every telegram
0 … 6 7Fh nmt_state 00h Boot-up
04h Stopped
05h Operational
7Fh Pre-Operational
The monitoring time for the master’s requests can be parameterised. Monitoring begins with the first
received remote request of the master. From this time on, the remote requests must arrive before the
set monitoring time has passed.
The toggle bit is reset through the NMT command Reset Communication. It is therefore not set in the
first response of the motor controller
Description of the objects
Object 100Ch: guard_time
To activate the Nodeguarding monitoring, the maximum time between two remote requests of the mas-
ter is parametrised. This time is established in the motor controller from the product of guard_time
(100Ch) and life_time_factor (100Dh):
node_guarding_time = guard_time * life_time_factor
It is therefore recommended to write the life_time_factor as 1 and then specify the time directly via the
guard_time in milliseconds.
Index 100Ch
Name guard_time
Object Code VAR
Data Type UINT16
Access rw
PDOMapping no
Units ms
Value Range 0 … 65535
Default Value 0
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Object 100Dh: life_time_factor
Recommendation: Write life_time_factor as 1 in order to specify guard_time directly.
Index 100Dh
Name life_time_factor
Object Code VAR
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0.255
Default Value 0
2.5.15 Table of identifiers
The following table gives an overview of the identifiers used:
Object type Identifier (hexadecimal) Comment
SDO (Host to motor controller) 600h + node ID
SDO (motor controller to Host) 580h + node ID
TPDO1 (motor controller to Host) 180h + node ID Standard values.
Can be revised if needed or
change with the set node ID.
TPDO2 (motor controller to Host) 280h + node ID
RPDO1 (Host to motor controller) 200h + node ID
RPDO2 (Host to motor controller) 300h + node ID
SYNC 080h
EMCY 080h + node ID
HEARTBEAT 700h + node ID
NODEGUARDING 700h + node ID
BOOTUP 700h + node ID
NMT 000h
2.5.16 Internal time sequence of CANopen processing
The temporal processing of all CANopen communication objects is based on an internal 1.6 ms timer.
Every 1.6 ms, all communication objects, PDOs and SYNC needed for PDO communication are pro-
cessed. Exactly one of the active PDOs is processed per 1.6 ms. That is, if all 4 PDOs are activated,
6.4 ms are needed for processing all PDOs.
The remaining CANopen communication objects, SDOs, Heartbeat, Nodeguarding, bootup and all NMTs
are processed every two cycles, i.e. every 3.2 ms.
Note: Since all NMTs are received in a shared CAN Message buffer, care should be taken that more than
one NMTmessage with the identifier 000h is not sent within 3.2 ms.
3 PROFIBUS DP – optional interface CAMC-PB
40 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
3 PROFIBUS DP – optional interface CAMC-PB
3.1 Overview
This part of the documentation describes the connection and configuration of the motor controllers in a
PROFIBUS-DP network. It is directed at people who are already familiar with this bus protocol.
PROFIBUS (PROcess FIeldBUS) is a standard developed by the PROFIBUS User Organisation
(PROFIBUS Nutzerorganisation e. V. - PNO). A complete description of the fieldbus system can be found
in the following standard:
IEC 61158 “Digital data communication for measurement and control – Fieldbus for use in industrial
control systems”. This standard contains several parts and defines 10 “fieldbus protocol types”.
Among these, PROFIBUS is specified as “Type 3”. PROFIBUS exists in two designs. PROFIBUS-DP is
used for fast data exchange in manufacturing engineering and building automation (DP = decentralised
periphery). The incorporation into the ISO/OSI layer model is also described in this standard.
Additional information, contact addresses etc. can be found under:
www.profibus.com
3.2 PROFIBUS interface CAMC-PB
The PROFIBUS interface is implemented through the optional interface CAMC-PB. Mount the interface
in conformity with the supplied mounting instructions in slot Ext or Ext1. The PROFIBUS connection is
designed as a 9-pin Sub-D socket on the CAMC-PB interface.
3.2.1 Connection and display components at the interface CAMC-PB
1 DIL switches for termination
2 PROFIBUS interface
(Sub-D socket, 9-pin)
3 PROFIBUS LED (green)
2
3
1
Fig. 3.1 Connection and display components on the PROFIBUS-DP interface
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3.2.2 PROFIBUS LED
The PROFIBUS LED displays the communication status.
LED Status
off No communication via PROFIBUS.
Lights up green Communication active over PROFIBUS.
Tab. 3.1 PROFIBUS LED
3.2.3 Pin assignment of PROFIBUS interface
Plug Pin no. Designation Value Description
1 Shield – Cable screening
6 +5 V +5 V +5 V – output (potential isolated)1)
2 – – Not assigned
7 – – Not assigned
3 RxD/TxD-P – Received/transmitted data B cable
8 RxD/TxD-N – Received/transmitted data A cable
4 RTS/FOC – Request to Send 2)
9 – – Not assigned
5 GND5V 0 V Reference potential GND 5 V1)
1) Usage for external bus termination or for supplying transmitter/receiver of an external fibre-optic-cable module.
2) Signal is optional, serves direction control when used with an external FOC module.
Tab. 3.2 Pin assignment: PROFIBUS DP interface
3.2.4 Termination and bus terminating resistors
Each bus segment of a PROFIBUS network must be fitted with terminating resistors in order to minimise
cable reflections and set a defined rest potential on the cable. The bus termination is made at the be-
ginning and end of a bus segment.
A defective or incorrect bus termination is often the cause of malfunctions.
The terminating resistors are already integrated in most commercially available PROFIBUS plug con-
nectors. The PROFIBUS interface CAMC-PB has its own integrated terminating resistors for coupling to
buses with plug connectors without their own terminating resistors. These can be switched on via the
two-pin DIL switches on the PROFIBUS interface CAMC-PB (both switches ON). To switch off the termin-
ating resistors, both switches must be set to OFF.
To guarantee reliable operation of the network, only one bus termination may be used, internal (via DIL
switch) or external.
The external circuitry can also be constructed discretely ( Fig. 3.2, page 42). The 5 V supply voltage
required for the externally switched terminating resistors is provided at the 9-pin SUB-D socket of the
PROFIBUS interface CAMP-PB ( pin assignment in Tab. 3.2).
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42 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
GND5V
+ 5 V
Line A
Pull up
Terminating
Line B
resistor220 ohms
resistor390 ohms
Pull downresistor390 ohms
Fig. 3.2 External bus termination
PROFIBUS cabling
Due to the very high possible baud rates, we recommend that you use only the standard-
ised cables and plug connectors. These are in some cases provided with additional dia-
gnostic possibilities and in the event of a malfunction they facilitate the fast analysis of
the fieldbus hardware.
If the set baud rate > 1.5 Mbit/s, plugs with integrated series inductance (110 nH) must
be used due to the capacitive load of the station and the cable reflection thereby created.
When setting up the PROFIBUS network, it is essential that you follow the advice in the
relevant literature or the following information and instructions in order to maintain a
stable, trouble-free system. If the cabling is not correct, malfunctions may occur on the
PROFIBUS which cause the motor controller to switch off with an error for safety reasons.
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3.3 Configuration of PROFIBUS participants (via DIL switch)
Several steps are required in order to produce a functioning PROFIBUS interface. Some of these set-
tings should or must be carried out before the PROFIBUS communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. Since
some parameters only become effective after saving and restart of the motor controller, it is recommen-
ded to perform commissioning with the FCT first without connection to the PROFIBUS.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When planning the PROFIBUS interface, the user must make these determinations. Only then should
parameterisation of the fieldbus connection take place on both pages. We recommend that paramet-
erisation of the slave should be executed first. Then the master should be configured. With correct
parameterisation the application is ready immediately without communication faults.
We recommend the following procedure:
1. Set the bus address and activate the bus communication via DIL switches.
The status of the DIL switches is read once during Power-ON/restart.
The motor controller accepts changes in the switch settings in ongoing operation only at
the next Power ON/controller restart (FCT).
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
Settings of the physical units on the fieldbus page (Factor Group tab).
Observe that parameterisation of the PROFIBUS function remains intact after a reset only
if the parameter set of the motor controller was saved.
3. Configuration of the PROFIBUS master Section 3.4.
3.3.1 Overview of DIL switches [S1.1…12]
Fig. 3.3 Overview of DIL switches [S1.1...12]
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3.3.2 Configure bus address
The bus address can be configured via the DIL switches [S1.1…7].
Fieldbus DIL switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1
PROFIBUS DP
Bus address (3…126)1) X X X X X X X
Example: bus address “57” =
(switch position)
+ 0
(OFF)
+ 32
(ON)
+ 16
(ON)
+ 8
(ON)
+ 0
(OFF)
+ 0
(OFF)
+ 1
(ON)
1) The addresses “0…2” in Profibus DP are assigned to defined interfaces (e.g.: higher-order controller, etc.). If these are set,
the address 3 is automatically used.
The address 127 is a broadcast address for PROFIBUS. If this is set, the address 126 is automatically used.
Tab. 3.3 Configure bus address
3.3.3 Configure fieldbus interface
The DIL switch [S1.11] may only be used for activating the CAN interface. For usage of the
PROFIBUS interface, the DIL switch [S1.11] must be at OFF.
Fieldbus Interface DIL switch
(mounted) S1.11
PROFIBUS DP CAMC-PB OFF
Tab. 3.4 Configure fieldbus interface
3.3.4 Configure terminating resistor
The terminating resistor for PROFIBUS can be activated via DIL switches on the interface
Section 3.2.4.
The DIL switch [S1.12] may only be used for activating the “CAN bus” terminating resistor.
Fieldbus Note DIL switch
S1.12
PROFIBUS DP With the PROFIBUS DP, the ter-
minating resistor is integrated
into the “CAMC-PB” interface.
OFF
Tab. 3.5 Configure terminating resistor
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3.3.5 Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
Section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
3.3.6 Usage of FPC
The usage of FPC ( Section C.1) is configured exclusively through the PROFIBUS master
Section 3.5
3.3.7 Storing the configuration
After configuration with subsequent download and saving with FCT, the PROFIBUS configuration is
adopted after a restart of the motor controller.
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3.4 PROFIBUS I/O configuration
Name Cyclical I/O update DP identifier
FHPP Standard 1 x 8 bytes of I/O data, consist-
ent data transmission
Cyclically transmitted 8 control
and status bytes.
0xB7
FHPP Standard +
FPC
2 x 8 bytes of I/O data, consist-
ent data transmission
Cyclically transmitted 8 control
and status bytes, additional
8 bytes of I/O data for para-
meterisation.
0xB7, 0xB7
Tab. 3.6 PROFIBUS I/O configuration
You can find information on the I/O allocation here:
– FHPP standard Section 5.3.
– FPC Section C.1.
3.4.1 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 PROFIBUS inter-
face. If an interface is activated, it is always valid for both axes.
Each axis has its own I/O data.
The two axes have a shared bus address, which is set via the DIL 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
Through the bus, the I/O data for axis 2 are received by axis 1, passed on to axis 2 and
evaluated there.
The I/O data for axis 1 and axis 2 must always be configured symmetrically due to the
internal data evaluation: i.e.:
either both axes with FPC or both axes without FPC.
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3.4.2 Internal time sequence of PROFIBUS processing
The temporal processing of all PROFIBUS services is based on an internal 3.2 ms timer.
After receipt of new cyclical I/O data, a finite state machine is started for data processing, which pro-
cesses all configured I/O data over 4 cycles.
That is, due to the asynchronous processing of PROFIBUS communication, the response time is
4 ... 5 x 3.2 = 12.8 to 16 ms.
Note CMMD-AS:
In the case of CMMD-AS, since the data for axis 2 are included in the same PROFIBUS telegram and
transferred from axis 1 to axis 2, this response time is increased for CMMD-AS by an additional 1-2
cycles (3.2 to 6.4 ms).
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3.5 PROFIBUS master configuration
This section provides an overview of the steps required by the master for parametrisation and configur-
ation. We recommend the following procedure:
1. Installation of the GSD file (device master data file)
2. Specification of the bus address (slave address)
3. Configuration of the input and output data
On the side of the master, the motor controller must be incorporated in the PROFIBUS in a way cor-
responding to the I/O configuration Section 3.4.
4. When the configuration is concluded, transfer the data to the master.
The GSD file and the related symbol files are included on a CD-ROM supplied with the motor controller
or atwww.festo.com/sp.
GSD file Description
S-AS0B67.gsd Motor controller CMMS-AS
D-AS0B68.gsd Motor controller CMMD-AS
S-ST0AB7.gsd Motor controller CMMS-ST
Tab. 3.7 GSD file
You will find the most current versions atwww.festo.com/sp.
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The following symbol files are available to represent the motor controller in your configuration software
(for example, STEP 7):
Operating status Symbol Symbol files
Normal operating
status
CMMS-AS cmmsas_n.bmp
CMMS-ST cmmsst_n.bmp
CMMD-AS cmmdas_n.bmp
Diagnostic case CMMS-AS cmmsas_d.bmp
CMMS-ST cmmsst_d.bmp
CMMD-AS cmmdas_d.bmp
Special operating
status
CMMS-AS cmmsas_s.bmp
CMMS-ST cmmsst_s.bmp
CMMD-AS cmmdas_s.bmp
Tab. 3.8 Symbol files CMMS-... and CMMD-AS
To simplify commissioning of the motor controller with controllers from various manufac-
turers, you will find corresponding modules and application notes on one of the CD-ROMs
shipped with the motor controllerwww.festo.com/sp
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Example: configuration with STEP 7
General instructions
The software package SIMATIC Manager serves for project planning and commissioning in conjunction
with PROFIBUS masters from Siemens or compatible masters. In order to understand this chapter, you
should be sure of how to handle your configuration program. If necessary, refer to the documentation
for the SIMATIC Manager. The following description refers to software version V 5.4.
A corresponding device master file (GSD file) for the motor controller must be installed for
configuration.
With the STEP 7 Hardware Configurator, you can load the files via the menu command
[Options] [Install GSD file] in the “HW Config” dialogue window. Read in (“HW Config.”).
Configuration program File type Directory
STEP 7 Hardware
Configurator 1)GSD file ...\STEP7\S7DATA\GSD
Bitmap files ...\STEP7\S7DATA\NSBMP
1) If you copy the GSD files when the SIMATIC Manager has already been started, you can update the hardware catalogue with the
command [Options] [Update Catalog].
Tab. 3.9 Folder for GSD and icon files STEP 7
Add motor controller as slave
The hardware configuration window graphically represents the structure of the master system. After
the GSD file has been installed, the motor controller can be selected in the hardware catalogue. It can
be found in the group [PROFIBUS-DP] [Additional Field Devices] [Drives] [Festo], see Fig. 3.4.
To add the motor controller:
1. Pull the station type “CMM...” (3) out of the hardware catalogue onto the PROFIBUS line (1) of
the DP master system (Drag & Drop).
2. In the dialogue window “Properties PROFIBUS interface...”, enter the PROFIBUS address and con-
firm with OK.
3. If necessary, enter other settings in the dialogue window “Properties DP slave” (e.g. the response
monitoring or the startup parameterisation) and confirm with OK.
The symbol of the motor controller is displayed on the line of the DP master system (2).
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1 2 3
Special feature of CMMD: If two modules are installed, the lower plug list shows four lines.
1 PROFIBUS line
2 Symbol for the motor controller
3 Entry of Festo CMM... from GSD file
Fig. 3.4 Station selection STEP 7 (example CMMS-ST)
Configuring the slave properties
After clicking on the symbol for the motor controller, you can configure the “Slave properties” in the
lower part of the screen. Here you can determine the number and size of the I/O ranges of the slave and
assign to them address ranges of the master.
In order to configure the slave properties of the motor controller:
1. Open the available modules (configurations) in the hardware catalogue under [Festo CMM...].
2. Then pull the desired configuration with the mouse into the corresponding line under Modules/DP
identifier.
Configuration I/O range Description
Universal module If step 7 is displayed for compatibility reasons, do not use
FHPP Standard 8 bytes of I/O data, consistent
transmission
Cyclically transmitted 8 control and
status bytes.
FHPP Standard
+ FPC
2 x 8 bytes of I/O data, consistent
transmission
Additional 1 x 8 bytes of I/O data for
parameterisation
Tab. 3.10 Configuration
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Only one module each is permissible for CMMS-AS and CMMS-ST.
With CMMD-AS, 2 modules are required, one module per axis. But the motor controller is
only one participant with a PROFIBUS address; the data are present double and must be
symmetrically configured:
Either 2 times FHPP Standard or 2 times FHPP Standard + FPC.
1 2 3
1 DP identifiers
2 I/O address range
3 Modules (configurations)
Fig. 3.5 Configure slave properties (example CMMD-AS)
3. The I/O addresses can be defined with a double click on the slot.
4. When the configuration is concluded, transfer the data to the master.
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Retrieving the example project
The example project will be made available as a project archive. Procedure for retrieving:
1. Open the dialogue “Retrieving - Select an archive” with the command [File] [Retrieve].
2. Select the archive file for the example project (e.g. “CMMS-AS.zip”).
3. Select the desired destination path in the dialogue “Select destination directory”. If the option
“Query destination directory when retrieving” is switched off in the basic settings of the SIMATIC
Manager, the preset path will be used directly as the destination path during retrieval.
4. Unpacking of the project will be shown in a DOS or console window. The project will then be opened
in the SIMATIC Manager.
The example project does not contain any hardware configuration. You have the following alternative
options for usage in your controller:
– Pull the required modules into your own control project.
– Add the corresponding hardware to the example project. Delete non-required “S7 program” folders.
In each case adapt the addresses to your controller.
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4 DeviceNet – optional interface CAMC-DN
4.1 Overview
This part of the documentation describes the connection and configuration of the motor controller in a
DeviceNet network. It is directed at people who are already familiar with this bus protocol.
DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association)
as an open fieldbus standard based on the CAN protocol. DeviceNet belongs to the CIP-based net-
works. CIP (Common Industrial Protocol) forms the application layer of DeviceNet and defines the ex-
change of
– explicit messaging: explicit messages with low priority, e.g. for configuration or diagnostics
– implicit messaging: I/O messages, e.g. time-critical processing data.
The Open DeviceNet Vendor Association (ODVA) is the user organisation for DeviceNet.
Publications concerning the DeviceNet/CIP specification are available at ODVA
(Open DeviceNet Vendor Association)www.odva.org
Fig. 4.1 shows an example of a typical DeviceNet network.
1
1
2 2
1
1
1
1
1
1
1
1 1
3 3 3
1 DeviceNet participant or nodes
2 Terminating resistor 120 Ohm
3 Multiple-port tap
Fig. 4.1 DeviceNet network
DeviceNet pursues two main objectives:
– Transporting control-orientated information, which is in connection with devices of the lower level
(I/O connection).
– Transporting further information, which is indirectly connected with the closed-loop system, such as
configuration parameters (Explicit Messaging Connection).
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4.2 DeviceNet interface CAMC-DN
The DeviceNet interface for the motor controllers is implemented through the CAMC-DN interface. The
interface is mounted in the slot (forCMMS-...Ext, for CMMD-AS: Ext1). The DeviceNet connection is
designed as a 5-pin open connector.
4.2.1 Display and control elements at the CAMC-DN interface
1 Open connector
(5-pin)
2 DeviceNet LED
(green/red)
2
1
Fig. 4.2 Connection and display elements at the DeviceNet interface
4.2.2 DeviceNet LED
A two-colour LED shows information about the device and the communication status. It has been de-
signed as a combined module/network status (MSN) LED. The combined module and network status
LED supplies limited information on the device and the communication status.
LED Status Shows:
is off Device is not online The device has not yet finished
initialisation or has no power supply.
Flashes green Ready for operation and online,
Not connected or
Online and requires commissioning
The device works in a normal status
and is online without established
connection.
Lights up green Ready to operate and online,
connected
The device works in a normal status
and is online with established
connections.
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LED Shows:Status
Flashes red-green Communication failed and receives an
“Identify Comm Fault Request”
The device has ascertained a network
access error and is in the status
“Communication Faulted”. The device
then received and accepted an
“Identify Communication Faulted
Request”.
Normal behaviour during
commissioning.
Flashes red Minor error or connection interrupted
(Time Out)
Correctable error and/or at least one
I/O connection is in the time-out
status.
Lights up red Critical error or critical connection error The device has an error which cannot
be corrected. The device has
ascertained an error, which makes
communication in the network
impossible (e.g. bus off, double
MAC-ID).
Tab. 4.1 DeviceNet LED
4.2.3 Pin allocation
Plug Pin no. Designation Value Description
5 V + 24 V CAN transceiver supply voltage
4 CAN-H - Positive CAN signal (Dominant High)
3 Drain/Shield - Screening
2 CAN-L - Negated CAN signal (Dominant Low)
1 V – 0 V Reference potential CAN transceiver
Tab. 4.2 Pin assignment: DeviceNet interface
Besides the contacts CAN_L and CAN_H for the network connection, 24 V DC must be connected to V+
and 0 V DC to V- in order to supply power to the CAN transceiver.
The cable screening is connected with the contact Drain/Shield.
In order to connect the DeviceNet interface correctly to the network, consult the “Planning and Installa-
tion Manual” (“Planning and Installation Manual”) on the ODVA homepage. There the different types of
supply to the network are represented in detail.
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4.3 DeviceNet I/O configuration
Specific types of I/O connection are defined for DeviceNet. Poll Command/Response Message with
16 bytes of input data and 16 bytes of output data are supported by the motor controller. This means
that the master periodically sends 16 bytes of data to the slave and the slave also replies with 16 bytes.
Name Cyclical I/O update
FHPP Standard +
FPC
2 x 8 bytes of I/O data,
consistent data transmission
Cyclically transmitted 8 control and status
bytes, additional 8 bytes of I/O data for
parameterisation.
Tab. 4.3 DeviceNet I/O configuration
You can find information on the I/O allocation here:
– FHPP standard Section 5.3.
– FPC Section C.1.
4.3.1 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 bus interface. If an
interface is activated, it is always valid for both axes.
Each axis has its own I/O data.
The two axes have a shared bus MAC ID, 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
Through the bus, the I/O data for axis 2 are received 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.
4.3.2 Internal time sequence of the DeviceNet processing
The temporal processing of all DeviceNet services is based on an internal 3.2 ms timer.
With this cycle of 3.2 ms, all FHPP I/O data are completely processed.
Note CMMD-AS:
In the case of CMMD-AS, since the data for axis 2 are included in the same DeviceNet telegram and
transferred from axis 1 to axis 2, this response time is increased for CMMD-AS by an additional 1-2
cycles (3.2 to 6.4 ms).
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4.4 Configuration of DeviceNet participants (via DIP switches)
Several steps are required in order to produce an operational DeviceNet interface. Some of these set-
tings should or must be carried out before the DeviceNet communication is activated. This section
provides an overview of the steps required by the slave for parameterisation and configuration. Since
some parameters only become effective after saving and restart of the motor controller, it is recommen-
ded to perform commissioning with the FCT first without connection to the DeviceNet.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the DeviceNet interface, the user must therefore make these determinations. Only
then should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured. With
correct parameterisation, the application is ready immediately without communication faults.
We recommend the following procedure:
1. Set the MAC ID and activate the bus communication via DIP switches.
The status of the DIP switches is read once during Power-ON/restart.
The motor controller accepts changes in the switch settings in ongoing operation only at
the next Power ON/controller restart (FCT).
2. Parameterisation and commissioning with the Festo Configuration Tool (FCT).
Settings of the physical units on the fieldbus page (Factor Group tab).
Observe that parameterisation of the DeviceNet function remains intact after a reset only
if the parameter set of the motor controller was saved.
3. Configuration of the DeviceNet master Section 4.5.
4.4.1 Overview of DIP switches [S1.1…12]
Fig. 4.3 Overview of DIP switches [S1.1...12]
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4.4.2 Configure MAC ID
The MAC-ID can be configured via the DIL switches [S1.1…7].
Fieldbus DIP switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1
DeviceNet
MAC ID (0…63) X X X X X X
Example: MAC IC“57” =
(switch position)
+ 0
(OFF)
+ 32
(ON)
+ 16
(ON)
+ 8
(ON)
+ 0
(OFF)
+ 0
(OFF)
+ 1
(ON)
Tab. 4.4 Configure MAC ID
If a MAC ID greater than 63 is set, the value is automatically limited to 63.
4.4.3 Configure data rate
The bit/transmission rate can be configured via the DIP switches [S1.9/S1.10].
Fieldbus Bit/transmission rate DIP switch
S1.10 S1.9
DeviceNet 125 KBit/s (125 kBaud) OFF OFF
250 KBit/s (250 kBaud) OFF ON
500 KBit/s (500 kBaud) ON OFF
Tab. 4.5 Configure data rate
4.4.4 Configure fieldbus interface
The DIP switch [S1.11] may only be used for activating the CAN interface. For usage of the
DeviceNet interface, the DIP switch [S1.11] is at OFF.
Fieldbus Interface DIP switch
(mounted) S1.11
DeviceNet CAMC-DN OFF
Tab. 4.6 Configure fieldbus interface
4.4.5 Terminating resistor
If an external bus connection 120 Ohm is necessary between CAN-Low and CAN-High, you have to con-
nect it externally Section 4.1, Fig. 4.1.
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The DIP switch [S1.12] may only be used for activating the “CAN bus” terminating
resistor.
Fieldbus Note DIP switch
S1.12
DeviceNet Terminating resistor can be con-
nected externally, if needed.
OFF
Tab. 4.7 Configure terminating resistor
4.4.6 Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
Section A.1.
Parameterisation can be carried out via FCT or the fieldbus.
4.4.7 Usage of FPC
With DeviceNet, 16 bytes of I/O data are always transmitted for control and status bytes and FPC.
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4.5 Configuration of DeviceNet master
You can use an EDS file (electronic data sheet) to configure the DeviceNet master.
The EDS file is included on the CD-ROM supplied with the motor controller or atwww.festo.com/sp.
EDS files Description
CMMS-AS_2p9.eds Motor controller CMMS-AS with protocol “FHPP”
CMMD-AS_2p6.eds Motor controller CMMD-AS with protocol “FHPP”
CMMS-ST_2p7.eds Motor controller CMMS-ST with protocol “FHPP”
Tab. 4.8 EDS files for FHPP with DeviceNet
You will find the most current versions atwww.festo.com/sp.
The way in which you configure your network depends on the configuration software used. Follow the
instructions of the controller manufacturer for registering the EDS file of the motor controller.
4.5.1 Parameters
Tab. 4.10 shows the implemented DeviceNet object model, i.e. how you can access the FHPP paramet-
ers via DeviceNet.
The following data types corresponding to the DeviceNet specification are used:
Type Signed Unsigned
8 bit INT8 UINT8
16 bit INT16 UINT16
32 bit INT32 UINT32
Tab. 4.9 Data types
Object
Class ID
No. of
Instances
Attri-
bute
Type Name FHPP-PNU
100 1 1 UINT16 Manufacturer Hardware Version 100, 1
100 1 2 UINT16 Manufacturer Firmware Version 101, 1
100 1 3 UINT16 Version FHPP 102, 1
100 1 7 UINT32 Project Identifier 113, 1
100 1 14 UINT8 Device Control 125, 1
100 1 20 UINT8 Data Memory Control, Delete EEPROM 127, 1
100 1 21 UINT8 Data Memory Control, Save Data 127, 2
100 1 22 UINT8 Data Memory Control, Reset Device 127, 3
100 1 25 UINT8 Data Memory Control, Encoder Data
Memory Control
127, 6
101 4 2 UINT16 Fault Number 201, 0
103 1 1 INT32 Position Values, Actual Position 300, 1
103 1 2 INT32 Position Values, Nominal Position 300, 2
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Object
Class ID
FHPP-PNUNameTypeAttri-
bute
No. of
Instances
103 1 3 INT32 Position Values, Actual Deviation 300, 3
103 1 4 INT32 Torque Values, Actual Value 301, 1
103 1 5 INT32 Torque Values, Nominal Value 301, 2
103 1 6 INT32 Torque Values, Actual Deviation 301, 3
103 1 10 UINT8 Local Digital Inputs, Input DIN 0 … 7 303, 1
103 1 11 UINT8 Local Digital Inputs, Input DIN 8 … 13 303, 2
103 1 20 UINT8 Local Digital Outputs, Output DOUT 0 … 3 304, 1
103 1 35 UINT32 Maintenance Parameter 305, 3
103 1 36 INT32 Velocity Values, Actual Revolutions 310, 1
103 1 37 INT32 Velocity Values, Nominal Revolutions 310, 2
103 1 38 INT32 Velocity Values, Actual Deviation 310, 3
103 1 32 UINT8 Record Status, Demand Record Number 400, 1
103 1 33 UINT8 Record Status, Actual Record Number 400, 2
103 1 34 UINT8 Record Status, Record Status Byte 400, 3
103 1 56 UINT32 Remaining Distance for Remaining Distance
Message
1230, 1
104 63 1 UINT8 Record Control Byte 1 401, 0
104 63 2 UINT8 Record Control Byte 2 402, 0
104 63 4 INT32 Record Setpoint Value 404, 0
104 63 5 INT32 Record Preselection Value 405, 0
104 63 6 UINT32 Record Velocity 406, 0
104 63 7 UINT32 Record Acceleration 407, 0
104 63 8 UINT32 Record Deceleration 408, 0
104 63 13 UINT32 Record Jerkfree Filter Time 413, 0
104 63 16 UINT8 Record Following Position 416, 0
105 1 1 INT32 Project Zero Point 500, 1
105 1 2 INT32 Software End Positions, Lower Limit 501, 1
105 1 3 INT32 Software End Positions, Upper Limit 501, 2
105 1 4 UINT32 Max. Speed 502, 1
105 1 5 UINT32 Max. Acceleration 503, 1
105 1 7 UINT32 Max. Jerkfree Filter Time 505, 1
105 1 20 UINT8 Teach Target 520, 1
105 1 24 UINT8 FHPP direct mode settings 524, 1
105 1 30 INT32 Jog Mode Velocity Slow – Phase 1 530, 1
105 1 31 INT32 Jog Mode Velocity Fast – Phase 2 531, 1
105 1 32 UINT32 Jog Mode Acceleration 532, 1
105 1 33 UINT32 Jog Mode Deceleration 533, 1
105 1 34 UINT32 Jog Mode Time Phase 1 534, 1
105 1 40 INT32 Direct Mode Position Base Velocity 540, 1
105 1 41 UINT32 Direct Mode Position Acceleration 541, 1
105 1 42 UINT32 Direct Mode Position Deceleration 542, 1
4 DeviceNet – optional interface CAMC-DN
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 63
Object
Class ID
FHPP-PNUNameTypeAttri-
bute
No. of
Instances
105 1 46 UINT32 Direct Mode Jerkfree Filter Time 546, 1
105 1 60 UINT32 Direct Mode Velocity Base Velocity Ramp 560, 1
107 1 1 UINT8 Polarity 1000, 1
107 1 2 UINT32 Encoder Resolution, Encoder Increments 1001, 1
107 1 3 UINT32 Encoder Resolution, Motor Revolutions 1001, 2
107 1 4 UINT32 Gear Ratio, Motor Revolutions 1002, 1
107 1 5 UINT32 Gear Ratio, Shaft Revolutions 1002, 2
107 1 6 UINT32 Feed Constant, Feed 1003, 1
107 1 7 UINT32 Feed Constant, Shaft Revolutions 1003, 2
107 1 8 UINT32 Position Factor, Numerator 1004, 1
107 1 9 UINT32 Position Factor, Denominator 1004, 2
107 1 11 INT32 Axis Parameter, Gear Numerator 1005, 2
107 1 12 INT32 Axis Parameter, Gear Denominator 1005, 3
107 1 15 UINT32 Velocity Factor, Numerator 1006, 1
107 1 16 UINT32 Velocity Factor, Denominator 1006, 2
107 1 17 UINT32 Acceleration Factor, Numerator 1007, 1
107 1 18 UINT32 Acceleration Factor, Denominator 1007, 2
107 1 20 INT32 Offset Axis Zero Point 1010, 1
107 1 21 INT8 Homing Method 1011, 1
107 1 22 UINT32 Homing Velocities, Search for Switch 1012, 1
107 1 23 UINT32 Homing Velocities, Running for Zero 1012, 2
107 1 24 UINT32 Homing Acceleration 1013, 1
107 1 25 UINT8 Homing Required 1014, 1
107 1 30 UINT16 Halt Option Code 1020, 1
107 1 32 UINT32 Position Window 1022, 1
107 1 33 UINT16 Position Window Time 1023, 1
107 1 34 UINT16 Control Parameter Set, Gain Position 1024, 18
107 1 35 UINT16 Control Parameter Set, Gain Velocity 1024, 19
107 1 36 UINT16 Control Parameter Set, Time Velocity 1024, 20
107 1 37 UINT16 Control Parameter Set, Gain Current 1024, 21
107 1 38 UINT16 Control Parameter Set, Time Current 1024, 22
107 1 40 UINT16 Control Parameter Set, Save Position 1024, 32
107 1 44 UINT32 Motor Data, Serial Number 1025, 1
107 1 45 UINT16 Motor Data, Time Max. Current 1025, 3
107 1 49 UINT32 Drive Data, Power Temp. 1026, 1
107 1 51 UINT32 Drive Data, Motor Rated Current 1026, 3
107 1 52 UINT32 Drive Data, Current Limit 1026, 4
107 1 55 UINT32 Drive Data, Controller Serial Number 1026, 7
107 1 64 UINT16 Max. Current 1034, 1
107 1 65 UINT32 Motor Rated Current 1035, 1
107 1 66 UINT32 Motor Rated Torque 1036, 1
4 DeviceNet – optional interface CAMC-DN
64 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Object
Class ID
FHPP-PNUNameTypeAttri-
bute
No. of
Instances
107 1 67 UINT32 Torque Constant 1037, 1
107 1 68 INT32 Position Demand Value 1040, 1
107 1 69 INT32 Position Actual Value 1041, 1
107 1 70 UINT32 Standstill Position Window 1042, 1
107 1 71 UINT16 Standstill Timeout 1043, 1
107 1 72 UINT32 Following error window 1044, 1
107 1 73 UINT16 Following error timeout 1045, 1
113 1 12 UINT32 Gear ratio Sync., Motor Revolutions 711, 1
113 1 13 UINT32 Gear ratio Sync., Shaft Revolutions 711, 2
Tab. 4.10 DeviceNet data
4.6 Access procedure
4.6.1 Explicit Messaging
The Explicit Messaging protocol is used for transporting configuration data and for configuring a sys-
tem. Explicit Messaging is also used for setting up an I/O connection. Explicit Messaging connections
are always point-to-point connections. An end point sends a request, the other end point replies with
an answer. The answer may be a success message or an error message.
Explicit messaging makes various services possible. The most common services are:
– open Explicit Messaging connection,
– close Explicit Messaging connection,
– get single attribute (read parameter),
– set single attribute (save parameter).
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 65
5 Sequence control and I/O data
5.1 Setpoint specification (FHPP operation modes)
The FHPP operating modes differ as regards their contents and the significance of the cyclic I/O data
and in the functions which can be accessed in the motor controller.
Operating
mode
Description
Record
selection
A specific number of positioning records can be saved in the motor controller. A
record contains all the parameters which are specified for a positioning job. The
record number is transferred to the cyclic I/O data as the setpoint or actual value.
Direct mode The positioning task is transferred 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 parameterisation.
Tab. 5.1 Overview of FHPP operating modes with CMMS-AS/CMMD-AS/CMMS-ST
5.1.1 Switching the FHPP operating mode
The FHPP operating mode is switched by the CCON control byte (see below) and a feedback signal re-
turned in the SCON status word. Switching between record selection and direct mode is only permitted
in the “ready” status Section 5.2, Fig. 5.1.
5.1.2 Record selection
Each motor controller has a specific number of records, which contain all the information needed for
one positioning job. The record number that the motor controller is to process at the next start is trans-
ferred in the PLC’s output data. The input data contains the record number that was processed last. The
positioning job itself does not need to be active.
The motor controller does not support an automatic mode, i.e. no user program. The motor controller
cannot accomplish any sensible tasks as stand alone; close coupling to the PLC is always necessary.
However, it is possible to link various records and execute them one after the other with the help of a
start command. It is also possible to define a record switch before the target position is reached.
In this way, positioning profiles can be created without the time delays, which arise from
the transfer in the fieldbus and the cycle time of the PLC.
5.1.3 Direct mode
In the direct mode, positioning tasks are formulated directly in the PLC’s output data.
The typical application calculates the target setpoint values dynamically. This makes it possible to ad-
just the system to different workpiece sizes, for example, without having to re-parametrise the record
list. The positioning data are managed completely in the PLC and sent directly to the motor controller.
5 Sequence control and I/O data
66 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
5.2 FHPP finite state machine
T7* always has the
highest priority.
Switched off
S1
Motor controller
switched on
S3
Drive
enabled
S2
Drive
blocked
SA1
Ready
SA5
Jog
positive
SA6
Jog
negative
SA4
Homing is being
carried out
SA2
Positioning job
active
SA3
Intermediate stop
S5
Reaction
to malfunction
S6
Malfunction
From all statuses
S4
Operation enabled
T6
TA11
TA12
TA9
TA10
TA3
TA6
TA4
TA5
TA7
TA8
TA1TA2
T2T5
T3T4
T1
T7*
T8
T10
T9
S5
T11
Fig. 5.1 Finite state machine
You can find the explanation of the control and status bytes (CCON, SCON, ...) in
Section 5.3.
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 67
Notes on the “Operation enabled”
status
The transition T3 changes to status
S4, which itself contains its own
sub-finite state machine, the
statuses of which are marked with
“SAx” and the transitions with “TAx”
Fig. 5.1.
This enables an equivalent circuit
diagram ( Fig. 5.2) to be used, in
which the internal statuses SAx are
omitted.
Transitions T4, T6 and T7* are
executed from every sub-status SAx
and automatically have a higher
priority than any transition TAx.
Switched off
S1 Motor controller
switched on
S3 Drive
enabled
S2 Drive
blocked
S5 Reaction
to malfunction
S6 Malfunction
From all statuses
Operation
enabled
T6
T2T5
T3T4
T1
T7*
T8
T10
T9
S5
T11
S4
Fig. 5.2 Finite state machine equivalent circuit diagram
Reaction to malfunctions
T7 (“malfunction recognised”) has the highest priority (“*”). T7 is then executed from S5 + S6 if an error
with a higher priority occurs. This means that a serious error can displace a less serious error.
5.2.1 Create readiness to operate
To establish the ready status, additional input signals might be required, depending on
the motor controller, such as at DIN 4, DIN 5, DIN 13, etc.
Detailed information can be found in the description of the functions and commissioning,
GDCP-CMMS/D-FW-... Tab. 2.
T Internal conditions Actions of the user 1)
T1 Drive is switched on.
An error cannot be ascertained.
T2 Load voltage applied.
Master control with PLC.
“Enable drive” = 1
CCON = xxx0.xxx1
T3 “Stop” = 1
CCON = xxx0.xx11
T4 “Stop” = 0
CCON = xxx0.xx01
T5 “Enable drive” = 0
CCON = xxx0.xxx0
T6 “Enable drive” = 0
CCON = xxx0.xxx0
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
5 Sequence control and I/O data
68 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
T Actions of the user 1)Internal conditions
T7* Malfunction recognised.
T8 Reaction to malfunction completed, drive stopped.
T9 There is no longer a malfunction.
It was a serious error.
“Acknowledge malfunction” = 0→ 1
CCON = xxx0.Pxxx
T10 There is no longer a malfunction.
It was a simple error.
“Acknowledge malfunction” = 0→ 1
CCON = xxx0.Pxx1
T11 Malfunction still exists. “Acknowledge malfunction” = 0→ 1
CCON = xxx0.Pxx1
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.2 Status transitions while achieving ready status
5.2.2 Positioning
In principle: The transitions T4, T6 and T7* always have priority!
T Internal conditions Actions of the user 1)
TA1 Homing is present. Start positioning job = 0→ 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1
The current record is completed. The next record is not
processed 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 Halt = 1
Start positioning job = 0→ 1
Delete remaining path = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record selection:
– A single record is finished.
– The next record is processed automatically.
CCON = xxx0.xx11
CPOS = 0xxx.xxx1
Direct mode:
– A new positioning job has arrived.
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6 Delete remaining path = 0→ 1
CCON = xxx0.xx11
CPOS = 0Pxx.xxxx
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 69
T Actions of the user 1)Internal conditions
TA7 Start homing = 0→ 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA8 Referencing finished or stopped. Halt = 1→ 0 (only for halt)
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
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
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.3 Status transitions at positioning
FHPP operating
mode
Notes on special features
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.
Tab. 5.4 Special features dependent on FHPP operating mode
5 Sequence control and I/O data
70 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
5.2.3 Examples of control and status bytes
On the following pages you will find typical examples of control and status bytes:
1. Establish readiness to operate – Record selection, Tab. 5.5
2. Establish readiness to operate – Direct mode, Tab. 5.6
3. Malfunction handling, Tab. 5.7
4. Homing, Tab. 5.8
5. Positioning record selection, Tab. 5.9
6. Positioning direct mode, Tab. 5.10
Information on the finite state machine Section 5.2.
For all examples: Additional digital I/Os are required for the motor controller and
controller enable of the motor controller Description of functions and commissioning,
GDCP-CMMS/D-FW-... Tab. 2.
1. Establish ready status - Record selection
Step/description Control bytes (job) 1) Status bytes (response) 1)
1.1 Initial status CCON = 0000.0x00b SCON = 0001.0000b
CPOS = 0000.0000b SPOS = 0000.0100b
1.2 Block device control
for FCT (optional)
CCON.LOCK = 1 SCON.FCT/MMI = 0
CCON = 0010.0x00b SCON = 0001.0000b
CPOS = 0000.0000b SPOS = 0000.0100b
1.3 Enable drive, enable
operation (record
selection)
CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.STOP = 1 SCON.OPEN = 1
CCON.OPM1 = 0 SCON.OPM1 = 0
CCON.OPM2 = 0 SCON.OPM2 = 0
CPOS.HALT = 1 SPOS.HALT = 1
CCON = 0010.0x11b SCON = 0001.0011b
CPOS = 0000.0001b SPOS = 0000.0101b
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.5 Control and status bytes - “Establish ready status – Record selection”
Description of 1. Establish ready status:
1.1 Initial status of the drive when the supply voltage has been switched on. Step 1.2 or 1.3
1.2 Block device control for FCT.
Optionally, acceptance of device control by the FCT can be blocked with CCON.LOCK = 1. Step 1.3
Note for CANopen: With CANopen, since the CAN bus is deactivated if the master control is activ-
ated by FCT, the bit SCON.FCT/MMI cannot be queried for the value 1.
1.3 Enable drive in record selection mode. Homing: Example 4, Tab. 5.8.
If there are malfunctions after switching on or after setting CCON.ENABLE:
Malfunction handling: Example 3, Tab. 5.7.
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 71
2. Establish ready status – Direct mode
Step/description Control bytes (job) 1) Status bytes (response) 1)
2.1 Initial status CCON = 0000.0x00b SCON = 0001.0000b
CPOS = 0000.0000b SPOS = 0000.0100b
2.2 Block device control
for FCT (optional)
CCON.LOCK = 1 SCON.FCT/MMI = 0
2.3 Enable drive, enable
operation (record
selection)
CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.STOP = 1 SCON.OPEN = 1
CCON.OPM1 = 1 SCON.OPM1 = 1
CCON.OPM2 = 0 SCON.OPM2 = 0
CPOS.HALT = 1 SPOS.HALT = 1
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.6 Control and status bytes “Establish ready status - Direct mode”
Description of 2. Establish ready status:
2.1 Initial status when the supply voltage has been switched on. Step 2.2 or 2.3
2.2 Block device control for FCT. Optionally, acceptance of device control by the FCT can be blocked
with CCON.LOCK = 1. Step 2.3
2.3 Enable drive in direct mode. Homing: Example 4, Tab. 5.8.
If there are malfunctions after switching on or after setting CCON.ENABLE:
Malfunction handling: Example 3, Tab. 5.7.
Warnings do not have to be acknowledged; these are automatically deleted after some
seconds when their cause has been remedied.
3. Malfunction handling
Step/description Control bytes (job) 1) Status bytes (response) 1)
3.1 Errors CCON = xxx0.xxxxb SCON = xxxx.1xxxb
CPOS = 0xxx.xxxxb SPOS = xxxx.x0xxb
3.1 Warning CCON = xxx0.xxxxb SCON = xxxx.x1xxb
CPOS = 0xxx.xxxxb SPOS = xxxx.x0xxb
3.3 Acknowledge mal-
function
with CCON.RESET
CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.RESET = P SCON.FAULT = 0
SCON.WARN = 0
SPOS.ACK = 0
SPOS.MC = 1
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.7 Control and status bytes “Malfunction handling”
5 Sequence control and I/O data
72 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Description of 3. Malfunction handling
3.1 An error is shown with SCON.FAULT. Positioning job is no longer possible.
3.2 A warning is shown with SCON.WARN. Positioning job remains possible.
3.3 Acknowledge malfunction with rising edge at CCON.RESET.Malfunction bit SCON.B3 FAULT or
SCON.B2 WARN is reset, SPOS.MC is set, drive is ready for operation
Errors and warnings can also be acknowledged with a falling edge at DIN5 (controller
enable).
4. Homing (requires status 1.3 or 2.3)
Step/description Control bytes (job) 1) Status bytes (response) 1)
4.1 Start homing CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.STOP = 1 SCON.OPEN = 1
CPOS.HALT = 1 SPOS.HALT = 1
CPOS.HOM = P SPOS.ACK = 1
SPOS.MC = 0
4.2 Homing is running CPOS.HOM = 1 SPOS.MOV = 1
4.3 Homing ended SPOS.MC = 1
SPOS.REF = 1
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.8 Control and status bytes “Homing”
Description of 4. Homing:
4.1 A rising edge at CPOS.HOM, (Start homing) starts homing. The start is confirmed with SPOS.ACK
(Acknowledge start) as long as CPOS.HOM is set.
4.2 Movement of the axis is shown with SPOS.MOV.
4.3 After successful homing, SPOS.B2 MC (Motion Complete) and SPOS.REF are set.
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 73
5. Positioning record selection (requires status 1.3/2.3 and possibly 4.3)
Step/description Control bytes (job) 1) Status bytes (response) 1)
5.1 Record number
preselection (control byte 3)
Record no. 0 ... 63 Previous record no. 0 ... 63
5.2 Start job CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.STOP = 1 SCON.OPEN = 1
CPOS.HALT = 1 SPOS.HALT = 1
CPOS.START = P SPOS.ACK = 1
SPOS.MC = 0
5.3 Job is running CPOS.START = 1 SPOS.MOV = 1
Record no. 0 ... 63 Current record no. 0 ... 63
5.4 Job ended CPOS.START = 0 SPOS.ACK = 0
SPOS.MC = 1
SPOS.MOV = 0
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.9 Control and status bytes “Positioning record selection”
Description of 5. Positioning record selection:
(Steps 5.1 .... 5.4 conditional sequence)
When the ready status is established and homing has been carried out, a positioning job can be star-
ted.
5.1 Preselect record number: Byte 3 of the output data
0 = Homing
1 ... 63 = Programmable positioning records
5.2 With CPOS.B1 (START, start job) the preselected positioning job will be started. The start is con-
firmed with SPOS.ACK (start acknowledgment) as long as CPOS.START is set.
5.3 Movement of the axis is shown with SPOS.MOV.
5.4 At the end of the positioning task, SPOS.MC will be set.
5 Sequence control and I/O data
74 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6. Positioning direct mode (requires status 1.3/2.3 and possibly 4.3)
Step/description Control bytes (job) 1) Status bytes (response) 1)
6.1 Preselect position (byte 4)
and speed (bytes 5...8)
Speed
preselection
0 ... 255 (%) Speed
acknowledgment
0 ... 255 (%)
Setpoint position Position units Current position Position units
6.2 Start job CCON.ENABLE = 1 SCON.ENABLED = 1
CCON.STOP = 1 SCON.OPEN = 1
CPOS.HALT = 1 SPOS.HALT = 1
CDIR.ABS = S SDIR.ABS = S
CPOS.START = P SPOS.ACK = 1
SPOS.MC = 0
6.3 Job is running CPOS.START = 1 SPOS.MOV = 1
6.4 Job ended CPOS.START = 0 SPOS.ACK = 0
SPOS.MC = 1
SPOS.MOV = 0
1) Key: P = rising edge (positive), N = falling edge (negative), x = any, S= travel condition: 0= absolute; 1 = relative
Tab. 5.10 Control and status bytes for “Positioning direct mode”
Description of positioning direct mode:
(Step 6.1 ... 6.4 conditional sequence)
When the ready status is achieved 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 % of the basic value speed in byte 4
(0 = no speed; 255 = maximum speed).
6.2 With CPOS.START, the preselected positioning task will be started. The start is confirmed with
SPOS.ACK as long as CPOS.START is set.
6.3 Movement of the axis is shown with SPOS.MOV.
6.4 At the end of the positioning task, SPOS.MC is set.
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 75
5.3 Configuration of the I/O data
5.3.1 Concept
The FHPP protocol essentially provides 8 bytes of input data and 8 bytes of output data. The first byte is
fixed. It remains intact in each FHPP operating mode and controls the enabling of the motor controller
and the FHPP operating modes. The other bytes are dependent on the selected FHPP operating mode.
Additional control or status bytes and target and actual values can be transmitted here.
In the cyclic data, additional data are permissible to transmit parameters in accordance with 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 parameterisation,
Section C.1.
If applicable, observe the specification in the bus master for the representation of words
and double words (Intel/Motorola). For example, when sending via CANopen, in the “little
endian” representation (lower-value byte first).
Assignment of the I/O data for CMMD
Each axis then has its own I/O data corresponding to Section 5.3.1 or 5.3.2.
Assignment of the I/O data over the fieldbus depends on the control interface used:
– CANopen Section 2.3.2
– PROFIBUS Section 3.4.1
– DeviceNet Section 4.3.1
5 Sequence control and I/O data
76 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
5.3.2 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 Byte 7 Byte 8
Output
data
CCON CPOS Record no. Reserved Reserved
Input
data
SCON SPOS Record no. RSB Current position
Direct mode
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
CCON CPOS CDIR Setpoint
value1
Setpoint value2
Input
data
SCON SPOS SDIR Actual
value1
Actual value2
Additional 8 bytes of I/O data for parameterisation in accordance with FPC ( Section C.1):
Festo FPC
Byte 9 Byte 10 Byte 11 Byte 12 Byte 13 Byte 14 Byte 15 Byte 16
Output
data
Reserved Sub-index Task identifier +
parameter number
Parameter value
Input
data
Reserved Sub-index Reply identifier +
parameter number
Parameter value
Observe the different byte order with 32 and 16 bit values, dependent on the bus used.
Bus Byte
PROFIBUS (“big-endian”) B5 B6 B7 B8
High byte ... ... Low byte
CAN / DeviceNet (“little-endian”) B5 B6 B7 B8
Low byte ... ... High byte
Tab. 5.11 Example, byte order
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 77
5.4 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
FHPP operating mode
selection
Block FCT
access
– Acknow-
ledge
malfunc-
tion
Release
brake
Stop Enable
drive
CPOS
(all)
B7
–
B6
CLEAR
B5
TEACH
B4
JOGN
B3
JOGP
B2
HOM
B1
START
B0
HALT
– Delete
remaining
path
Teach
value
Jog
negative
Jog
positive
Start
homing
Start po-
sitioning
task
Halt
CDIR
(Direct
mode)
B7
FUNC
B6
FGRP2
B5
FGRP1
B4
FNUM2
B3
FNUM1
B2
COM2
B1
COM1
B0
ABS
Execute
function
Function group Function number Control mode
(position, torque,
speed, ...)
Absolute/
relative
Tab. 5.12 Overview, assignment of the control bytes
Assignment of the status bytes (overview)
SCON
(all)
B7
OPM2
B6
OPM1
B5
FCT/MMI
B4
24VL
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Feedback on FHPP
operating mode
FCT
device
control
Load
voltage
applied
Malfunc-
tion
Warning Operation
enabled
Drive
enabled
SPOS
(all)
B7
REF
B6
STILL
B5
DEV
B4
MOV
B3
TEACH
B2
MC
B1
ACK
B0
HALT
Drive ref-
erenced
Standstill
monitoring
Following
error
Axis is
moving
Acknow-
ledge
teach or
sample
Motion
complete
Acknow-
ledge
start
Halt
SDIR
(Direct
mode)
B7
FUNC
B6
FGRP2
B5
FGRP1
B4
FNUM2
B3
FNUM1
B2
COM2
B1
COM1
B0
ABS
Function
is ex-
ecuted
Function group
acknowledgment
Function number
acknowledgment
Control mode ac-
knowledgment (posi-
tion, torque, speed)
Absolute/
relative
Tab. 5.13 Overview, assignment of the status bytes
5 Sequence control and I/O data
78 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
5.4.1 Description of the control bytes
CCON controls statuses in all FHPP operation modes. For more information, Description of the drive
functions, chapter 7.
Control byte 1 (CCON)
Bit DE EN Description
B0
ENABLE
Antrieb
freigeben
Enable Drive = 1: Enable drive (controller).
= 0: Drive (controller) blocked.
B1
STOP
Stopp Stop = 1: Enable operation.
= 0: STOP active (cancel positioning job + stop with
emergency ramp). The drive stops with maximum
braking ramp, the positioning job is reset.
B2
BRAKE
Bremse lösen Open Brake = 1: Release brake.
= 0: Activate brake.
Note: It is only possible to release the brake if the
controller is blocked. As soon as the controller is
enabled, it has priority over the brake control system.
B3
RESET
Störung
quittieren
Reset Fault A malfunction is acknowledged with a rising edge and
the malfunction value is deleted.
B4
–
– – Reserved, must be at 0.
B5
LOCK
FCT-Zugriff
blockieren
Lock FCT
Access
Controls access to the local (integrated)
parameterisation interface of the motor controller.
= 1: The software (FCT) can only observe the motor
controller; the software (FCT) cannot take over
device control (HMI control) from the software.
= 0: The software (FCT) can take over device control
(to change parameters or control inputs).
B6
OPM1
Betriebsarten-
wahl
Select
Operating
Mode
Determining the FHPP operating mode.
No. Bit 7 Bit 6 Operating mode
B7
OPM2
0 0 0 Record selection
1 0 1 Direct mode
2 1 0 Reserved
3 1 1 Reserved
Tab. 5.14 Control byte 1
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 79
CPOS controls the positioning sequences in the “record selection” and “direct mode” FHPP operating
modes as soon as the drive is enabled.
Control byte 2 (CPOS)
Bit DE EN Description
B0
HALT
Halt Halt = 1: Halt is not requested.
= 0: Halt activated (cancel positioning job + halt with
braking ramp). The axis stops with a defined
braking ramp; the positioning job remains active
(with CPOS.CLEAR, the remaining path can be
deleted).
B1
START
Start
Fahrauftrag
Start
Positioning
Task
A rising edge transfers the current nominal data and
starts a positioning process (also, for example, record 0
= homing!).
B2
HOM
Start
Referenzfahrt
Start Homing A rising edge starts homing with the set parameters.
B3
JOGP
Tippen positiv Jog positive The drive moves at the specified speed or rotational
speed in the direction of larger actual values, as long as
the bit is set. The movement begins with the rising edge
and ends with the falling edge.
B4
JOGN
Tippen negativ Jog negative The drive moves at the specified speed or rotational
speed in the direction of smaller actual values, as long
as the bit is set. The movement begins with the rising
edge and ends with the falling edge.
B5
TEACH
Wert teachen Teach actual
Value
With a falling edge, the current actual value is
transferred to the nominal value register of the currently
addressed positioning record. The teach target is
defined with PNU 520. The type is determined by the
record status byte (RSB) Section 6.5.
B6
CLEAR
Restweg
löschen
Clear
Remaining
Position
In the “Halt” state, a rising edge causes the positioning
task to be deleted and a transition to the “Ready” state.
B7
–
– – Reserved, must be 0.
Tab. 5.15 Control byte 2
5 Sequence control and I/O data
80 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
In direct mode, CDIR specifies the type of positioning job.
Control byte 3 (CDIR) – Direct mode
Bit DE EN Description
B0
ABS
Absolut/
Relativ
Absolute/
Relative
= 1: Setpoint value is relative to last setpoint value.
= 0: Setpoint value is absolute.
B1
COM1
Regelmodus ControlMode No. Bit 2 Bit 1 Control mode
0 0 0 Position control
B2
COM2
1 0 1 Power mode (torque, current)
2 1 0 Speed control (rotational speed)
3 1 1 Reserved
B3
FNUM1
Funktions-
nummer
Function Num-
ber
No function, fix = 0
B4
FNUM2
B5
FGRP1
Funktions-
gruppe
Function
Group
No function, fix = 0
B6
FGRP2
B7
FUNC
Funktion Function = 0: Normal task.
Tab. 5.16 Control byte 3 – direct mode
Control byte 4 (setpoint value 1) – Direct mode
Bit DE EN Description
B0 … 7 Preselection depends on the control mode (CDIR.COMx):
Geschwindig-
keit
Velocity Position control: Speed as % of base value
(PNU 540)
– – Force mode: No function, fix = 0
Geschwindig-
keitsrampe
Velocity ramp Speed control: Velocity ramp as % of base value
(PNU 560)
Tab. 5.17 Control byte 4 – direct mode
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 81
Control bytes 5 … 8 (setpoint value 2) – Direct mode
Bit DE EN Description
B0 … 31 Preselection depends on control mode (CDIR.comX), in
each case 32-bit number:
Position Position Position control Position in positioning unit,
Appendix A.1
Drehmoment Torque Force mode Torque setpoint as % of the nominal
torque (PNU 1036)
Geschwindig-
keit
Velocity Speed regulation Speed in units of velocity
Appendix A.1
Tab. 5.18 Control bytes 5 … 8 – Direct mode
Control byte 4 (setpoint value 1) – Record selection
Bit DE EN Description
B0 … 7 Satznummer Record
number
Preselection of the record number.
Tab. 5.19 Control byte 4 – Record selection
Control byte 5 … 8 (setpoint value 2) – Record selection
Bit DE EN Description
B0 … 31 – – Reserved (= 0)
Tab. 5.20 Control bytes 5 … 8 – Record selection
5 Sequence control and I/O data
82 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
5.4.2 Description of the status bytes
Status byte 1 (SCON)
Bit DE EN Description
B0
ENABLED
Antrieb
freigegeben
Drive Enabled = 1: Drive (controller) is enabled.
= 0: Drive blocked, controller not active.
B1
OPEN
Betrieb
freigegeben
Operation
Enabled
= 1: Operation enabled, positioning possible.
= 0: Stop active.
B2
WARN
Warnung Warning = 1: Warning is present.
= 0: No warning present.
B3
FAULT
Störung Fault = 1: Malfunction present.
= 0: Malfunction not present or malfunction reaction
active.
B4
VLOAD
Lastspannung
liegt an
Load Voltage
is Applied
= 1: Load voltage applied.
= 0: No load voltage.
B5
FCT/MMI
Gerätesteue-
rung durch
FCT/MMI
Software
Access by
FCT/MMI
Device control (refer to PNU 125, section B.4.4)
= 1: Device control through fieldbus not possible.
= 0: Device control through fieldbus possible.
B6
OPM1
Rückmeldung
Betriebsart
Display
Operating
Mode
Feedback on FHPP operating mode.
No. Bit 7 Bit 6 Operating mode
B7
OPM2
0 0 0 Record selection
1 0 1 Direct mode
2 1 0 Reserved
3 1 1 Reserved
Tab. 5.21 Status byte 1
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 83
Status byte 2 (SPOS)
Bit DE EN Description
B0
HALT
Halt Halt = 1: Halt is not active; axis can be moved.
= 0: Halt is active.
B1
ACK
Quitting Start Acknowledge
Start
= 1: Start executed (homing, jogging, positioning)
= 0: Ready for start (homing, jogging, positioning)
B2
MC
Motion
Complete
Motion
Complete
= 1: Positioning job completed, where applicable with
error
= 0: Positioning job active
Note: MC is set after device is switched on (status “Drive
blocked”).
B3
TEACH
Quitting
Teachen/
Sampling
Acknowledge
Teach/
Sampling
Depending on the setting in PNU 354:
PNU 354 = 0: Display of teach status:
= 1: Teaching carried out, actual value has been
transferred
= 0: Ready for teaching
PNU 354 = 1: Display of the sampling status: 1)
= 1: Edge detected. New position value available.
= 0: Ready for sampling
B4
MOV
Achse bewegt
sich
Axis isMoving = 1: Speed of the axis >= limit value
= 0: Speed of the axis < limit value
B5
DEV
Schleppfehler Drag
(Deviation)
Error
= 1: Following error active
= 0: No following error
B6
STILL
Stillstand-
süberwachung
Standstill
Control
= 1: Axis has left the tolerance window after MC
= 0: After MC, axis remains in tolerance window
B7
REF
Antrieb
referenziert
Axis
Referenced
= 1: Homing information available, homing does not
need to be carried out
= 0: Homing must be executed
1) Position sampling Section 6.9.
Tab. 5.22 Status byte 2
5 Sequence control and I/O data
84 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
The SDIR status byte acknowledges positioning mode.
Status byte 3 (SDIR) – Direct mode
Bit DE EN Description
B0
ABS
Absolute/
relative
Absolute/
Relative
= 1: Setpoint value is relative to last setpoint value.
= 0: Setpoint value is absolute.
B1
COM1
Rückmeldung
Regelmodus
ControlMode
Feedback
No. Bit 2 Bit 1 Control mode
0 0 0 Position control
B2
COM2
1 0 1 Power mode (torque, current)
2 1 0 Speed control (rotational speed)
3 1 1 Reserved
B3
FNUM1
Rückmeldung
Funktions-
nummer
Function
Number
Feedback
No function, fix = 0
B4
FNUM2
B5
FGRP1
Rückmeldung
Funktions-
gruppe
Function
Group
Feedback
No function, fix = 0
B6
FGRP2
B7
FUNC
Rückmeldung
Funktion
Function
Feedback
No function, fix = 0
Tab. 5.23 Status byte 3 – Direct mode
Status byte 4 (actual value 1) – Direct mode
Bit DE EN Description
B0 … 7 Feedback depends on the control mode (CDIR.COMx):
Geschwindig-
keit
Velocity Position control Speed as % of base value
(PNU 540)
Drehmoment Torque Force mode Torque as percentage of the rated
torque (PNU 1036)
– – Speed regulation No function, = 0
Tab. 5.24 Status byte 4 – Direct mode
5 Sequence control and I/O data
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 85
Status bytes 5 … 8 (actual value 2) – Direct mode
Bit DE EN Description
B0 … 31 Feedback depends on the control mode (CDIR.COMx), in
each case 32-bit number:
Position Position Position control Position in positioning unit,
Appendix A.1
Position Position Force mode Position in positioning unit,
Appendix A.1
Geschwindig-
keit
Velocity Speed regulation Speed as an absolute value in unit
of velocity
Tab. 5.25 Status bytes 5 … 8 – Direct mode
Status byte 3 (record number) – Record selection
Bit DE EN Description
B0 … 7 Satznummer Record
number
Feedback of record number.
Tab. 5.26 Status byte 3 – record selection
Status byte 4 (RSB) – record selection
Bit DE EN Description
B0
RC1
1.Satzweiter-
schaltung
durchgeführt
1st Record
Chaining Done
= 1: The first step criterion was achieved.
= 0: A step enabling condition was not configured or
not achieved.
B1
RCC
Satzweiter-
schaltung
abgeschlossen
Record
Chaining
Complete
Valid as soon as MC is present.
= 1: Record chain was processed up to the end.
= 0: Record sequencing aborted. At least one step
enabling condition has not been met.
B2
–
– – Reserved, = 0
B3
FNUM1
Rückmeldung
Funktions-
nummer
Function
Number
Feedback
No function, = 0
B4
FNUM2
B5
FGRP1
Rückmeldung
Funktions-
gruppe
Function
Group
Feedback
No function, = 0
B6
FGRP2
B7
FUNC
Rückmeldung
Funktion
Function
Feedback
No function, = 0
Tab. 5.27 Status byte 4 – record selection
5 Sequence control and I/O data
86 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Status bytes 5 … 8 (position) – record selection
Bit DE EN Description
B0 … 31 Position Position Feedback on the position in position unit
( Appendix A.1) 32-bit number
Tab. 5.28 Status bytes 5 … 8 – Record selection
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 87
6 Drive functions
6.1 Dimension reference system for electric drives
Additional information can be found in the Description Function and commissioning
GDCP-CMMS/D-FW-... Tab. 2.
6.1.1 Dimension reference system for linear drives
Example: Homing method “limit switch”, negative direction
1
REF AZ
a b c
PZ
d e
TP/AP SLPSLN
2
Run positive (+)LSN LSP
Run negative (–)
M
REF Reference point (Reference Point)
AZ Axis zero point (Axis Zero Point)
PZ Project zero point (Project Zero Point)
SLN Negative software limit (SW Limit Negative)
SLP Positive software limit (SW Limit Positive)
LSN Negative limit switch (hardware) (Limit Switch Negative)
LSP Positive limit switch (hardware) (Limit Switch Positive)
TP Target position (Target Position)
AP Actual position (Actual Position)
a Offset axis zero point (AZ)
b Offset project zero point (PZ)
c Offset target/actual position (TP/AP)
d Offset SW end position negative (SLN)
e Offset SW end position positive (SLP)
1 Effective stroke
2 “Working stroke” of the axis (no hardware limit switches)
Tab. 6.1 Dimension reference system for linear drives
6 Drive functions
88 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.1.2 Dimension reference system for rotative drives
Example: Homing method “current position”
REF
AZ
ab
e
PZ
d
1
2
M
Turn positive (+)Turn negative (–)
c
TP/AP
SLPSLN
LSNLSP
REF Reference point (Reference Point)
AZ Axis zero point (Axis Zero Point)
PZ Project zero point (Project Zero Point)
SLN Negative software limit (SW Limit Negative)
SLP Positive software limit (SW Limit Positive)
LSN Negative limit switch (hardware) (Limit Switch Negative)
LSP Positive limit switch (hardware) (Limit Switch Positive)
TP Target position (Target Position)
AP Actual position (Actual Position)
a Offset axis zero point (AZ)
b Offset project zero point (PZ)
c Offset target/actual position (TP/AP)
d Optional: Offset SW end position negative1)
e Optional: Offset SW end position positive1)
1 Effective positioning range
2 “Working positioning range” of the axis (no hardware limit switches)
1) In the “Endless positioning” operational function, no limit switch can be parameterised.
Tab. 6.2 Dimension reference system for rotative drives
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 89
6.2 Calculation rules for the dimension reference system
Point of reference Calculation rule
Axis zero point AZ = REF + a
Project zero point PZ = AZ + b = REF + a + b
Negative software end position SLN = AZ + d = REF + a + d
Positive software end position SLP = AZ + e = REF + a + e
Target position/actual position TP/AP = PZ + c = AZ + b + c = REF + a + b + c
Tab. 6.3 Calculation rules for the dimension reference system
6.3 Homing
In the case of drives with incremental of single-turn/absolute measuring system, homing must always
be carried out after switching on.
This is defined drive-specifically with the parameter “Homing required” (PNU 1014).
For a description of the homing modes, see section 6.3.2.
6.3.1 Homing for electric drives
The drive references with respect to a stop, a limit switch or the current position.
The motor current increases when the drive reaches a stop. Since the drive must not permanently con-
trol against the stop, it must move at least one millimetre back into the stroke range. This can take
place through selection of a homing method with travel to the zero pulse or through travel to a project
zero point off-set away from the stop.
Process:
1. Search for the homing point corresponding to the configured method.
2. Set at the axis zero point: Current position = 0 – offset project zero point.
3. Optional parameterisation: Run relative to the reference point around the “Offset axis zero point”.
6 Drive functions
90 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Overview of parameters and I/Os in homing
Parameters involved
Section B.4.15
Parameter PNU
Offset axis zero point 1010
Homing method 1011
Homing speeds 1012
Homing accelerations 1013
Homing required 1014
Start (FHPP) CPOS.HOM= rising edge: Start homing
Acknowledgement (FHPP) SPOS.ACK = rising edge: Start acknowledgment
SPOS.REF = drive homed
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
No command for jogging is present
Tab. 6.4 Parameters and I/Os in homing
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 91
6.3.2 Homing methods
The homing methods are oriented on CANopen CiA 402.
Homing methods
hex dec Description
01h 1 Negative limit switch with index pulse 1)
1. If negative limit switch inactive:
Run at search speed in a negative direction to
the negative limit switch.
2. Run at creep speed in a positive direction until
the limit switch becomes inactive, then
continue to the first index pulse. This position
is taken as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
Negative limit switch
02h 2 Positive limit switch with index pulse 1)
1. If positive limit switch inactive:
Run at search speed in the positive direction
to the positive limit switch.
2. Run at creep speed in the negative direction
until the limit switch becomes inactive, then
continue to the first index pulse. This position
is taken as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
Positive limit switch
11h 17 Negative limit switch
1. If negative limit switch inactive:
Run at search speed in a negative direction to
the negative limit switch.
2. Run at creep speed in the positive direction
until the limit switch becomes inactive. This
position is taken as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Negative limit switch
1) Only possible for motors with encoder with index pulse.
2) Limit switches are ignored during travel to the stop.
3) Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
6 Drive functions
92 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Homing methods
hex Descriptiondec
12h 18 Positive limit switch
1. If positive limit switch inactive:
Run at search speed in the positive direction
to the positive limit switch.
2. Travel at creep speed in the negative direction
until the limit switch becomes inactive. This
position is taken as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Positive limit switch
21h 33 Index pulse in a negative direction 1)
1. Run at creep speed in the negative direction
until the index pulse. This position is taken as
the homing point.
2. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
22h 34 Index pulse in a positive direction 1)
1. Run at creep speed in the positive direction up
to the index pulse. This position is taken as
the homing point.
2. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
23h 35 Current position
1. The current position is taken as the reference
position.
2. If this is parameterised: Run at travel speed to
the axis zero point.
Note: Through shifting of the reference system,
travel to the limit switch or fixed stop is possible.
For that reason this method is mostly used for
axes of rotation.
1) Only possible for motors with encoder with index pulse.
2) Limit switches are ignored during travel to the stop.
3) Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 93
Homing methods
hex Descriptiondec
FFh -1 Negative stop with index pulse 1) 2)
1. Run at search speed in the negative direction
to the stop.
2. Run at creep speed in the positive direction up
to the next index pulse. This position is taken
as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
FEh -2 Positive stop with index pulse 1) 2)
1. Run at search speed in the positive direction
to the stop.
2. Run at creep speed in the negative direction
up to the next index pulse. This position is
taken as the homing point.
3. If this is parameterised: Run at travel speed to
the axis zero point.
Index pulse
EFh -17 Negative stop 1) 2) 3)
1. Run at search speed in the negative direction
to the stop. This position is taken as the
homing point.
2. If this is parameterised: Run at travel speed to
the axis zero point.
EEh -18 Positive stop 1) 2) 3)
1. Run at search speed in the positive direction
to the stop. This position is taken as the
homing point.
2. If this is parameterised: Run at travel speed to
the axis zero point.
1) Only possible for motors with encoder with index pulse.
2) Limit switches are ignored during travel to the stop.
3) Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
Tab. 6.5 Overview of homing methods
6 Drive functions
94 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.4 Jog operation
In the “Operation enabled” state, the drive can be traversed by jogging in the positive/negative direc-
tions. This function is usually used for:
– Approaching teach positions,
– Running the drive out of the way (e.g. after a system malfunction),
– Manual travel as a normal operating mode (manually operated feed).
Process
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 travelled to very accurately.
2. If the signal remains set for longer than the configured “phase 1 period” the speed is increased until
the configured maximum speed 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 is taken into account according to the ramp set. The jog mode
can also only be exited here again after Jogging = 0.
CPOS.JOGP or
CPOS.JOGN
(Jog positive/
negative)
Speed v(t)
t [s]1
0
1
2
3
4
5
1 Low speed phase 1
(slow travel)
2 Maximum speed for
phase 2
3 Acceleration
4 Deceleration
5 Time period in phase 1
Fig. 6.1 Sequence chart for jog mode
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 95
Overview of parameters and I/Os in jog mode
Parameters involved
Section B.4.9
Parameter PNU
Jog mode speed phase 1 530
Jog mode speed phase 2 531
Jog mode acceleration 532
Jog mode deceleration 533
Jog mode time period phase 1 (T1) 534
Start (FHPP) CPOS.JOGP = rising edge: jog positive (larger actual values)
CPOS.JOGN = rising edge: jog negative (smaller actual values)
Acknowledgement (FHPP) SPOS.MOV = 1: Drive moves
SPOS.MC = 0: (motion complete)
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
Tab. 6.6 Parameters and I/Os during jog mode
6.5 Teaching via fieldbus
Position values can be taught via the fieldbus. Previously taught position values will then be overwrit-
ten.
Note: The drive must not stand still for teaching. With the usual cycle times of the PLC + fieldbus + mo-
tor controller there will still be inaccuracies of several millimetres even at a speed of only 100 mm/s.
Process
1. The drive will be moved to the desired position via the jogging mode or manually. This can be ac-
complished in jogging mode by positioning (or by moving manually in the “Drive blocked” 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 (specification) Setpoint position in the
positioning record
Record selection: Positioning record after control
byte 3
Direct mode: Positioning record after PNU = 400
= 2 Axis zero point
= 3 Project zero point
= 4 Lower software end position
= 5 Upper software end position
Tab. 6.7 Overview of teach targets
6 Drive functions
96 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS:
1 2 3 4
1
0
Acknowledge-
ment
SPOS.TEACH
Teach value
CPOS.TEACH
1
0
1 PLC: Prepare teaching
2 Motor controller: Ready for
teaching
3 PLC: Teach now
4 Motor controller: Value accepted
Fig. 6.2 Handshake during teaching
Overview of parameters and I/Os when teaching
Parameters involved
Sections B.4.8, B.4.9
Parameter PNU
Teach target 520
Record number 400
Offset project zero point 500
Software end positions 501
Axis zero point offset (electric drives) 1010
Start (FHPP) CPOS.TEACH = N (negative edge): Teach value
Acknowledgement (FHPP) SPOS.TEACH = N (negative edge): Value transferred
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
Tab. 6.8 Parameters and I/Os when teaching
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 97
6.6 Carry out record (record selection)
A record can be started in the “Operation enabled” status. This function is usually used for:
– selection-free approach to positions in the record list by the PLC,
– processing of a positioning profile by linking records,
– known target positions that seldom change (recipe change).
Process
1. Set the desired record number in the output data of the PLC. Until the start, the motor controller
continues to reply with the number of the record last processed.
2. With a rising edge at CPOS.START, the controller accepts the record number and starts the position-
ing job.
3. With the rising edge at SPOS.ACK, the motor controller signals that the PLC output data have been
accepted and the positioning task is now active. The positioning command continues to be ex-
ecuted, even if CPOS.START is reset to zero.
4. When the record is concluded, SPOS.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.
With conditional record switching/record chaining (see section 6.6.3):
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 the destination with the brak-
ing ramp that was set.
If this destination cannot be reached with the parameterised speed and acceleration/de-
celeration, the E421 is reported.
6 Drive functions
98 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Overview of parameters and I/Os in record selection
Parameters involved
Section B.4.8
Parameter PNU
Record number 400
All parameters of the record data, see section 6.6.2,
Tab. 6.10
401 ... 421
Start (FHPP) CPOS.START = rising edge: Start
Jogging and referencing have priority.
Acknowledgement (FHPP) SPOS.MC = 0: Motion Complete
SPOS.ACK = rising edge: Start acknowledgment
SPOS.MOV = 1: Drive moves
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
Valid record number is present
Tab. 6.9 Parameters and I/Os with record selection
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 99
6.6.1 Record selection flow diagrams
Fig. 6.3, Fig. 6.4 and Fig. 6.5 show typical flow diagrams for starting and stopping a record.
Record start/stop
Setpoint record
number
output data
Stop
CCON.STOP
Start
acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Actual record
number input data
N - 1 N N + 1
N - 1 N
1
0
1
0
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.MOV
Start
CPOS.START
N + 1
5
4
3
2
1
6
1 Requirement: “Start acknowledgment” = 0
2 A rising edge at “Start” causes the new
record number N to be accepted and “Start
acknowledgment” to be set
3 As soon as “Start acknowledgement” is
recognised by the PLC, “Start” may be set
to 0 again
4 The motor controller reacts with a falling
edge at “Start acknowledgment”
5 As soon as “Start acknowledgment” is
recognized by the PLC, it can create the next
record number
6 A currently running positioning task can be
stopped with “Stop”
Fig. 6.3 Flow diagram, record start/stop
6 Drive functions
100 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Stop record with halt and continue
Setpoint record
number
output data
Start
acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Actual record
number input data
N - 1 N N + 1
N - 1 N
1
0
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.MOV
Halt
CPOS.HALT
1
0
Start
CPOS.START
1
0
Acknowledge Halt
SPOS.HALT
1
2
1 Record is stopped with “Halt”, actual record
number N is retained, “Motion Complete”
remains reset
2 Rising edge at “Start” starts record N again,
“Confirm halt” is set
Fig. 6.4 Flow diagram for Stop record with halt and continue
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 101
Stop record with halt and delete remaining path
1
2
Setpoint record
number
output data
Start
acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Actual record
number input data
N - 1 N N + 1
N - 1 N
1
0
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.MOV
Halt
CPOS.HALT
N + 1
1
0
Start
CPOS.START
Delete remaining
path
CPOS.CLEAR
1
0
1
0
Acknowledge Halt
SPOS.HALT
1 Stop record 2 Delete remaining path
Fig. 6.5 Flow diagram for stop record with halt and delete remaining path
6 Drive functions
102 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.6.2 Sentence structure
A positioning task in record select 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 Record control byte 1 Setting for positioning task: Absolute/relative
402 Record control byte 2 Record control: Settings for conditional record switching and
record chaining.
404 Setpoint value Setpoint value corresponding to record control byte 1.
405 Preselected value Preselected value corresponding to record control byte 2.
406 Speed Setpoint speed.
407 Acceleration Setpoint acceleration during start up.
408 Deceleration Setpoint acceleration during braking.
413 Jerk-free filter time Filter time for smoothing the profile ramps.
414 Record profile Number of the record profile. The record profile defines the PNUs
405, 406, 407, 408, 413 for all the assigned records, along with
other shared settings; see section B.4.8.
416 Record following
position/record control
Record number that is jumped to if the step enabling condition is
met.
421 Record control byte 3 Specific behaviour of the record with active positioning.
Tab. 6.10 Parameters for positioning record
6.6.3 Conditional record switching/record chaining (PNU 402)
Record selection mode allows multiple positioning jobs to be concatenated. This means that, starting
at CPOS.START, several records are automatically executed one after the other. This allows a travel
profile to be defined, such as switching to another speed after a position is reached.
To do this, the user sets a condition in RCB2 to define that the subsequent record is automatically ex-
ecuted after the current record.
Record control byte 2 (PNU 402)
Bit 0 ... 6 Numerical value 0 ... 128: Switching condition as a list, see Tab. 6.12
Bit 7 Reserved
Tab. 6.11 Settings for conditional record switching and record chaining
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 103
Step enabling conditions
Value Com-
mand
Condition Description
0 END End of the
sequence
No automatic continuation
1 MC Motion
complete
The preselection value is interpreted as a delay in milliseconds.
The chain continues to the next record once the target setpoint
value is reached, i.e. once the internal MC condition is fulfilled and
a delay time has expired as well.
4 STS Rest Continuation occurs once the drive comes to rest and the time T1
specified as the preselected value has expired (run to block!).
5 TIM Time The preselected value is interpreted as time in milliseconds. The
next record is executed once this time has expired after the start.
6 NRI NEXT
(positive
edge)
Continuation occurs to the next record if a rising edge is identified
at the local input. The preselected value includes the bit address
of the input.
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
7 NFI NEXT
(negative
edge)
Continuation occurs to the next record if a falling edge is identified
at the local input. The preselected value includes the bit address
of the input.
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
9 NRS NEXT
(positive
edge)
waiting
Continuation occurs to the next record after the current record
ends if a rising edge is identified at the local input. The preselected
value includes the input's number:
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
10 NFS NEXT
(negative
edge)
waiting
Continuation occurs to the next record after the current record
ends if a falling edge is identified at the local input. The preselec-
ted value includes the input's number:
Preselected value = 1: NEXT1
Preselected value = 2: NEXT2
Tab. 6.12 Step enabling conditions
6 Drive functions
104 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.7 Direct mode
In the status “Operation approved” (Direct mode), a task is formulated directly in the I/O data and
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:
– Selection-free approach to positions within the effective stroke.
– The target positions are unknown during designing or change frequently (e.g. several different work-
piece positions).
– A positioning profile through linking of records (G25 function) is not necessary.
If short wait times are not critical, it is possible to implement a positioning profile extern-
ally PLC-controlled by linking positions.
Causes of errors in application
– No homing was carried out (where necessary, see PNU 1014).
– Target position cannot be reached or lies outside the software end positions.
Overview of parameters and I/Os in direct mode
Parameters involved Parameter PNU
Position specifications
B.4.12
Basic value speed 1) 540
Direct mode acceleration 541
Direct mode deceleration 542
Jerk-free filter time 546
Rotational speed
specifications
B.4.13
Base value acceleration ramp 1) 560
Torque specifications
B.4.18
Rated torque 1) 1036
Start (FHPP) CPOS.START = rising edge: Start
CDIR.ABS = setpoint position absolute/relative
CDIR.B1/B2 = control mode (see section 5.3)
Acknowledgement (FHPP) SPOS.MC = 0: Motion Complete
SPOS.ACK = rising edge: Start acknowledgment
SPOS.MOV = 1: Drive moves
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
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.
Tab. 6.13 Parameters and I/Os in direct mode
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 105
6.7.1 Position control process
1. The user sets the desired setpoint value (position) and the positioning condition (absolute/relative,
percentage speed) in his or her output data.
2. With a rising edge at Start (CPOS.START), the motor controller accepts the setpoint values and
starts the positioning job. 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.MC) is set.
Starting the positioning job
Setpoint position
Output data
Start
CPOS.START
Start
acknowledgment
SPOS.ACK
Motion complete
SPOS.MC
Setpoint position 1 Setpoint position 2
1
0
1
0
1
0
1
0
... 3
Fig. 6.6 Start the positioning task
For the sequence of the remaining control and status bits as well as the functions Hold
and Stop react corresponding to the record select function, see Fig. 6.3, Fig. 6.4 and
Fig. 6.5.
6.7.2 Speed mode process (speed adjustment)
Speed mode is prepared by switching over the control mode with the bits CDIR.COM1/2.
After the setpoint specification, with the start signal (start bit) the speed is built up in the direction
indicated by the prefix of the setpoint value and the active speed control mode is displayed via the
SDIR.COM1/2 bits.
The signal “MC” (Motion Complete) is used in this control mode to mean “target speed reached”.
Causes of errors in application
– No homing was carried out (where necessary, see PNU 1014).
6 Drive functions
106 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.7.3 Sequence for force mode (torque, current control)
Force mode is prepared by switching over the control mode with the bits CDIR.COM1/2. The drive
stands with the position controlled.
After the setpoint specification, with the start signal (start bit) torque is built up in the direction indic-
ated by the prefix of the setpoint value and the active torque control mode is displayed via the SDIR.-
COM1/2 bits.
The signal SPOS.MC (Motion Complete) is used in this control mode to mean “Carried out/Done” or
“Actual force = Setpoint force”.
Causes of errors in application
– No homing was carried out (where necessary, see PNU 1014).
6.8 Standstill monitoring
Standstill monitoring responds when the drive leaves the target position window when at a standstill.
Standstill monitoring is based on position control only.
When the target position has been reached and MC is signaled in the status word, the drive switches to
the “standstill” state and bit SPOS.STILL (standstill monitor) is reset. If, in this status, the drive is re-
moved from the standstill position window for a defined time due to external forces or other influences,
the bit SPOS.STILL will be set.
As soon as the drive is in the standstill position window again for the standstill monitoring time, the bit
SPOS.STILL will be reset.
The standstill monitoring cannot be switched on or off explicitly. It becomes inactive when the standstill
position window is set to “0”.
1
2
3
4
1
0
1
0
5 6
7
8 8
1 Target position
2 Actual position
3 Standstill monitoring
(SPOS.STILL)
4 Motion complete
(SPOS.MC)
5 Standstill position
window
6 Target position window
7 Monitoring time
(position window time)
8 Standstill monitoring
time
Fig. 6.7 Standstill monitoring
6 Drive functions
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 107
Overview of parameters and I/Os in standstill monitoring
Parameters involved
Section B.4.15
Parameter PNU
Target position window 1022
Adjustment time for position 1023
Setpoint position 1040
Current position 1041
Standstill position window 1042
Standstill monitoring time 1043
Start (FHPP) SPOS.MC = rising edge: Motion complete
Acknowledgement (FHPP) SPOS.STILL = 1: Drive has moved out of standstill position window
Requirement Device control by PLC/fieldbus
Motor controller in the status “Operation approved”
Tab. 6.14 Parameters and I/Os in standstill monitoring
6.9 Flying measurement (position sampling)
Information on whether this function is supported and from which firmware version can
be found in the Help to the associated FCT plug-in and in the Description on Functions
and commissioning, GDCP-CMMS/D-FW-... Tab. 2.
The local digital inputs can be used as fast sample inputs: With every rising and falling edge at the con-
figured sample input (only possible using the FCT), the current position value is written into a register of
the motor controller and can afterwards be read out (PNU 350:01/02) by the higher-order controller
(PLC/IPC).
Parameters for position sampling (flying measurement) 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. 6.15 Parameters for flying measurement
6 Drive functions
108 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
6.10 Display of drive functions
Additional internal positioning records are used for the various drive functions. This is also shown on
the 7-segments display during execution See description on functions and commissioning,
GDCP-CMMS/D-FW-... Tab. 2.
Positioning re-
cord
Description Display
0 Starts homing. see 65 ... 67
1 ... 63 FHPP positioning records can be started via FHPP in Record
Select mode.
P001 ... P063
65 ... 67 Homing, display of the various phases.
65: Search for reference point PH0
66: Crawl PH1
67: Approach zero point PH2
70 Jog positive P070
71 Jog negative P071
64 FCT direct record, used for manual travel via FCT. P064
FHPP direct record, used for FHPP direct operation.
Tab. 6.16 Overview of positioning records
7 Malfunction behaviour and diagnostics
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 109
7 Malfunction behaviour and diagnostics
7.1 Classification of malfunctions
Differentiation is made between the following malfunction types:
– warnings,
– type 1 malfunction (output stage is switched off after braking),
– type 2 malfunction (output stage is switched, drive runs out).
Classification of the possible malfunctions can be partially parameterised Appendix D.
The motor controllers signal errors or malfunctions through corresponding error messages or warnings.
These can be evaluated via the following options:
– display,
– status bytes (see section 7.3),
– bus-specific diagnostics (see fieldbus-specific chapter),
– diagnostic memory (see section 7.2),
– Festo Configuration Tool (see FCT help).
The list of diagnostic messages can be found in appendix D.
7.1.1 Warnings
A warning is information for the user, which has no influence on the behaviour of the drive.
Behaviour in the event of warnings
– Controller and output stage remain active.
– The current positioning is not interrupted.
– The SCON.WARN bit is set.
– If the cause of the warning disappears, the SCON.WARN bit is automatically deleted again.
Causes of warnings
– Parameters cannot be written or read (not permissible in the operating status, invalid PNU, ...).
– Temperature 5 °C below max., I²t at 80 %.
7 Malfunction behaviour and diagnostics
110 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
7.1.2 Malfunction type 1
In the event of an error, the performance that was requested cannot be provided. The drive switches
from its current status to the “Fault” status.
Behaviour in the event of type 1 malfunctions
– The current positioning task is interrupted.
– The speed is reduced on the emergency ramp.
– The output stage is switched off after braking.
– The sequence control switches to the Fault status. No new positioning task can be carried out.
– The SCON.FAULT bit is set.
– Holding brake is activated when the drive is stopped.
– The “Fault” status can be exited through switch-off, through an increasing edge at the input
CCON.RESET or through resetting/setting DIN5 (controller enable).
Causes of type 1 malfunctions
– Software end positions are violated.
– Limit switches positive/negative.
– Following error monitoring.
7.1.3 Malfunction type 2
In the event of an error, the performance that was requested cannot be provided. The drive switches
from its current status to the “Fault” status.
Behaviour in the event of type 2 malfunctions
– The current positioning task is interrupted.
– The output stage is switched off.
– The drive runs down.
– The sequence control switches to the Fault status. No new positioning task can be carried out.
– The SCON.FAULT bit is set.
– The “Fault” status can be exited through switch-off, through an increasing edge at the input
CCON.RESET or through resetting/setting DIN5 (controller enable).
– The holding brake is activated immediately (Note: this causes wear on the holding brake).
Causes of type 2 malfunctions
– Load voltage is missing (e.g. if emergency off has been implemented).
– Hardware error:
– Measuring system error.
– Bus error.
– SD card error.
– Over-temperature of motor, over-temperature of output stage.
7 Malfunction behaviour and diagnostics
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 111
7.2 Diagnostic memory (malfunctions)
The diagnostic memory for malfunctions includes the codes of the last malfunction messages that oc-
curred. The diagnostic memory is not saved in case of power failure. If the diagnostic memory is full,
the oldest element will be overwritten (FIFO principle).
Structure of the diagnostic memory
Parameter 1) 201
Format uint16
Significance Malfunction number
Subindex 1 Newest/current malfunction
Subindex 2 2nd stored malfunction
Subindex 3 3rd stored malfunction
Subindex 4 4th stored malfunction
1) See section B.4.5
Tab. 7.1 Structure of diagnostic memory
Coding of the malfunction numbers Appendix D.
The “Code” column of the error list includes the error code (Hex) via CiA 301.
7.3 Diagnostics through FHPP status bytes
The motor controller supports the following diagnostics options via FHPP status bytes
(see section 5.4.1):
– SCON.WARN – warning
– SCON.FAULT – malfunction
– SPOS.DEV – following error
– SPOS.STILL – standstill monitoring.
Additionally, through FPC (Festo Parameter Channel Section C.1) all available diagnostics informa-
tion can be read as PNU (e.g. the diagnostic memory).
A Technical appendix
112 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
A Technical appendix
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 parameterisation for all applications, the motor controller can be paramet-
erised with the parameters in the “Factor Group” (PNU 1001 to 1007, see section B.4.15) in such a way
that variables, such as the rotational speed, can be directly specified or read in the units of measure-
ment required.
The motor controller then uses the factor group to calculate the entries in its internal units of measure-
ment. One conversion factor is available for each of the physical parameters: position, speed and accel-
eration. These conversion factors adjust the user's units of measurement to the application in ques-
tion.
Fig. A.1 clarifies the function of the factor group:
Position Factor
Position
Factor groupUser units Internal controllerunits
Position units
Velocity units
±1
position_polarity_flag
Acceleration units
±1
Velocity factor
Speed
Acceleration factor
Acceleration
Increments (Inc.)
1 Rotationmin
1 Rotation min
256 sec
±1
±1velocity_polarity_flag1)
1) Only via CiA 402; not available via FHPP. ???
Fig. A.1 Factor group
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.
It is recommended to set the factor group first during parameterisation and not change it again during
parameterisation.
Note that a rounding error of ± 1 increment is possible when the units are converted.
A Technical appendix
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 113
Without activation or parameterisation of the Factor Group, the following units are used:
Size Designation Unit Explanation
Length Position units Increments 65536 increments per revolution
Speed Velocity units rpm Revolutions per minute
Acceleration Acceleration units rpm/s * 256 Rotational speed increase per second
Tab. A.1 Factor group default settings
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 (position factor) 1004 Array uint32 rw
Velocity Factor (speed factor) 1006 Array uint32 rw
Acceleration Factor (acceleration factor) 1007 Array uint32 rw
Tab. A.2 Overview of the factor group
Tab. A.3 shows the parameters involved in the conversion.
These objects are created only for compatibility reasons and are not applied for calcula-
tion. Scaling is done only through the above-specified factors.
Name PNU Object Type Access
Encoder Resolution (encoder resolution) 1001 Array uint32 rw
Gear Ratio (gear ratio) 1002 Array uint32 rw
Feed Constant (feed constant) 1003 Array uint32 rw
Axis Parameter (axis parameter) 1005 Array uint32 rw
Tab. A.3 Overview of parameters involved
A.1.3 Calculating the position units
The position factor (PNU 1004, see section B.4.15) 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 a numerator and a denominator.
A Technical appendix
114 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Motor Gear units
AxisMotor with gearing
RIN
ROUT
x in position unit
(e.g. “mm”)
x in position unit
(e.g. “degrees”)
Fig. A.2 Calculating the position units
A Technical appendix
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 115
The following parameters are involved in the position factor's calculation formula:
Parameter Description
Gear Ratio
(gear ratio)
Gear ratio between revolutions at the drive (RIN) and revolutions at the output
(ROUT).
Feed Constant
(feed constant)
Ratio between movement in position units at the drive and revolutions at the
output of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Tab. A.4 Position factor parameters
The position factor is calculated in accordance with the following formula:
Position Factor =Gear ratio * IncrementsRotation
Feed Constant
The position factor must be written to the motor controller separated into numerators and denominat-
ors. It can therefore be necessary to convert the fraction to integers through appropriate expansion.
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. This feed constant is then
displayed in the desired position 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
Position units Feed constant Gear ratio Formula Result
shortened
Degree,
1 DP
1/10 degree
(°/10)
1 ROUT =
3600 °10
1/1 11* 65536 Inc
3600 °10
=
65536 Inc
3600 °10
num : 4096
div : 225
Fig. A.3 Position factor calculation sequence
A Technical appendix
116 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Examples of calculating the position factor
Position units 1) Feed constant 2) Gear ratio 3) Formula 4) Result
shortened
Increments,
0 DP
Inc.
1 ROUT =
65536 Inc
1/1 11* 65536 Inc
65536 Inc=
1 Inc1 Inc
num : 1div : 1
Degree,
1 DP
1/10 degree
(°/10)
1 ROUT =
3600 °10
1/1 11* 65536 Inc
3600 °10
=
65536 Inc
3600 °10
num : 4096
div : 225
Rev.,
2 DP
1/100 Rev.
(R/100)
1 ROUT =
100R
100
1/1 11* 65536 Inc
1001
100
=
65536 Inc
1001
100
num : 16384
div : 25
2/3 23* 65536 Inc
1001
100
=
131072 Inc
3001
100
num : 32768
div : 75
mm,
1 DP
1/10 mm
(mm/10)
1 ROUT =
631,5mm10
4/5 45* 65536 Inc
631, 5mm10
=
2621440 Inc
31575mm10
num: 524288
div: 6315
1) Desired unit at the output
2) Positioning units per revolution at the output (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3) Revolutions at the drive in per revolutions at the drive-out (RIN per ROUT)
4) Insert values into formula.
Tab. A.5 Examples of calculating the position factor
A Technical appendix
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 117
A.1.4 Calculating the speed units
The speed factor (PNU 1006, see section B.4.15) is used to convert all the speed values from the user’s
unit of speed into the internal unit revolutions per minute.
The speed factor consists of a numerator and a denominator.
Calculation of the speed factor consists of two parts: a conversion factor from internal length units into
the user’s position units and a conversion factor from internal time units into user-defined time units
(e.g. from seconds to minutes). The first part corresponds to calculating the position factor, while for
the second part an additional factor comes into play:
Parameter Description
Time factor_v The ratio between the internal time unit and the user-defined time unit.
Gear Ratio
(gear ratio)
Gear ratio between revolutions at the input shaft (RIN) and revolutions at the
output (ROUT).
Feed Constant
(feed constant)
Ratio between movement in position units at the drive and revolutions at the
output of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Tab. A.6 Speed factor parameters
The speed factor is calculated in accordance with the following formula:
Speed factor =Gear ratio * Time factor_v
Feed Constant
Like the position factor, the speed factor also has to be written to the motor controller, separated into
numerators and denominators. It can therefore be necessary to convert the fraction to integers through
appropriate expansion.
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. This feed constant is then
displayed in the desired position 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:
Speed factor calculation sequence
Speed units Feed
const.
Time Constant Gear Formula Result
shortened
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
63,15mmR
⇒
1 ROUT =
631,5mm10
11s =
601
min=
60 *1
min
4/545*
60 *1
min
11s
631,5mm10
=
4801
min
6315mm10s
num: 96
div: 1263
Fig. A.4 Speed factor calculation sequence
A Technical appendix
118 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Examples of calculating the speed factor
Speed units 1) Feed
const. 2)Time constant 3) Gear
4)
Formula 5) Result
shortened
R/min,
0 DP
R/min
1 ROUT =
1 ROUT
11
min1/1
11*
11
min
11
min
1=
11
min
11
min
num: 1div: 1
R/min,
2 DP
1/100 R/min
( R/100 min )
1 ROUT =
100R
100
11
min2/3
23*
11
1min
11
min
1001
1001
=
21
min
3001
100 min
num: 1div: 150
°/s,
1 DP
1/10 °/s
( °/10 s )
1 ROUT =
3600 °10
11s =
601
min
1/111*
60 * 11
min
11s
3600 °10
1
=
601
min
3600 °10 s
num: 1div: 60
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
63,15mmR
⇒
1 ROUT =
631,5mm10
11s =
601
min
4/545*
60 * 11
min
11s
631,5mm10
1
=
4801
min
6315mm10 s
num: 96
div: 1263
1) Desired unit at the output
2) Positioning units per revolution at the output (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3) Time factor_v: desired time unit per internal time unit
4) Gear factor: RIN per ROUT
5) Insert values into formula.
Tab. A.7 Examples of calculating the speed factor
A.1.5 Calculating the acceleration units
The acceleration factor (PNU 1007, see section B.4.15) is used to convert all the acceleration values
from the user's unit of acceleration into the internal unit revolutions per minute per 256 seconds.
The speed factor consists of a numerator and a denominator.
Calculation of the acceleration factor likewise consists of two parts: a conversion factor from internal
units of length into the user’s position units and a conversion factor from internal units of time into
user-defined units of time squared (e.g. from seconds2 to minutes2). The first part corresponds to cal-
culating the position factor, while for the second part an additional factor comes into play:
A Technical appendix
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 119
Parameter Description
Time factor_a Ratio between internal times units squared and user-defined time unit squared
(e.g. 1 min²= 1 min * 1 min = 60 s * 1 min = 60/256min * s).
Gear Ratio
(gear ratio)
Gear ratio between revolutions at the input shaft (RIN) and revolutions at the
output (ROUT).
Feed Constant
(feed constant)
Ratio between movement in position units at the drive and revolutions at the
output of the gear unit (ROUT).
Example: 1 revolution Z 63.15 mm or 1 revolution Z 360° degrees.
Tab. A.8 Acceleration factor parameter
The acceleration factor is calculated using the following formula:
Acceleration factor =Gear ratio * Time factor_a
Feed Constant
Like the position and speed factors, the acceleration factor also has to be written to the motor control-
ler, separated into numerators and denominators. It can therefore be necessary to convert the fraction
to integers through appropriate expansion.
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. This feed constant is then
displayed in the desired position units (column 2).
Then, the desired unit of time² 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:
Process of calculating the acceleration factor
Units of
acceleration
Feed
const.
Time Constant Gear Formula Result
shortened
mm/s²,
1 DP
1/10 mm/s²
( mm/10 s² )
63,15mmR
⇒
1 ROUT =
631,5mm10
11
s2=
601
min * s=
60 * 256
1min
256 * s
4/545*
60 * 2561
256 min * s
11
s2
631, 5mm10
=
122880
1min256 s
6315mm
10s2
num: 8192
div: 421
Fig. A.5 Process of calculating the acceleration factor
A Technical appendix
120 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Examples of calculating the acceleration factor
Acceleration
units 1)
Feed
const. 2)Time constant 3) Gear
4)
Formula 5) Result
shortened
R/min,
0 DP
R/min s
1 ROUT =
1 ROUT
11
min * s=
256
1min
256 * s
1/111*
2561
256 min s
11
min * s
11
=
256
1min
256* s
1
1mins
num: 256
div: 1
°/s²,
1 DP
1/10 °/s²
( °/10 s² )
1 ROUT =
3600 °10
11
s2=
601
min * s=
60 * 256
1min
256 * s
1/111*
60 * 2561
256 min * s
11
s2
3600 °10
1
=
15360
1min
256 * s
3600 °10 s2
num: 64div: 15
R/min²,
2 DP
1/100R/min
²
( R/100 min² )
1 ROUT =
100R
100
11
min2=
160
1mins =
256
60
1min
256 * s
2/323*
2561
256 min * s
601
min2
1001
1001
=
512
1min256 s
180001
100min2
num: 32
div: 1125
mm/s²,
1 DP
1/10 mm/s²
( mm/10 s² )
63,15mmR
⇒
1 ROUT =
631,5mm10
11
s2=
601
min * s=
60 * 256
1min
256 * s
4/545*
60 * 2561
256 min * s
11
s2
631,5mm10
1
=
122880
1min256 s
6315mm
10 s2
num: 8192
div: 421
1) Desired unit at the output
2) Positioning units per revolution at the output (ROUT). Feed constant of the drive (PNU 1003) * 10-DP (points after the decimal)
3) Time factor_v: desired time unit per internal time unit
4) Gear factor: RIN per ROUT
5) Insert values into formula.
Tab. A.9 Examples of calculating the acceleration factor
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 121
B Reference parameter
B.1 FHPP general parameter structure
A motor controller includes a parameter set with the following structure for each axis.
Group PNU range Description
General / system data 1 … 99 General and system data that do not directly have to do
with the drive settings, tunnel parameters for access to
internal parameter structures, ...
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 includes all the setpoint value parameters required
for a positioning procedure.
Project data 500 … 599 Basic project settings. Maximum speed and acceleration,
offset project zero point, etc.
These parameters are the basis for the record list
Function data 700 … 799 Parameters for special functions
Axis data
electric drives 1
1000 … 1099 All axis-specific parameters for electric drives: gear ratio,
feed constant, reference parameters …
Function parameters
for digital I/Os
1200 … 1239 Specific parameters for control and evaluation of the digital
I/Os.
Tab. B.1 Parameter structure
B.2 Access protection
The user can prevent the drive from being operated simultaneously by PLC and FCT. The CCON.LOCK bit
(FCT access blocked) and the SCON.FCT/MMI bit (FCT master control) are used for this.
Prevent operation through FCT: CCON.LOCK
By setting the CCON.LOCK control bit, the PLC prevents the FCT from taking over master control. So if
the LOCK is set, FCT cannot write parameters or control the drive, execute homing, etc.
The PLC is programmed not to issue this release until the user carries out the corresponding action.
This generally causes exit from automatic operation. This means that the PLC programmer can ensure
that the PLC always knows when it has control over the drive.
Important: The locking device is active if the CCON.LOCK bit has a logic 1. It is therefore not mandatory
to set it. A user who does not need this type of interlock can always leave it at 0.
B Reference parameter
122 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Acknowledgment of master control with FCT: SCON.FCT/MMI
This bit informs the PLC that the drive is controlled by the FCT and that the PLC no longer has any con-
trol over the drive. This bit does not need to be evaluated. A possible reaction of the PLC is transitioning
to stop or manual operation.
Note for CANopen: With CANopen, since the CAN bus is deactivated if the master control is activated by
FCT, the bit SCON.FCT/MMI cannot be queried for the value 1.
B.3 Overview of FHPP parameters
The following overview (Tab. B.2) shows the FHPP's parameters.
The parameters are described in sections B.4.3 to B.4.19.
General instructions on the parameter names: The names are mostly based on the
CANopen profile CiA 402. Some names may vary from product to product while the func-
tionality remains the same (e.g. in FCT). Examples: rotational speed and speed, or torque
and force.
Group/name PNU Subindex Type
General / system data Section B.4.2
Random object address
(any address)
80 1 uint32
Random object read
(read any parameter)
81 1 uint32
Random object write
(write any parameter)
82 1 uint32
Device data
Device data – standard parameter Section B.4.3
Manufacturer Hardware Version
(hardware version of the manufacturer)
100 1 uint16
Manufacturer Firmware Version
(firmware version of the manufacturer)
101 1 uint16
Version FHPP
(version FHPP)
102 1 uint16
Project Identifier
(project identification)
113 1 uint32
Controller Serial Number
(controller serial number)
114 1 uint32
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 123
Group/name TypeSubindexPNU
Device data – extended parameters Section B.4.4
Manufacturer Device Name
(device name of the manufacturer)
120 01 … 30 uint8
User Device Name
(device name of the user)
121 01 … 32 uint8
Drive Manufacturer
(manufacturer name)
122 01 … 30 uint8
HTTP Drive Catalog Address
(HTTP address of manufacturer)
123 01 … 30 uint8
Festo Order Number
(Festo order number)
124 01 … 30 uint8
Device Control
(device control)
125 01 uint8
Data Memory Control
(data storage control)
127 01 … 03,
06
uint8
Diagnostics Section B.4.5
Fault Number
(fault number)
201 01 … 04 uint16
Process data Section B.4.6
Position Values
(position values)
300 01 … 03 int32
Torque Values
(torque values)
301 01 … 03 int32
Local Digital Inputs
(local digital inputs)
CMMS 303 01, 02 uint8
CMMD 303 01, 02, 03 uint8
Local Digital Outputs
(local digital outputs)
CMMS 304 01 uint8
CMMD 304 01, 02 uint8
Maintenance Parameter
(maintenance parameter)
305 03 uint32
Velocity Values
(speed values)
310 01 … 03 int32
Flying measurement Section B.4.7
Position Value Storage
(position value memory)
350 01, 02 int32
B Reference parameter
124 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Group/name TypeSubindexPNU
Record list Section B.4.8
Record Status
(record status)
400 01 … 03 uint8
Record Control Byte 1
(record control byte 1)
401 01 … 63 uint8
Record Control Byte 2
(record control byte 2)
402 01 … 63 uint8
Record Setpoint Value
(setpoint value record)
404 01 … 63 int32
Record Preselection Value
(record preselected value)
405 01 … 63 int32
Record Velocity
(speed record)
406 01 … 63 uint32
Record Acceleration
(acceleration record)
407 01 … 63 uint32
Record Deceleration
(deceleration record)
408 01 … 63 uint32
Record Jerkfree Filter Time
(jerk-free filter time record)
413 01 … 63 uint32
Record Profile
(record profile)
414 01 … 63 uint8
Record Following Position
(record chaining record)
416 01 … 63 uint8
Record Control Byte 3
(record control byte 3)
421 01 … 63 uint8
Project data
Project data – general project data Section B.4.9
Project Zero Point
(offset project zero point)
500 01 int32
Software End Positions
(software end positions)
501 01, 02 int32
Max. Speed
(max. permitted speed)
502 01 uint32
Max. Acceleration
(max. permitted acceleration)
503 01 uint32
Max. Jerkfree Filter Time
(maximum jerk-free filter time)
505 01 uint32
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 125
Group/name TypeSubindexPNU
Project data – teach / direct mode general Section B.4.10
Teach Target
(teach target)
520 01 uint8
FHPP direct mode settings
(FHPP direct mode settings)
524 01 uint8
Project data – jog operation Section B.4.11
Jog Mode Velocity Slow – Phase 1
(jog operation speed slow – phase 1)
530 01 int32
Jog Mode Velocity Fast – Phase 2
(jog operation speed fast – phase 2)
531 01 int32
Jog Mode Acceleration
(jog operation acceleration)
532 01 uint32
Jog Mode Deceleration
(jog operation deceleration)
533 01 uint32
Jog Mode Time Phase 1
(jog operation time period phase 1)
534 01 uint32
Project data – direct mode position control Section B.4.12
Direct Mode Position Base Velocity
(direct mode position base speed)
540 01 int32
Direct Mode Position Acceleration
(direct mode position acceleration)
541 01 uint32
Direct Mode Position Deceleration
(direct mode position deceleration)
542 01 uint32
Direct Mode Jerkfree Filter Time
(direct mode position jerk-free filter time)
546 01 uint32
Project data – direct mode speed adjustment Section B.4.13
Direct Mode Velocity Base Velocity Ramp
(direct mode rotational speed acceleration ramp)
560 01 uint32
Function data
Function data – synchronisation Section B.4.14
Gear Ratio Synchronisation
(synchronisation gear ratio)
711 01, 02 uint32
B Reference parameter
126 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Group/name TypeSubindexPNU
Axis parameters electrical drives 1 – mechanical parameters
Axis parameters electric drives 1 – mechanical parameters Section B.4.15
Polarity
(reversal of direction)
1000 01 uint8
Encoder Resolution
(encoder resolution)
1001 01, 02 uint32
Gear Ratio
(gear ratio)
1002 01, 02 uint32
Feed Constant
(feed constant)
1003 01, 02 uint32
Position Factor
(position factor)
1004 01, 02 uint32
Axis Parameter
(axis parameter)
1005 02, 03 int32
Velocity Factor
(speed factor)
1006 01, 02 uint32
Acceleration Factor
(acceleration factor)
1007 01, 02 uint32
Polarity Slave
(reversal of direction for slave)
1008 01 uint8
Axis parameters electric drives 1 – homing parameters Section B.4.16
Offset Axis Zero Point
(offset axis zero point)
1010 01 int32
Homing Method
(reference travel method)
1011 01 int8
Homing Velocities
(reference travel speeds)
1012 01, 02 uint32
Homing Acceleration
(reference travel acceleration)
1013 01 uint32
Homing Required
(reference travel required)
1014 01 uint8
Axis parameters electric drives 1 – controller parameters Section B.4.17
Halt Option Code
(pause option code)
1020 01 uint16
Position Window
(position tolerance window)
1022 01 uint32
Position Window Time
(adjustment time for position)
1023 01 uint16
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 127
Group/name TypeSubindexPNU
Control Parameter Set
(parameters of the controller)
1024 18 … 22,
32
uint16
Motor Data
(motor data)
1025 01, 03 uint32/
uint16
Drive Data
(drive data)
1026 01, 03, 04,
07
uint32
Axis parameters electric drives 1 – electronic rating plate Section B.4.18
Max. Current
(maximum current)
1034 01 uint16
Motor Rated Current
(motor nominal current)
1035 01 uint32
Motor Rated Torque
(motor nominal torque)
1036 01 uint32
Torque Constant
(torque constant)
1037 01 uint32
Axis parameters electric drives 1 – Standstill monitoring Section B.4.19
Position Demand Value
(setpoint position)
1040 01 int32
Position Actual Value
(current position)
1041 01 int32
Standstill Position Window
(standstill position window)
1042 01 uint32
Standstill Timeout
(standstill monitoring time)
1043 01 uint16
Axis parameters for electric drives 1 – following error monitoring Section B.4.20
Following Error Window
(following error window)
1044 01 uint32
Following Error Timeout
(following error time window)
1045 01 uint32
Function parameters for digital I/Os Section B.4.21
Remaining Distance for Remaining Distance Message
(remaining distance for remaining distance message)
1230 01 uint32
Tab. B.2 Overview of FHPP parameters
B Reference parameter
128 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
B.4 Descriptions of FHPP parameters
B.4.1 Representation of the parameter entries
1 2
PNU 1001 Encoder Resolution (encoder resolution)
3 Subindex 01, 02 Class: Struct Data type:
uint32
All Access: rw
4 Encoder resolution in encoder increments/motor revolutions.
The calculated value is derived from the fraction “encoder-increments/motor revolution”.
5 Subindex 01 Encoder Increments (encoder increments)
Fixed: 0x00010000 (65536)
5 Subindex 02 Motor Revolutions (motor revolutions)
Fixed: 0x00000001 (1)
1 Parameter number (PNU)
2 Name of the parameter in English (Alternative in parentheses)
3 General information on the parameter:
– Subindices (01: no subindex, simple variable),
– Class (Var, Array, Struct),
– Data type (int8, int32, uint8, uint32, etc.),
– Applies for firmware version,
– Access (read/write authorisation, ro = read only, rw = read and write).
4 Description of the parameter
5 Name and description of subindices, if present
Fig. B.1 Representation of the parameter entries
B.4.2 General / system data
PNU 80 Random object address (any address)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Address for access to any desired communication object.
Tab. B.3 PNU 80
PNU 81 Random object read (read any parameter)
Subindex 01 Class: Var Data type: uint32 All Access: ro
Read data for any desired communication object.
Tab. B.4 PNU 81
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 129
PNU 82 Random object write (write any parameter)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Write data for any desired communication object.
Tab. B.5 PNU 82
B.4.3 Device data – standard parameters
PNU 101 Manufacturer Firmware Version (Firmware version of the manufacturer)
Subindex 01 Class: Var Data type: uint16 All Access: ro
Coding of the firmware design, specification in BCD: xxyy (xx = main version, yy = secondary version)
Tab. B.6 PNU 101
PNU 102 Version FHPP (FHPP version)
Subindex 01 Class: Var Data type: uint16 All Access: ro
Version number of the FHPP, specification in BCD: xxyy (xx = main version, yy = secondary version)
Tab. B.7 PNU 102
PNU 113 Project Identifier (project identification)
Subindex 01 Class: Var Data type: uint32 All Access: rw
32 bit value that can be used together with the FCT plug-in to identify the project.
Range of values: 0x00000001 … 0xFFFFFFFF (1 … 23²-1)
Tab. B.8 PNU 113
PNU 114 Controller Serial Number (serial number of controller)
Subindex 01 Class: Var Data type: uint32 All Access: ro
Serial number for uniquely identifying the controller.
Tab. B.9 PNU 114
B.4.4 Device data – extended parameters
PNU 120 Manufacturer Device Name (device name of the manufacturer)
Subindex 01 … 30 Class: Var Data type: uint8 All Access: ro
Designation of the drive or motor controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’).
Tab. B.10 PNU 120
B Reference parameter
130 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 121 User Device Name (device name of the user)
Subindex 01 … 32 Class: Var Data type: uint8 All Access: rw
User’s designation of the motor controller (ASCII, 7 bit).
Unused characters are filled with zero (00h=’\0’).
Tab. B.11 PNU 121
PNU 122 Drive Manufacturer (manufacturer name)
Subindex 01 … 30 Class: Var Data type: uint8 All Access: ro
Name of the drive manufacturer (ASCII, 7-bit). Fixed: “Festo AG & Co. KG”
Tab. B.12 PNU 122
PNU 123 HTTP Drive Catalog Address (HTTP address of manufacturer)
Subindex 01 … 30 Class: Var Data type: uint8 All Access: ro
Manufacturer's Internet address (ASCII, 7-bit). Fixed: “www.festo.com”
Tab. B.13 PNU 123
PNU 124 Festo Order Number (Festo order number)
Subindex 01 … 30 Class: Var Data type: uint8 All Access: ro
Festo order number/order code (ASCII, 7-bit).
Tab. B.14 PNU 124
PNU 125 Device Control (device control)
Subindex 01 Class: Var Data type: uint8 All Access: rw
Specifies which interface currently has master control over the drive, in other words, which interface
can be used to enable and start or stop (control) the drive:
– Fieldbus (e.g. CanOpen, PROFIBUS, DeviceNet, ...)
– DIN: Digital I/O interface (e.g. multi-pin, I/O interface)
– Parameterising interface (RS232)
The last two interfaces are treated as equals.
The output stage enable (DIN4) and controller enable (DIN5) also have to be set in addition to the
respective interface (AND logic operation).
Value Significance SCON.FCT/MMI
0x00 (0) Software has master control (+ DIN) 1
0x01 (1) Fieldbus has master control (+ DIN) (presetting after power on) 0
0x02 (2) Only DIN has master control 1
Tab. B.15 PNU 125
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 131
PNU 127 Data Memory Control (data storage control)
Subindex
01 … 03, 04
Class: Struct Data type: uint8 All Access: wo
Commands for non-volatile memory (EEPROM, encoder).
Subindex 01 Delete EEPROM (delete EEPROM)
Once the object has been written, and after switching power off/on, the data in the EEPROM is reset
to the factory settings.
Value Significance
0x10 (16) Delete data in EEPROM and restore factory settings.
Note All user-specific settings will be lost on deletion (factory settings).
• After deleting, always carry out the steps for commissioning the device.
Subindex 02 Save Data (store data)
By writing the object, the data in EEPROMwill be overwritten with the current user-specific settings.
Value Significance
0x01 (1) Save user-specific data in the EEPROM
Subindex 03 Reset Device (reset device)
By writing the object, the data are read from the EEPROM and adopted as the current settings
(EEPROM is not deleted or cleared; it is in the same status as after switching off and on).
Value Significance
0x10 (16) Reset device
0x20 (32) Auto reset upon incorrect bus cycle (deviating from the configured bus cycle
time)
Subindex 06 Encoder Data Memory Control (encoder data storage control)
Encoder data memory control, only available from FW 1.4.0.x.4.
Value Significance
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
Tab. B.16 PNU 127
B Reference parameter
132 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
B.4.5 Diagnostics
For a description of how the diagnostic memory functions Section 7.2.
PNU 201 Fault Number (malfunction number)
Subindex 01 … 04 Class: Array Data type: uint16 All Access: ro
Fault number saved in the diagnostic memory, serves for identifying the fault.
Entry as fault code in accordance with CiA 301 Section D.
Subindex 01 Event 1 (event 1)
Latest/current diagnostic message
Subindex 02 Event 2 (event 2)
2nd saved diagnostic message
Subindex 03, 04 Event 03, 04 (event 03, 04)
3rd, 4th saved diagnostic message
Tab. B.17 PNU 201
B.4.6 Process data
PNU 300 Position Values (position values)
Subindex 01 … 03 Class: Struct Data type: int32 All Access: ro
Current values of the position controller in the positioning unit ( PNU 1004).
Subindex 01 Actual Position (actual position)
Current actual position of the controller.
Subindex 02 Nominal Position (setpoint position)
Current setpoint position of the controller.
Subindex 03 Actual Deviation (deviation)
Current deviation.
Tab. B.18 PNU 300
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 133
PNU 301 Torque Values (torque values)
Subindex 01 … 03 Class: Struct Data type: int32 All Access: ro
Current values of the torque controller in mNm.
Subindex 01 Actual Value (actual value)
Current actual value of the controller.
Subindex 02 Nominal Value (setpoint value)
Current setpoint value of the controller.
Subindex 03 Actual Deviation (deviation)
Current deviation.
Tab. B.19 PNU 301
PNU 303 Local Digital Inputs (local digital inputs)
Subindex 01 ... 03 Class: Struct Data type: uint8 All Access: ro
Local digital inputs of the motor controller
Subindex 01 Input DIN 0 … 7 (inputs DIN 0 … 7)
Digital inputs: standard DIN (DIN 0 … DIN 7)
Allocation Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DIN 7
neg.
limit
switch
DIN 6
pos.
limit
switch
DIN 5
control-
ler en-
able
DIN 4
output
stage
enable
DIN 3 DIN 2 DIN 1 DIN 0
Subindex 02 Input DIN 8 … 13 (inputs DIN 8 … 13)
Digital inputs: standard DIN (DIN 8 … DIN 13)
Allocation 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
Subindex 03 Only for CMMD: Input DIN 0 … 7 (inputs DIN 0 … 7)
Digital inputs: CAMC-D-8E8A (DIN 0 … DIN 7)
Allocation 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
Tab. B.20 PNU 303
B Reference parameter
134 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 304 Local Digital Outputs (local digital outputs)
Subindex 01, 02 Class: Struct Data type: uint8 All Access: rw
Local digital outputs of the motor controller.
Subindex 01 Output DOUT 0 … 3 (outputs DOUT 0 … 3)
Digital outputs: standard DOUT (DOUT 0 … DOUT 3)
Allocation 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
Subindex 02 Only for CMMD: Output DOUT 0 … 7 (outputs DOUT 0 … 7)
Digital inputs: CAMC-D-8E8A (DIN 0 … DIN 7)
Allocation 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
Tab. B.21 PNU 304
PNU 305 Maintenance Parameter (maintenance parameter)
Subindex 03 Class: Var Data type: uint32 All Access: ro
Information about the running performance of the motor controller or drive.
Subindex 03 Operating Hours (operating hours)
Operating hour counter in s.
Tab. B.22 PNU 305
PNU 310 Velocity Values (speed values)
Subindex 01 … 03 Class: Struct Data type: int32 All Access: ro
Current values of the speed regulator.
Subindex 01 Actual Revolutions (actual speed)
Current actual value of the controller.
Subindex 02 Nominal Revolutions (setpoint speed)
Current setpoint value of the controller
Subindex 03 Actual Deviation (deviation)
Speed deviation.
Tab. B.23 PNU 310
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 135
B.4.7 Flying measurement
Flying measurement Section 6.9.
PNU 350 Position Value Storage (position value memory)
Subindex 01, 02 Class: Array Data type: int32 All Access: ro
Sampled positions.
Subindex 01 Sample Value Rising Edge (sample value rising edge)
Last sampled position in position units ( PNU 1004) with a rising edge.
Subindex 02 Sample Value Falling Edge (sample value falling edge)
Last sampled position in position units ( PNU 1004) with a falling edge.
Tab. B.24 PNU 350
B.4.8 Record list
With FHPP, record selection for reading and writing is done via the subindex of the PNUs 401 … 421. The
active record for positioning or teaching is selected via PNU 400.
PNU Designation Data type Subindex
401 RCB1 (record control byte 1) uint8 1 … 63
402 RCB2 (record control byte 2) uint8 1 … 63
404 Setpoint value int32 1 … 63
405 Preselected value int32 1 … 63
406 Speed uint32 1 … 63
407 Acceleration approach uint32 1 … 63
408 Deceleration braking uint32 1 … 63
413 Jerk-free filter time uint32 1 … 63
414 Record profile uint8 1 … 63
416 Following position uint8 1 … 63
421 RCB3 (record control byte 3) uint8 1 … 63
Tab. B.25 Structure of FHPP record list
B Reference parameter
136 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
The “dynamic parameters” of a record are defined as a group via the record profile
(PNU 414).
When these parameters (PNU 405, 406, 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 this profile.
Record listPointer at record profile Record profiles
Record
no.
Record
status
RCB1
RCB2
Preselectedvalue
Speed
Acceleration
Deceleration
Smoothing
Profile
No.
Reference
value
PNU 400 401 402 404 416 405 406 407 408 413 421 414
Followingposition
RCB3
1
2
...
...
...
62
63
0
3
3
3
0
0
7
0
1
2
4
5
6
7
3
Profile
No.
Preselectedvalue
Speed
Acceleration
Deceleration
Smoothing
RCB3
Fig. B.2 Record list and record profiles
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 137
PNU 400 Record Status (record status)
Subindex 01 … 03 Class: Struct Data type: uint8 All Access: rw/ro
Subindex 01 Demand Record Number (setpoint record number) Access: rw
Setpoint record number. The value can be changed using FHPP.
In Record Selection mode, the setpoint record number is always copied from the master’s output
data with a rising edge at START. Range of values: 1 … 63.
Subindex 02 Actual Record Number (current record number) Access: ro
Current record number
Subindex 03 Record Status Byte (record status byte) Access: ro
The record status byte (RSB) includes a feedback code that is transferred in the input data. When a
positioning job starts, the RSB is reset to zero.
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.
Bit Value Significance
0 RC1 0 A step criterion was not configured/achieved.
1 The first step criterion was achieved.
1 RCC
Valid, as soon as MC present.
0 Record sequencing aborted. At least one step criterion was not achieved.
1 Record chain was processed up to the end.
2 … 7 Reserved
Tab. B.26 PNU 400
PNU 401 Record Control Byte 1 (record control byte 1)
Subindex 01 … 63 Class: Array Data type: uint8 All Access: rw
The record control byte 1 (RCB1) controls the most important settings for the positioning task in
record selection. The record control byte is bit-oriented. Allocation Tab. B.28
Subindex 01 … 63 Record 1 … 250 (record 1 … 63)
Record control byte 1, record 1 … 63.
Tab. B.27 PNU 401
B Reference parameter
138 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Record control byte 1
Bit DE EN Description
B0
ABS
Absolut/
Relativ
Absolute/
Relative
= 1: Setpoint value is relative to last setpoint value.
= 0: Setpoint value is absolute.
With PNU 524, the type of relative position specification
can be configured.
B1
COM1
Regelmodus ControlMode No. Bit 2 Bit 1 Control mode
0 0 0 Position control.
B2
COM2
1 0 1 Reserved (torque, current)
2 1 0 Reserved (speed, rotational speed)
3 1 1 Reserved
B3
FNUM1
Funktion-
snummer
Function
Number
No function, fixed = 0
B4
FNUM2
B5
FGRP1
Funktions-
gruppe
Function
Group
No function, fixed = 0
B6
FGRP2
No function, fixed = 0
B7
FUNC
Funktion Function No function, fixed = 0
Tab. B.28 RCB1 allocation
PNU 402 Record Control Byte 2 (record control byte 2)
Subindex 01 … 63 Class: Array Data type: uint8 All Access: rw
Record control byte 2 (RCB2) controls conditional record chaining.
Bit Value Significance
0 … 6 0 … 128 Step enabling condition as a list, Section 6.6.3, Tab. 6.12.
7 0 Reserved
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Record control byte 2, record 1 … 63.
Tab. B.29 PNU 402
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 139
PNU 404 Record Setpoint Value (setpoint value record)
Subindex 01 … 63 Class: Array Data type: int32 All Access: rw
Target position of the record table. Position setpoint value corresponding to PNU 401/RCB1 absolute
or relative in positioning unit ( PNU 1004).
Subindex 01 … 63 Record 1 … 63 (record 1 … 63 )
Position setpoint value record 1 … 63.
Tab. B.30 PNU 404
PNU 405 Record Preselection Value (record preselected value)
Subindex 01 … 63 Class: Array Data type: int32 All Access: rw
Preselection value for conditional record chaining of the record profile in ms, corresponding to the
step enabling condition from PNU 402 (RCB2) See section 2.6.3 tab. 2/23.
Range of values: 0 ms ... 100,000 ms = 100 s
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Record preselected value, record 1 … 63.
Tab. B.31 PNU 405
PNU 406 Record Velocity (speed record)
Subindex 01 … 63 Class: Array Data type: uint32 All Access: rw
Speed setpoint value in units of speed ( PNU 1006).
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Subindex 03 … 63 Record 1 … 63 (record 1 … 63)
Speed setpoint value, record 1 … 63.
Tab. B.32 PNU 406
PNU 407 Record Acceleration (acceleration record)
Subindex 01 … 63 Class: Array Data type: uint32 All Access: rw
Acceleration setpoint value for start up in acceleration units ( PNU 1007).
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Acceleration setpoint value, record 1 … 63.
Tab. B.33 PNU 407
B Reference parameter
140 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 408 Record Deceleration (deceleration record)
Subindex 01 … 63 Class: Array Data type: uint32 All Access: rw
Deceleration setpoint value for braking (deceleration) in acceleration units ( PNU 1007).
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Deceleration setpoint value, record 1 … 63.
Tab. B.34 PNU 408
PNU 413 Record Jerkfree Filter Time (jerk-free filter time record)
Subindex 01 … 63 Class: Array Data type: uint32 All Access: rw
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.
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Jerk-free filter time record 1 … 63.
Tab. B.35 PNU 413
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 141
PNU 414 Record Profile (record profile)
Subindex 01 … 63 Class: Array Data type: uint8 All Access: rw
Specifies assignment to a record profile. The positioning records are assigned to the profiles (0 … 7).
The following parameters are defined in a profile:
– preselected value (PNU 405)
– positioning speed (PNU 406)
– acceleration (PNU 407)
– deceleration (PNU 408)
– jerk-free filter time (PNU 413)
– start delay1)
– end speed1)
– start condition (PNU 421)
Range of values: 0…7 (number of the assigned record profile)
The settings in the record profile are uniformly effective for all assigned records; see Fig. B.2!
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Record profile record 1 … 63.
1) Cannot be parameterized with FHPP, access via FCT only
Tab. B.36 PNU 414
PNU 416 Record Following Position (record chaining record)
Subindex 01 … 63 Class: Array Data type: uint8 All Access: rw
Record number to which record chaining jumps when the step enabling condition is met.
Range of values: 0x01 … 0x3F (1 … 63)
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Record chaining record, record 1 … 63.
Tab. B.37 PNU 416
B Reference parameter
142 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 421 Record Control Byte 3 (record control byte 3)
Subindex 01 … 63 Class: Array Data type: uint8 All Access: rw
The record control byte 3 (RCB3) controls the specific behaviour of the record with active positioning.
The record control byte is bit-oriented.
When written, the value for the total assigned record profile becomes effective; see Fig. B.2!
Bit Bit 1 Bit 0 Significance
0, 1 0 0 Ignore start command during active positioning.
0 1 Start command interrupts active positioning.
1 0 Append start command to active positioning (wait).
1 1 Reserved
2 … 8 0 0 Reserved
Subindex 01 … 63 Record 1 … 63 (record 1 … 63)
Record control byte 3, record 1 … 63.
Tab. B.38 PNU 421
B.4.9 Project data – general project data
PNU 500 Project Zero Point (offset project zero point)
Subindex 01 Class: Var Data type: int32 All Access: rw
Offset from the axis zero point to the project zero point in positioning units ( PNU 1004).
Reference point for position values in the application ( PNU 404).
Tab. B.39 PNU 500
PNU 501 Software End Positions (software end positions)
Subindex 01, 02 Class: Array Data type: int32 All Access: rw
Software end positions in positioning unit ( PNU 1004).
A setpoint specification (position) outside the end positions is not permissible and will result in an
error. The offset to the axis zero point is entered. Plausibility rule: Min-Limit ≤ Max-Limit
Subindex 01 Lower Limit (lower limit value)
Lower software end position
Subindex 02 Upper Limit (lower limit value)
Upper software end position
Tab. B.40 PNU 501
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 143
PNU 502 Max. Speed (max. permitted speed)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Max. permissible speed in units of speed ( PNU 1006).
This value limits the speed in all operation modes except torque mode.
Tab. B.41 PNU 502
PNU 503 Max. Acceleration (max. permitted acceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Max. permissible acceleration in units of acceleration ( PNU 1007).
Tab. B.42 PNU 503
PNU 505 Max. Jerkfree Filter Time (maximum jerk-free filter time)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Max. permissible jerk-free filter time in ms.
Range of values: 0x00000000 … 0x00000033 (0 … 51)
Tab. B.43 PNU 505
B.4.10 Project data – teach / direct mode general
PNU 520 Teach Target (teach target)
Subindex 01 Class: Var Data type: uint8 All Access: rw
The parameter defined is the one written with the actual position at the next Teach command
( Section 6.5).
Value Significance
0x01 1 Setpoint position in record (default).
– For record selection: record corresponding to FHPP control bytes
– For direct operation: record corresponding to 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)
Tab. B.44 PNU 520
B Reference parameter
144 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 524 FHPP direct mode settings (FHPP direct mode settings)
Subindex 01 Class: Var Data type: uint8 from FW 1.4.0.x.4 Access: rw1
With this parameter, key features of the FHPP direct mode can be parameterised.
Bit Value Significance
0 Relative positioning mode
0 Setpoint value is relative to the last setpoint/target position
1 Setpoint value is relative to the current position (default)
1…7 – Reserved
Tab. B.45 PNU 524
B.4.11 Project data – jog operation
PNU 530 Jog Mode Velocity Slow – Phase 1
(jog operation speed slow – phase 1)
Subindex 01 Class: Var Data type: int32 All
Access: rw
Access: rw
Maximum speed for phase 1 in units of velocity ( PNU 1006).
Tab. B.46 PNU 530
PNU 531 JogMode Velocity Fast – Phase 2
(jog operation speed fast – phase 2)
Subindex 01 Class: Var Data type: int32 All Access: rw
Maximum speed for phase 2 in units of speed ( PNU 1006).
Tab. B.47 PNU 531
PNU 532 JogMode Acceleration (jog operation acceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Acceleration during jogging in units of acceleration ( PNU 1007).
Tab. B.48 PNU 532
PNU 533 JogMode Deceleration (jog operation deceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Deceleration during jogging in units of acceleration ( PNU 1007).
Tab. B.49 PNU 533
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 145
PNU 534 JogMode Time Phase 1 (jog operation time period phase 1)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Time duration of phase 1 (T1) in ms.
Tab. B.50 PNU 534
B.4.12 Project data – direct mode position control
PNU 540 Direct Mode Position Base Velocity
(direct mode position base speed)
Subindex 01 Class: Var Data type: int32 All Access: rw
Base velocity during direct mode position control in units of velocity ( PNU 1006).
Tab. B.51 PNU 540
PNU 541 Direct Mode Position Acceleration (direct mode position acceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Acceleration during direct mode position control in units of acceleration ( PNU 1007).
Tab. B.52 PNU 541
PNU 542 Direct Mode Position Deceleration (direct mode position deceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Deceleration during direct mode position control in units of acceleration ( PNU 1007).
Tab. B.53 PNU 542
PNU 546 Direct Mode Position Jerkfree Filter Time
(direct mode position jerk-free filter time)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Jerk-free filter time during direct mode position control in ms.
Range of values: 0x00000000 … 0x00000033 (0 … 51)
Tab. B.54 PNU 546
B Reference parameter
146 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
B.4.13 Project data – direct mode speed adjustment
PNU 560 Direct Mode Velocity Base Velocity Ramp
(direct mode rotational speed acceleration ramp)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Base acceleration value (speed ramp) during direct mode speed adjustment in units of acceleration
( PNU 1007).
Tab. B.55 PNU 560
B.4.14 Function data – synchronisation
PNU 711 Gear ratio sync. (gear ratio synchronisation)
Subindex 01, 02 Class: Var Data type: uint32 from FW 1.4.0.x.4 Access: rw
Gear ratio for synchronisation with an external input (physical master on X10, slave operation).
Subindex 01 Motor revolutions
Motor revolutions (drive).
Subindex 02 Shaft revolutions (spindle rotations)
Spindle rotations (drive-out).
Tab. B.56 PNU 711
B.4.15 Axis parameters electrical drives 1 – mechanical parameters
PNU 1000 Polarity (reversal of direction)
Subindex 01 Class: Var Data type: uint8 All Access: rw
Direction of the position values.
Value Significance
0x00 (0) Normal (default)
0x80 (128) Inverted (multiplied by -1)
Tab. B.57 PNU 1000
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 147
PNU 1001 Encoder Resolution (encoder resolution)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Encoder resolution in encoder increments/motor revolutions.
Specified internal conversion factor.
The value is derived from the fraction “encoder-increments/motor revolution”.
Note: PNU 1001 is not used for calculating the position factor. Only PNU 1004 is used for unit con-
version.
Subindex 01 Encoder Increments (encoder increments)
Fixed: 0x00010000 (65536)
Subindex 02 Motor Revolutions (motor revolutions)
Fixed: 0x00000001 (1)
Tab. B.58 PNU 1001
PNU 1002 Gear Ratio (gear ratio)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Ratio of motor revolutions to gear unit spindle revolutions (drive-out revolutions) Appendix A.1.
Gear ratio = motor revolutions/spindle rotations
Note: PNU 1002 is not used for calculating the position factor. Only PNU 1004 is used for unit con-
version.
Subindex 01 Motor Revolutions (motor revolutions)
Gear ratio – numerator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Subindex 02 Shaft Revolutions (spindle rotations)
Gear ratio – denominator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Tab. B.59 PNU 1002
B Reference parameter
148 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 1003 Feed Constant (feed constant)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
The feed constant specifies the lead of the drive's spindle per revolution, Appendix A.1.
Feed constant = feed/spindle rotation
Note: PNU 1003 is not used for calculating the position factor. Only PNU 1004 is used for unit con-
version.
Subindex 01 Feed (feed)
Feed constant – numerator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Subindex 02 Shaft Revolutions (spindle rotations)
Feed constant - denominator.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Tab. B.60 PNU 1003
PNU 1004 Position Factor (position factor)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Conversion factor for all position units
(Conversion of the user units into internal controller units). Calculation Appendix A.1.
Position Factor = Encoder resolution * Gear ratioFeed Constant
Subindex 01 Numerator (numerator)
Position factor - numerator.
Subindex 02 Denominator (denominator)
Position factor – denominator.
Tab. B.61 PNU 1004
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 149
PNU 1005 Axis Parameter (axis parameter)
Subindex 02, 03 Class: Struct Data type: int32 All Access: rw
Specify and read out axis parameters.
Subindex 02 Gear Numerator (gear unit numerator)
Gear ratio – axis gear numerator. Range of values: 0x0 … 0x7FFFFFFF (0 … +(231-1))
Subindex 03 Gear Denominator (gear denominator)
Gear ratio – axis gear denominator. Range of values: 0x0 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.62 PNU 1005
PNU 1006 Velocity Factor (speed factor)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Conversion factor for all speed units
(Conversion of the user units into internal controller units). Calculation Appendix A.1.
Speed factor =Encoder resolution * Time factor_v
Feed Constant
Subindex 01 Numerator (numerator)
Speed factor – numerator.
Subindex 02 Denominator (denominator)
Speed factor – denominator.
Tab. B.63 PNU 1006
PNU 1007 Acceleration Factor (acceleration factor)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Conversion factor for all acceleration units.
(Conversion of the user units into internal controller units). Calculation Appendix A.1.
Acceleration factor =Encoder resolution * Time factor_a
Feed Constant
Subindex 01 Numerator (numerator)
Acceleration factor – numerator.
Subindex 02 Denominator (denominator)
Acceleration factor – denominator.
Tab. B.64 PNU 1007
B Reference parameter
150 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 1008 Polarity Slave (reversal of direction for slave)
Subindex 01 Class: Var Data type: uint8 All Access: rw
This parameter can be used to reverse the position specification for signals on X10 (slave operation).
This applies to the function “Synchronisation”.
Value Significance
0x00 Position value vector normal (default)
0x80 Position value vector inverted
Tab. B.65 PNU 1008
B.4.16 Axis data electrical drives 1 - homing parameters
PNU 1010 Offset Axis Zero Point (offset axis zero point )
Subindex 01 Class: Var Data type: int32 All Access: rw
Axis zero point offset in positioning units ( PNU 1004).
The offset for the axis zero point (home offset) defines the axis zero point <AZ> as a dimension refer-
ence point relative to the physical reference point <REF>.
The axis zero point is the point of reference for the project zero point <PZ> and for the software end
positions. All positioning operations refer to the project zero point (PNU 500).
The axis zero point (AZ) is calculated as follows: AZ = REF + axis zero point offset
Tab. B.66 PNU 1010
PNU 1011 HomingMethod (reference travel method)
Subindex 01 Class: Var Data type: int8 All Access: rw
Defines the method which the drive uses to carry out the homing Section 6.3 and 6.3.2.
Tab. B.67 PNU 1011
PNU 1012 Homing Velocities (reference travel speeds)
Subindex 01, 02 Class: Struct Data type: uint32 All Access: rw
Speeds during homing in units of speed ( PNU 1006).
Subindex 01 Search for Switch (search speed)
Speed when searching for the homing point REF or a stop or switch.
Subindex 02 Running for Zero (travel speed)
Speed of travel to the axis zero point AZ.
Range of values: 0x00000000 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.68 PNU 1012
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 151
PNU 1013 Homing Acceleration (reference travel acceleration)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Acceleration during homing in units of acceleration ( PNU 1007).
Range of values: 0x00000000 … 0x7FFFFFFF (0 … +(231-1))
Tab. B.69 PNU 1013
PNU 1014 Homing Required (reference travel required)
Subindex 01 Class: Var Data type: uint8 All Access: rw
Defines whether or not homing must be carried out after switching on in order to carry out positioning
tasks.
Note Drives with the multi-turn absolute displacement encoder only need one hom-
ing run after installation.
Value Significance
0x00 (0) Reserved
0x01 (1)
(fixed)
Homing must be carried out
Tab. B.70 PNU 1014
B.4.17 Axis parameters electrical drives 1 – controller parameters
PNU 1020 Halt Option Code (pause option code)
Subindex 01 Class: Var Data type: uint16 All Access: rw
Reaction to a halt command (falling edge at SPOS.HALT).
Value Significance
0x00 (0) Reserved (motor off – coils without current, brake unactuated)
0x01 (1) Brakes with halt ramp
0x02 (2) Reserved (brakes with emergency stop ramp)
Tab. B.71 PNU 1020
PNU 1022 Position Window (position tolerance window)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Tolerance window in positioning units ( PNU 1004).
Amount by which the current position may deviate from the target position while still interpreted as
being within the target window.
The width of the window is 2 times the value transferred, with the target position in the centre of the
window.
Tab. B.72 PNU 1022
B Reference parameter
152 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
PNU 1023 Position Window Time (position damping time)
Subindex 01 Class: Var Data type: uint16 All Access: rw
Damping time in milliseconds.
If the actual position has been in the target position window for this amount of time, SPOS.MC is set.
Tab. B.73 PNU 1023
PNU 1024 Control Parameter Set (parameters of the controller)
Subindex
18 … 22, 32
Class: Struct Data type: uint16 All Access: rw
Control parameters as well as parameters for “quasi-absolute position registering”.
Subindex 18 Gain Position (gain position)
Gain position controller.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 19 Gain Velocity (speed gain)
Gain speed controller.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 20 Time Velocity (speed time constant)
Time constant for the speed controller.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 21 Gain Current (gain current)
Gain current regulator.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 22 Time Current (current time constant)
Current regulator time constant.
Range of values: 0x0000 … 0xFFFF (0 … 65535)
Subindex 32 Save Position (store position)
Save the current position at power-off, see PNU 1014.
Bit Value Significance
0x00F0 240 Current position will not be saved at power-off (default)
0x000F 15 Reserved
Tab. B.74 PNU 1024
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 153
PNU 1025 Motor Data (motor data)
Subindex 01, 03 Class: Struct Data type:
uint32/uint16
All Access: rw/ro
Motor-specific data.
Subindex 01 Serial Number (serial number) Data type: uint32 Access: ro
Festo serial number and motor serial number.
Subindex 03 Time Max. Current (time max. current) Data type: uint16 Access: rw
I²t-time in ms. When the I²t time elapses, the current is limited automatically to the motor nominal
current in order to protect the motor (Motor Rated Current PNU 1035).
Tab. B.75 PNU 1025
PNU 1026 Drive Data (drive data)
Subindex 01, 03,
04, 07
Class: Struct Data type: uint32 All Access: rw/ro
General motor data.
Subindex 01 Power Temp. (Temp. output stage) Access: ro
Current temperature of the output stage in °C.
Subindex 03 Motor Rated Current (motor nominal current) Access: rw
Motor nominal current in mA, identical to PNU 1035.
Subindex 04 Current Limit (max. motor current) Access: rw
Maximummotor current, identical to PNU 1034.
Subindex 07 Controller Serial Number (controller serial number) Access: ro
Controller’s internal serial number.
Tab. B.76 PNU 1026
B Reference parameter
154 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
B.4.18 Axis Parameters Electric Drives 1 – electronic rating plate
PNU 1034 Max. Current (maximum current)
Subindex 01 Class: Var Data type: uint16 All Access: rw
As a rule, servo motors may be overloaded for a certain time period. With PNU 1034 (identical to PNU
1026/4), the maximum permissible motor current is set. It refers to the motor nominal current (PNU
1035) and is set in thousandths.
The range of values is limited upward through the maximum controller current (see technical data,
dependent on the controller cycle time and the output stage cycle frequency).
PNU 1034 may only be written on if PNU 1035 has already been validly written on.
Note Observe that the current limitation also limits the maximum possible speed and
that (higher) setpoint speeds may therefore not be achieved.
Tab. B.77 PNU 1034
PNU 1035 Motor Rated Current (motor nominal current)
Subindex 01 Class: Var Data type: uint32 All Access: rw
The motor's rated current in mA, identical to PNU 1026/3.
Tab. B.78 PNU 1035
PNU 1036 Motor Rated Torque (motor nominal torque)
Subindex 01 Class: Var Data type: uint32 All Access: rw
The motor's rated torque in 0.001 Nm.
Tab. B.79 PNU 1036
PNU 1037 Torque Constant (torque constant)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Ratio between the current and torque in the motor used in mNM/A.
Tab. B.80 PNU 1037
B.4.19 Axis parameters electric drives 1 – standstill monitoring
PNU 1040 Position Demand Value (setpoint position)
Subindex 01 Class: Var Data type: int32 All Access: ro
Setpoint target position of the last positioning task, in position unit ( PNU 1004).
Tab. B.81 PNU 1040
B Reference parameter
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 155
PNU 1041 Position Actual Value (current position)
Subindex 01 Class: Var Data type: int32 All Access: ro
Current position of the drive in positioning units ( PNU 1004).
Tab. B.82 PNU 1041
PNU 1042 Standstill Position Window (standstill position window)
Subindex 01 Class: Var Data type: uint32 All Access: rw
Standstill position window in positioning units ( PNU 1004).
Amount of the position by which the drive may move after MC until the standstill monitoring responds.
Tab. B.83 PNU 1042
PNU 1043 Standstill Timeout (standstill monitoring time)
Subindex 01 Class: Var Data type: uint16 All Access: rw
Standstill monitoring time in ms.
Time during which the drive must be outside the standstill position window before standstill monitor-
ing responds.
Tab. B.84 PNU 1043
B.4.20 Axis parameters for electric drives 1 – following error monitoring
PNU 1044 Following error window (contouring error window)
Subindex 01 Class: Var Data type: uint32 from FW 1.4.0.x.4 Access: rw
Define or read the permissible range for following errors, stated in positioning units.
Range of values: 0x00000000 … 0x7FFFFFFFF (0 … +(231-1))
Tab. B.85 PNU 1044
PNU 1045 Following error timeout (contouring error time window)
Subindex 01 Class: Var Data type: uint16 from FW 1.4.0.x.4 Access: rw
Define or read a timeout time for following error monitoring in ms.
Range of values: 0x00000000 … 0x00006AB2 (0 … 27314)
Tab. B.86 PNU 1045
B Reference parameter
156 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
B.4.21 Function parameters for digital I/Os
PNU 1230 Remaining Distance for Remaining Distance Message
(remaining distance for the remaining distance message)
Subindex 01 Class: Var Data type: uint32 All Access: rw
The remaining distance is the trigger condition for the remaining distance message, which can be
issued on a digital output.
Tab. B.87 PNU 1230
C Festo Parameter Channel (FPC)
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 157
C Festo Parameter Channel (FPC)
C.1 Festo parameter channel (FPC) for cyclic data (I/O data)
C.1.1 Overview of FPC
The parameter channel is used for transmitting parameters. The parameter channel is made up of the
following:
Components Description
Parameter identifier
(ParID)
Component of the parameter channel which contains the Job and
Response identifiers (AK) and the parameter number (PNU).
The parameter number is used to identify or address the respective
parameters. The Job or Response identifier (AK) describes the job or the
reply in the form of a reference figure.
Subindex (IND) Addresses an element of an array parameter (sub-parameter number).
Parameter value (ParVal) Value of the parameter.
If a parameter processing job cannot be executed, an error number is
transmitted in place of the value in the response telegram. The error
number describes the cause of the error.
Tab. C.1 Components of the parameter channel (PKW)
The representation of the byte order in this documentation corresponds to the Big Endian
representation used with PROFIBUS.
For CANopen and DeviceNet with 16-bit and 32-bit values, the inverse Little Endian rep-
resentation applies.
The parameter channel consists of 8 bytes. The structure of the parameter channel dependent on the
size or type of the parameter value is shown in the following table:
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
0 IND 1) ParID (PKE) 2) Value (PWE) 3)
Input
data
0 IND 1) ParID (PKE) 2) Value (PWE) 3)
1) IND Subindex - for addressing an array element
2) ParID (PKE) Parameter Identifier - comprising ReqID or ResID and PNU
3) Value (PWE) Parameter value, parameter value for double word: bytes 5 ... 8; for word: bytes 7, 8; for byte: byte 8
Tab. C.2 Structure of parameter channel
C Festo Parameter Channel (FPC)
158 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Parameter identifier (ParID)
The parameter identifier includes the job or response identifier (AK) and the parameter number (PNU).
ParID Byte 3 Byte 4
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Task ReqID (AK) 1) res. Parameter number (PNU) 3)
Answer ResID (AK) 2) res. Parameter number (PNU) 3)
1) ReqID (AK): Request Identifier – job identifier (read, write, ...)
2) ResID (AK): Response Identifier (transferred value, error, ...)
3) Parameter number (PNU) – identifies and addresses the respective parameter Section C.1. The task or response identifier
indicates the type of task or reply Section C.1.2.
Tab. C.3 Structure of parameter identifier (ParID)
C.1.2 Task identifiers, response identifiers and error numbers
The task identifiers are shown in the following table. All parameter values are always transmitted as a
double word, independent of the data type.
ReqID Description Response identifier
Positive Negative
0 No job (“Zero request”) 0 –
6 Request parameter value (array, double word) 5 7
8 Modify parameter value (array, double word) 5 7
13 Request lower limit 5 7
14 Request upper limit 5 7
Tab. C.4 Task and response identifiers
If the job cannot be carried out, response identifier 7 as well as the appropriate error number will be
transmitted (negative reply).
The following table shows the response identifiers:
ResID Description
0 No reply
5 Parameter value transferred (array, double word)
7 Job cannot be carried out (with error number) 1)
1) Error numbers Tab. C.6
Tab. C.5 Reply identifiers
C Festo Parameter Channel (FPC)
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 159
If the parameter processing job cannot be carried out, a corresponding error number will be transmitted
in the response telegram (byte 5 … 8 of the FPC range). The following table shows the possible error
numbers:
Error numbers Description
0 0x00 Impermissible PNU. The parameter does not exist.
1 0x01 Parameter value cannot be changed (read only)
2 0x02 Lower or upper value limit exceeded
3 0x03 Faulty subindex
11 0x0B No supervising access
12 0x0C Incorrect password
18 0x12 Other fault
20 0x14 Impermissible value (ENUM)
17 0x11 Task cannot be carried out due to operating status
101 0x65 ReqID is not supported
102 0x66 Parameter is write-only (e.g. with passwords)
Tab. C.6 Sequence of error checking and error numbers
C.1.3 Rules for job reply processing
Rule Description
1 If the master transmits the identifier for “No job”, the motor controller responds with the
reply identifier for “No reply”.
2 A job or response telegram always refers to a single parameter.
3 The master must continue to send a job until it has received the appropriate reply from the
motor controller.
4 The master recognises the reply to the job placed:
– 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 motor controller provides the reply until the master sends a new job.
6 a) A write task will only be carried out once by the motor controller. That is, only the value
transferred with the job identifier is actually written. If only the value is changed
without a new job identifier, the change is not written to the parameter.
b) Important:
Between two successive jobs, the task identifier 0 (no job, “zero request”) must be
sent and the response identifier 0 (no reply) must be awaited. This ensures that an
“old” response is not interpreted as a “new” response.
Tab. C.7 Rules for job reply processing
C Festo Parameter Channel (FPC)
160 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Sequence of parameter processing
Note
Observe the following whenmodifying parameters:
An FHPP control signal (e.g. start of a positioning job), which is to refer to a modified
parameter, may only follow when the response identifier “Parameter value transferred”
is received for the corresponding parameter.
If, for example, a position value in a position set is to be modified and then travel made to this position,
the positioning command must not be given until the motor controller has completed and confirmed
the modification of the position set.
Note
In order to ensure that an “old” reply cannot be interpreted as a “new” reply, the job
identifier 0 (no job) must be sent and the response identifier 0 (no reply) must be
awaited between two consecutive jobs with the same job identifier (AK), parameter
number (PNU) and subindex (IND).
Evaluating errors
In the case of jobs which cannot be carried out, the slave replies as follows:
– Output of response identifier = 7
– Output of an error number in byte 7 and 8 (for PROFIBUS, little endian; for CANopen or DeviceNet
byte 5 and 6) of the parameter channel (FPC).
Example of parameterisation via FPC
The following tables show an example of parameterisation of a positioning task in the position set table
via FPC (Festo Parameter Channel).
Observe the specification in the bus master for the representation of words and double
words (Intel/Motorola). In the example, the representation uses the “little endian”
representation (lowest-order byte first), as is used with PROFIBUS. For CANopen and
DeviceNet, the inverse byte order applies.
Step 1
Output status of the 8 bytes of FPC data:
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Sub-index ReqID/ResID + PNU Parameter value
Output
data
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Input
data
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Tab. C.8 Example, Step 1
Step 2
Read setpoint value from record number 2:
PNU 404 (0x0194), subindex 2 – Request parameter value (array, double word): ReqID 6.
Received value in the response: 0x64 = 100d
C Festo Parameter Channel (FPC)
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 161
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Sub-index ReqID/ResID + PNU Parameter value
Output
data
0x00 0x02 0x61 0x94 0x00 0x00 0x00 0x00
Input
data
0x00 0x02 0x51 0x94 0x00 0x00 0x00 0x64
Tab. C.9 Example, Step 2
Step 3
“Zero request”: After receiving the input data with ResID 5, send output data with ReqID = 0 and wait
for input data with ResID = 0:
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Sub-index ReqID/ResID + PNU Parameter value
Output
data
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Input
data
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x64
Tab. C.10 Example, Step 3
Step 4
Write setpoint value 4660d (0x1234) in record number 2:
PNU 404 (0x0194), subindex 2 – Modify parameter value (array, double word): ReqID 8 – value 0x1234.
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Sub-index ReqID/ResID + PNU Parameter value
Output
data
0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34
Input
data
0x00 0x02 0x51 0x94 0x00 0x00 0x12 0x34
Tab. C.11 Example, Step 4
Step 5
After receiving the input data with ResID 5: “Zero request”, like Step 3 Tab. C.10.
Step 6
Write speed 30531d (0x7743) in record number 2:
PNU 406 (0x0196), subindex 2 – Modify parameter value (array, double word): ReqID 8 – value 0x7743.
FPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Sub-index ReqID/ResID + PNU Parameter value
Output
data
0x00 0x00 0x81 0x96 0x00 0x00 0x77 0x43
Input
data
0x00 0x00 0x51 0x96 0x00 0x00 0x77 0x43
Tab. C.12 Example, Step 6
Step 7
After receiving the input data with ResID 5: “Zero request”, like Step 3 Tab. C.10.
D Diagnostic messages
162 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
D Diagnostic messages
D.1 Explanations of the diagnostic messages
The following table summarises the significance of the diagnostic messages and the actions to be
taken in response to them:
Terms Significance
No. Main index (error group) and sub-index of the diagnostic message.
Display via the 7-segments display, in FCT or in the diagnostic memory via FHPP.
Code The Code column includes the error code (Hex) via CiA 301.
Message Message that is displayed in the FCT.
Cause Possible causes for the message.
Action Action by the user.
Reaction The Reaction column includes the error response (default setting, partially
configurable):
– PS off (block output stage),
– QStop (fast stop with parameterised edge),
– Warn (warning),
– Ignore.
Tab. D.1 Explanations of the diagnostic messages
For a complete list of the diagnostic messages that correspond to the firmware versions used at the
time of printing this document, please refer to section D.2.
Under section D.3, you will find the error codes in accordance with CiA301/402 and the error bit num-
bers with allocation to the error numbers of the diagnostic messages.
Under section D.4, you will find the PROFIBUS diagnostic bits with allocation to the error numbers of
the diagnostic messages.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 163
D.2 Diagnostic messages with instructions for fault clearance
Error group 01 Internal faults
No. Code Message Reaction
01-0 6180h Stack overflow (internal error) PS off
Cause – Incorrect firmware?
– Sporadic high processor load due to special compute-bound
processes (save parameter set, etc.).
Action • Load approved firmware.
• Contact Technical Support.
Error group 02 Intermediate circuit
No. Code Message Reaction
02-0 3220h Undervoltage in intermediate circuit Configurable
Cause – Intermediate circuit voltage falls below the parameterised
threshold.
Action • Quick discharge due to switched-off mains supply.
• Check mains voltage (mains voltage level or network
impedance too high?).
• Check intermediate circuit voltage (measure).
• Check undervoltage monitor (threshold value).
• Check travel profile: If travel with lower acceleration and/or
travel speeds is possible, this reduces power consumption from
the mains.
Error group 03 Temperature monitoring, motor
No. Code Message Reaction
03-1 4310h Temperature monitoring, motor Configurable
Cause Motor overloaded, temperature too high.
– Motor too hot.
– Sensor defective?
Action • Check parameters (current regulator, current limits).
If the error persists when the sensor is bypassed: Device defective.
D Diagnostic messages
164 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 04 Temperature monitoring, electronics
No. Code Message Reaction
04-0 4210h Excess/low temperature of power electronics Configurable
Cause Motor controller is overheated.
– Motor controller overloaded?
– Temperature display plausible?
Action • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
• Check the drive layout (due to possible overloading in
continuous operation).
Error group 05 Internal power supply
No. Code Message Reaction
05-0 5114h 5 V electronics supply fault PS off
Cause Monitoring of the internal power supply has recognised
undervoltage. This is either due to an internal defect or an
overload/short circuit caused by connected peripherals.
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-1 5115h Error in 24 V supply PS off
Cause Monitoring of the internal power supply has recognised
undervoltage.
Action • Check 24 V logic supply.
• Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-2 5116h 12 V electronics supply fault PS off
Cause Only CMMS-ST:
Monitoring of the internal power supply has recognised
undervoltage. This is either due to an internal defect or an
overload/short circuit caused by connected peripherals.
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-2 8000h Error in driver supply/driver supply failed PS off
Cause Only CMMS-AS/CMMD-AS:
Error in the plausibility check of the driver supply (safe torque off )
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 165
Error group 06 Intermediate circuit
No. Code Message Reaction
06-0 2320h Over-current of the intermediate circuit/output stage PS off
Cause – Motor defective.
– Short circuit in the cable.
– Output stage defective.
Action • Check motor, cable and motor controller.
Error group 07 Intermediate circuit
No. Code Message Reaction
07-0 3210h Overvoltage in the intermediate circuit PS off
Cause Braking resistor is overloaded; too much braking energy, which
cannot be dissipated quickly enough.
– Resistor capacity is incorrect?
– Resistor not connected correctly?
– Check design (application)
Action • Check the design of the braking resistor (positioning drives);
resistance value may be too great.
• Check the connection to the braking resistor (internal/external).
Error group 08 Angle encoder
No. Code Message Reaction
08-0 7380h Error in encoder supply PS off
Cause Only CMMS-ST:
Encoder supply outside the allowed range (too high/too low).
Action • Test with another encoder.
• Test with another encoder cable.
• Test with another motor controller.
08-6 7386h Angle encoder communication fault PS off
Cause Only CMMS-AS/CMMD-AS:
Communication to serial angle encoders is disrupted (EnDat
encoders).
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Action • Check whether encoder signals are faulty.
• Test with another encoder.
• Check angle encoder cable.
For operation with long motor cables:
• Observe notes on EMC-compliant installation! Additional
anti-interference measures required from 15 m cable length.
D Diagnostic messages
166 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 08 Angle encoder
No. ReactionMessageCode
08-8 7388h Internal angle encoder error PS off
Cause Only CMMS-AS/CMMD-AS:
Internal monitoring of the angle encoder has detected an error and
forwarded it via serial communication to the controller.
Possible causes:
– Excess rotational speed.
– Angle encoder defective.
Action If the error occurs repeatedly, the encoder is defective. Replace
encoder including encoder cable.
Error group 11 Homing
No. Code Message Reaction
11-1 8A81h Homing error PS off
Cause Homing was interrupted, e.g. by:
– withdrawal of controller enable.
– reference switch located beyond the limit switch.
– external stop signal (termination of a homing phase).
Action • Check homing sequence.
• Check arrangement of the switches.
• If applicable, lock the STOP input during homing if it is not de-
sired.
Error group 12 CAN
No. Code Message Reaction
12-0 8181h CAN: General error Configurable
Cause Other CAN error.
Triggered by the CAN controller itself and is used as a common
error for all further CAN errors.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
12-1 8181h CAN: Error bus off Configurable
Cause Errors can occur if the CAN control malfunctions or is deliberately
requested by the controller of the bus-off status.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 167
Error group 12 CAN
No. ReactionMessageCode
12-2 8181h CAN: Error when transmitting Configurable
Cause Error when sending a message (e.g. no bus connected).
Action • Re-start CAN controller
• Check CAN configuration in the controller
• Check wiring
12-3 8181h CAN: Error when receiving Configurable
Cause Error receiving a message.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring: Cable specification adhered to, broken cable,
maximum cable length exceeded, correct terminating resistors,
cable screening earthed, all signals terminated?
12-4 8130h CAN: Time-out nodeguarding Configurable
Cause Node guarding telegram not received within the parameterised
time. Signals corrupted?
Action • Compare cycle time of the remote frames with that of the controller.
• Check: Failure of the controller?
12-5 8181h CAN: Error in the IPO mode Configurable
Cause Over a period of 2 SYNC intervals, the SYNC telegram or the PDO of
the controller has failed.
Action • Re-start CAN controller.
• Check CAN configuration in the controller (SYNC telegram must
be parameterised).
• Check wiring.
Error group 14 Motor identification
No. Code Message Reaction
14-9 6197h Error, motor identification PS off
Cause Error in automatic determination of the motor parameters.
Action • Ensure sufficient intermediate circuit voltage.
• Encoder cable connected to the right motor?
• Motor blocked, e.g. holding brake does not release?
Error group 16 Initialization
No. Code Message Reaction
16-2 6187h Initialization fault PS off
Cause Error in initialising the default parameters.
Action • In case of repetition, load firmware again.
If the error occurs repeatedly, the hardware is defective.
D Diagnostic messages
168 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 16 Initialization
No. ReactionMessageCode
16-3 6183h Unexpected status / programming error PS off
Cause The software has taken an unexpected status.
For example, unknown status in the FHPP state machine.
Action • In case of repetition, load firmware again.
If the error occurs repeatedly, the hardware is defective.
Error group 17 Following error monitoring
No. Code Message Reaction
17-0 8611h Following error monitoring Configurable
Cause Comparison threshold for the limit value of the following error
exceeded.
Action • Enlarge error window.
• Parameterise acceleration to be less.
• Motor overloaded (current limiter from the I²t monitoring active?).
Error group 18 Output stage temperature monitoring
No. Code Message Reaction
18-1 4280h Output stage temperature 5 °C belowmaximum Configurable
Cause The output stage temperature is greater than 90 °C.
Action • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
Error group 19 I²t monitoring
No. Code Message Reaction
19-0 2380h I²t at 80 % Configurable
Cause Of the maximum I²t workload of the controller or motor, 80 % has
been achieved.
Action • Check whether motor/mechanics are blocked or sluggish.
Error group 21 Current measurement
No. Code Message Reaction
21-0 5210h Error, offset current measurement PS off
Cause The controller performs offset compensation of the current
measurement.
Tolerances that are too large result in an error.
Action If the error occurs repeatedly, the hardware is defective.
• Send motor controller to the manufacturer.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 169
Error group 22 PROFIBUS
No. Code Message Reaction
22-0 7500h Error in PROFIBUS initialization PS off
Cause Fieldbus interface defective.
Action • Please contact Technical Support.
22-2 7500h PROFIBUS communication error Configurable
Cause – Faulty initialization of the PROFIBUS interface.
– Interface defective.
Action • Check the set slave address.
• Check bus termination.
• Check wiring.
Error group 25 Firmware
No. Code Message Reaction
25-1 6081h Incorrect firmware PS off
Cause Motor controller and firmware are not compatible.
Action • Update the firmware.
Error group 26 Data flash
No. Code Message Reaction
26-1 5581h Checksum error PS off
Cause Checksum error of a parameter set.
Action • Load factory setting.
• If the error is still present, the hardware is defective.
Error group 29 SD card
No. Code Message Reaction
29-0 7680h No SD Configurable
Cause An attempt was made to access a missing SD card.
Action Check:
• whether the SD card is inserted properly,
• whether the SD card is formatted,
• whether a compatible SD card is plugged in.
29-1 7681h SD initialization error Configurable
Cause – Error during initialization.
– Communication not possible.
Action • Plug card back in.
• Check card (file format FAT 16).
• If necessary, format card.
D Diagnostic messages
170 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 29 SD card
No. ReactionMessageCode
29-2 7682h SD parameter record error Configurable
Cause – Checksum incorrect.
– File not present.
– File format incorrect.
– Error saving the parameter file on the SD card.
Action • Check content (data) of the SD card.
Error group 31 I²t monitoring
No. Code Message Reaction
31-0 2312h I²t error motor (I²t at 100%) Configurable
Cause I²t monitoring of the motor has been triggered.
– Motor/mechanical system blocked or sluggish.
– Motor under-sized?
Action • Check motor and mechanical system.
31-1 2311h I²t error controller (I²t at 100%) Configurable
Cause I²t monitoring of the controller has been triggered.
Action • Check power dimensioning of drive package.
Error group 32 Intermediate circuit
No. Code Message Reaction
32-0 3280h Intermediate circuit charging time exceeded PS off
Cause Only CMMS-AS/CMMD-AS:
The intermediate circuit could not be charged after the mains
voltage was applied.
– Fuse possibly defective.
– Internal braking resistor defective.
– In operation with external braking resistor, the resistor is not
connected
Action • Check mains voltage (intermediate circuit voltage < 150 V)
• Check interface to the external braking resistor.
• If the interface is correct, the internal braking resistor or the
built-in fuse is presumably faulty Repair by the manufacturer.
32-8 3285h Power supply failure during controller enable PS off
Cause Interruption/power failure while the controller enable was active.
Action • Check mains voltage/power supply.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 171
Error group 35 Fast stop
No. Code Message Reaction
35-1 6199h Time out with fast stop PS off
Cause The parameterised time for fast stop was exceeded.
Action • Check parameterisation.
Error group 40 Software end position
No. Code Message Reaction
40-0 8612h Negative software limit switch reached Configurable
Cause The position setpoint has reached or exceeded the negative
software limit switch.
Action • Check the target data.
• Check positioning area.
40-1 8612h Positive software limit switch reached Configurable
Cause The position setpoint has reached or exceeded the positive
software limit switch.
Action • Check the target data.
• Check positioning area.
40-2 8612h Target position lies behind the negative software limit switch Configurable
Cause Start of a positioning task was suppressed because the target lies
behind the negative software limit switch.
Action • Check the target data.
• Check positioning area.
40-3 8612h Target position lies behind the positive software limit switch Configurable
Cause The start of a positioning task was suppressed because the target
lies behind the positive software limit switch.
Action • Check the target data.
• Check positioning area.
Error group 41 Path program
No. Code Message Reaction
41-8 6193h Path program error, unknown command Configurable
Cause Unknown command found during record continuation.
Action • Check parameterisation.
41-9 6192h Error in path program jump destination Configurable
Cause Jump to a positioning record outside the permitted range.
Action • Check parameterisation.
D Diagnostic messages
172 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 42 Positioning
No. Code Message Reaction
42-1 8681h Positioning: Error in pre-computation Configurable
Cause Positioning cannot be reached through the options of the
positioning (e.g. final speed) or parameters.
Action • Check parameterisation of the position records in question.
42-4 8600h Message, homing required Configurable
Cause – Positioning not possible without homing.
– Homing must be carried out.
Action • Reset optional parameterisation “Homing required”.
• Carry out a new homing run after acknowledgement of an angle
encoder error.
42-9 6191h Error in position data record PS off
Cause – An attempt is being made to start an unknown or deactivated
position record.
– The set acceleration is too small for the permissible maximum
speed.
– (Danger of a calculation overflow in the trajectory calculation).
Action • Check parameterisation and sequence control and correct, if
necessary.
Error group 43 Limit switch error
No. Code Message Reaction
43-0 8612h Negative limit switch error Configurable
Cause Negative hardware limit switch reached.
Action • Check parameterisation, wiring and limit switches.
43-1 8612h Positive limit switch error Configurable
Cause Positive hardware limit switch reached.
Action • Check parameterisation, wiring and limit switches.
43-9 8612h Error in limit switch Configurable
Cause Both hardware limit switches are active simultaneously.
Action • Check parameterisation, wiring and limit switches.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 173
Error group 45 STO error
No. Code Message Reaction
45-0 8000h Error in driver supply PS off
Cause Driver supply is still active despite the STO requirement.
Action The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-1 8000h Error in driver supply PS off
Cause The driver supply is active again, although STO is still required.
Action The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-2 8000h Error in driver supply PS off
Cause The driver supply is not active again, although STO is no longer
required.
Action If the error occurs again after the STO requirement is ended, the
hardware of the motor controller is defective.
45-3 8087h DIN4 plausibility error PS off
Cause Output stage no longer switches off Hardware defective.
Action Repair by the manufacturer.
Error group 64 DeviceNet error
No. Code Message Reaction
64-0 7582h DeviceNet communication error PS off
Cause Node number exists twice.
Action • Check the configuration.
64-1 7584h DeviceNet general error PS off
Cause The 24 V bus voltage is missing.
Action • In addition to the motor controller, the DeviceNet interface
must also be connected to 24 V DC.
64-2 7582h DeviceNet communication error PS off
Cause – Receive buffer overflow.
– Too many messages received within a short period.
Action • Reduce the scan rate.
D Diagnostic messages
174 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Error group 64 DeviceNet error
No. ReactionMessageCode
64-3 7582h DeviceNet communication error PS off
Cause – Send buffer overflow.
– Insufficient free space on the CAN bus to transmit messages.
Action • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
64-4 7582h DeviceNet communication error PS off
Cause IO-message could not be sent
Action • Check that the network is connected correctly and does not
malfunction.
64-5 7582h DeviceNet communication error PS off
Cause Bus off.
Action • Check that the network is connected correctly and does not
malfunction.
64-6 7582h DeviceNet communication error PS off
Cause Overflow in the CAN controller.
Action • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
Error group 65 DeviceNet error
No. Code Message Reaction
65-0 7584h DeviceNet general error Configurable
Cause – Communication is activated, even though no interface is
plugged in.
– The DeviceNet interface is attempting to read an unknown object.
– Unknown DeviceNet error.
Action • Check whether the DeviceNet interface is plugged in correctly.
• Check that the network is connected correctly and does not
malfunction.
65-1 7582h DeviceNet communication error Configurable
Cause I/O connection timeout.
No I/O message received within the expected time.
Action • Please contact Technical Support.
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 175
Error group 70 Operating mode error
No. Code Message Reaction
70-2 6195h General arithmetic error PS off
Cause The fieldbus factor group cannot be calculated correctly.
Action • Check the factor group.
70-3 6380h Operating mode error Configurable
Cause This operating mode change is not supported by the motor controller.
Action • Check your application.
Not every change is permissible.
Error group 76 SSIO error
No. Code Message Reaction
76-0 8100h Error SSIO communication (axis 1 - axis 2) Configurable
Cause Only CMMD-AS:
– checksum error during transfer of the SSIO protocol.
– time-out during transmission.
Action • Check wiring.
• Check whether the screening of the motor cable is correctly
applied (EMC problem).
If the SSIO communication is not unavoidably required (e.g. no
fieldbus interface used and separate control of the axes via I/Os,
this error can possibly be ignored.
76-1 8100h Error SSIO communication (axis 2) Configurable
Cause Only CMMD-AS:
SSIO partner has error 76-0.
Action The error is triggered when the other axis has reported an SSIO
communication error. If, for example, axis 2 reports error 76-0, the
error 76-1 is triggered for axis 1.
Actions and description for error response as with error 76-0.
Error group 79 RS232 error
No. Code Message Reaction
79-0 7510h RS232 communication error Configurable
Cause Overflow when receiving RS232 commands.
Action • Check wiring.
• Check the transmitted data.
D Diagnostic messages
176 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
D.3 Error codes via CiA 301/402
Diagnostic messages
Code No. No. Bit Message Reaction
2311h 31-1 19 I²t error controller (I²t at 100%) Configurable
2312h 31-0 18 I²t error motor (I²t at 100%) Configurable
2320h 06-0 13 Over-current of the intermediate circuit/output stage PS off
2380h 19-0 25 I²t at 80 % Configurable
3210h 07-0 15 Overvoltage in intermediate circuit PS off
3220h 02-0 14 Undervoltage in intermediate circuit Configurable
3280h 32-0 16 Intermediate circuit charging time exceeded PS off
3285h 32-8 17 Power supply failure during controller enable PS off
4210h 04-0 3 Excess/low temperature of power electronics Configurable
4280h 18-1 27 Output stage temperature 5 °C belowmaximum Configurable
4310h 03-1 2 Temperature monitoring, motor Configurable
5114h 05-0 8 5 V electronics supply fault PS off
5115h 05-1 10 Error in 24 V supply PS off
5116h 05-2 9 12 V electronics supply fault PS off
5210h 21-0 12 Error, offset current measurement PS off
5581h 26-1 62 Checksum error PS off
6081h 25-1 11 Incorrect firmware PS off
6180h 01-0 61 Stack overflow (internal error) PS off
6183h 16-3 60 Unexpected status / programming error PS off
6187h 16-2 63 Initialization fault PS off
6191h 42-9 56 Error in position data record PS off
6192h 41-9 42 Error in path program jump destination Configurable
6193h 41-8 43 Path program error, unknown command Configurable
6195h 70-2 58 General arithmetic error PS off
6197h 14-9 39 Error, motor identification PS off
6199h 35-1 34 Time out for quick stop PS off
6380h 70-3 57 Operating mode Configurable
7380h 08-0 4 Error in encoder supply PS off
7386h 08-6 5 Angle encoder communication error PS off
7388h 08-8 6 Internal angle encoder error PS off
7500h 22-0 47 Error in PROFIBUS initialisation PS off
22-2 53 PROFIBUS communication error Configurable
7510h 79-0 55 RS232 communication error Configurable
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 177
Diagnostic messages
Code ReactionMessageNo. BitNo.
7582h 64-0 52 DeviceNet communication error PS off
64-2 52 DeviceNet communication error PS off
64-3 52 DeviceNet communication error PS off
64-4 52 DeviceNet communication error PS off
64-5 52 DeviceNet communication error PS off
64-6 52 DeviceNet communication error PS off
65-1 52 DeviceNet communication error Configurable
7584h 64-1 44 DeviceNet general error PS off
65-0 44 DeviceNet general error Configurable
7680h 29-0 48 No SD available Configurable
7681h 29-1 49 SD initialization error Configurable
7682h 29-2 50 SD parameter record error Configurable
8000h 45-0 21 Error in driver supply PS off
45-1 21 Error in driver supply PS off
45-2 21 Error in driver supply PS off
05-2 21 Error in driver supply/driver supply failed PS off
8087h 45-3 22 DIN4 plausibility error PS off
8100h 76-0 41 Error SSIO communication (axis 1 - axis 2) Configurable
76-1 40 Error SSIO communication (axis 2) Configurable
8130h 12-4 23 CAN: time-out nodeguarding Configurable
8181h 12-0 54 CAN: general error Configurable
12-1 54 CAN: error bus off Configurable
12-2 54 CAN: error when transmitting Configurable
12-3 54 CAN: error receiving Configurable
12-5 54 CAN: error in the IPO mode Configurable
8600h 42-4 29 Message, homing required Configurable
8611h 17-0 28 Following error monitoring Configurable
8612h 40-0 31 Negative software limit switch reached Configurable
40-1 31 Positive software limit switch reached Configurable
40-2 31 Target position lies behind the negative software limit
switch
Configurable
40-3 31 Target position lies behind the positive software limit
switch
Configurable
43-0 30 Negative limit switch error Configurable
43-1 30 Positive limit switch error Configurable
43-9 30 Error in limit switch Configurable
8681h 42-1 59 Positioning: error in pre-computation Configurable
8A81h 11-1 35 Homing error PS off
D Diagnostic messages
178 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
D.4 PROFIBUS diagnostics
Diagnostic messages
Unit_Diag_Bit No. Message Reaction
00 E429 “Position dataset” 42-9 Error in position data record PS off
01 E703 “Operating mode” 70-3 Operating mode error Configurable
02 E702 “Arithmetic error” 70-2 General arithmetic error PS off
03 E421 “Position
precomputation”
42-1 Positioning: error in
pre-computation
Configurable
04 E163 “Unexpected state” 16-3 Unexpected status / programming
error
PS off
05 E010 “Stack overflow” 01-0 Stack overflow (internal error) PS off
06 E261 “Checksum error” 26-1 Checksum error PS off
07 E162 “Initialization” 16-2 Initialization fault PS off
08 E290 “No SD available” 29-0 No SD available Configurable
09 E291 “SD initialization” 29-1 SD initialization error Configurable
10 E292 “SD parameter set” 29-2 SD parameter set error Configurable
13 E222 “PROFIBUS
communication”
22-2 PROFIBUS communication error Configurable
14 - “unknown” 12-0 CAN: general error Configurable
12-1 CAN: error bus off Configurable
12-2 CAN: error when transmitting Configurable
12-3 CAN: error receiving Configurable
12-5 CAN: error in the IPO mode Configurable
15 E790 “RS232 communica-
tion error”
79-0 RS232 communication error Configurable
16 E761 “SSIO communication” 76-1 Error SSIO communication (axis 2) Configurable
17 E760 “SSIO communication” 76-0 Error SSIO communication (axis 1
- axis 2)
Configurable
18 E418 “Record seq. Unknown
cmd”
41-9 Error in path program jump
destination
Configurable
19 E419 Record seq. Invalid
dest.”
41-8 Path program error, unknown
command
Configurable
20 “unknown” 64-1 DeviceNet general error PS off
64-2 DeviceNet communication error PS off
64-3 DeviceNet communication error PS off
64-4 DeviceNet communication error PS off
64-5 DeviceNet communication error PS off
64-6 DeviceNet communication error PS off
65-0 DeviceNet general error Configurable
65-1 DeviceNet communication error Configurable
23 E220 “PROFIBUS assembly” 22-0 Error in PROFIBUS initialization PS off
26 E351 “Time out: Quick stop” 35-1 Time out for quick stop PS off
D Diagnostic messages
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 179
Diagnostic messages
Unit_Diag_Bit ReactionMessageNo.
27 E111 “Error during homing” 11-1 Homing error PS off
31 E149 “Motor identification” 14-9 Error, motor identification PS off
33 E190 “I2t at 80 %” 19-0 I²t at 80 % Configurable
35 E181 “Outp. stage temp. 5 <
max.”
18-1 Output stage temperature
5 °C below maximum
Configurable
36 E170 “Following error” 17-0 Following error monitoring Configurable
37 E424 “Enforce homing run” 42-4 Message, homing required Configurable
38 E43x “limit switches” 43-0 Negative limit switch error Configurable
43-1 Positive limit switch error Configurable
43-9 Error in limit switch Configurable
39 E40x “Software limit” 40-0 Negative software limit switch
reached
Configurable
40-1 Positive software limit switch
reached
Configurable
40-2 Target position lies behind the
negative software limit switch
Configurable
40-3 Target position lies behind the
positive software limit switch
Configurable
40 E320 “Loading time link
overflow”
32-0 Intermediate circuit charging time
exceeded
PS off
41 E328 “Fail. power supply
ctr.ena.”
32-8 Power supply failure during
controller enable
PS off
42 E310 “I2t-error motor” 31-0 I²t error motor (I²t at 100%) Configurable
43 E311 “I2t-error controller” 31-1 I²t error controller (I²t at 100%) Configurable
45 E052 “Driver supply” 45-0 Error in driver supply PS off
45-1 Error in driver supply PS off
45-2 Error in driver supply PS off
05-2 Error in driver supply/driver
supply failed
PS off
46 E453 “Plausibility DIN 4” 45-3 DIN4 plausibility error PS off
47 E124 “Time out
Nodeguarding”
12-4 CAN: time-out nodeguarding Configurable
49 E052 “12V - Internal supply” 05-2 12 V electronics supply fault PS off
48 E050 “5V - Internal supply” 05-0 5 V electronics supply fault PS off
50 E051 “24V - Internal supply” 05-1 Error in 24 V supply PS off
51 E251 “Hardware error” 25-1 Incorrect firmware PS off
52 E210 “Offset current metering” 21-0 Error, offset current measurement PS off
53 E060 “Overcurrent output
stage”
06-0 Over-current of the intermediate
circuit/output stage
PS off
D Diagnostic messages
180 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Diagnostic messages
Unit_Diag_Bit ReactionMessageNo.
54 E020 “Undervoltage power
stage”
02-0 Undervoltage in intermediate
circuit
Configurable
55 E070 “Overvoltage output
stage”
07-0 Overvoltage in the intermediate
circuit
PS off
58 E03x “Overheating error
(motor)”
03-1 Temperature monitoring, motor Configurable
59 E040 “Overtemperature
power stage”
04-0 Excess/low temperature of power
electronics
Configurable
61 E086 “SINCOS-RS485
communication”
08-6 Angle encoder communication
error
PS off
62 E088 “SINCOS track signals” 08-8 Internal angle encoder error PS off
60 E080 “Encoder supply” 08-0 Error in encoder supply PS off
E Terms and abbreviations
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 181
E Terms and abbreviations
The following terms and abbreviations are used in this description.
You can find fieldbus-specific terms and abbreviations in the respective chapter.
Term/abbreviation Significance
Axis Mechanical component of a drive that transfers the drive force for
the movement. An axis enables the attachment and guiding of the
effective load and the attachment of a reference switch.
Axis zero point (AZ) Point of reference of the software end positions and project zero
point. The axis zero point AZ is defined by a preset distance (offset)
from the reference point REF.
Drive Complete actuator, consisting of motor, encoder and axis, optionally
with gear unit, if necessary with motor controller.
Encoder Electrical pulse generator (generally a rotor position encoder). The
motor controller evaluates the generated electrical signals and
calculates from this the position and speed.
Festo Configuration Tool (FCT) Software with uniform project and data management for supported
types of equipment. 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 according to the “Festo Handling and Positioning
Profile” (I/O messaging, optionally additional 8 bytes I/O)
FHPP Standard Defines the sequence control in accordance with the “Festo
Handling and Positioning Profile” (I/O messaging 8 bytes I/O)
Force mode
(Profile Torque Mode)
Operating mode for execution of a direct positioning task with force
control (open loop transmission control) through regulation of the
motor current.
HMI Human-machine interface, e.g. control panel with LC display 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
(Homing mode)
Definition of the measuring reference system of the axis
Homing method Method for determination of the reference position: against a fixed
stop (over-current/speed evaluation) or with reference switch.
I
O
I/O
Input.
Output.
Input and/or output.
E Terms and abbreviations
182 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Term/abbreviation Significance
Jog operation Manual travel in a positive or negative direction.
Function for setting positions by approaching the target position,
e.g. when teaching position sets (Teach mode).
Load voltage, logic voltage The load voltage supplies the power electronics of the motor
controller and thereby the motor. The logic voltage supplies the
evaluation and control logic of the motor controller.
Logic 0 There is a 0 V signal present at the input or output (positive logic,
corresponds to LOW).
Logic 1 There is a 24 V signal present at the input or output (positive logic,
corresponds to HIGH).
Motor controller Includes power electronics + regulator + position controller,
evaluates sensor signals, calculates movements and forces and
provides the power supply for the motor via the power electronics.
Operating mode Type of control or internal operating mode of the motor controller.
– Type of control: record selection, direct mode
– Operating mode of the controller: position profile mode,
profile torque mode, profile velocity mode
– Predefined sequences: homing mode...
PLC Programmable logic controller; short: controller (also IPC: industrial
PC).
Position mode
(Profile Position mode)
Operating mode for executing a position set or a direct positioning
task with closed loop position control.
Position set Travel command defined in the position set table, comprising target
position, positioning mode, travel speed and acceleration.
Project zero point (PZ)
(Project Zero point)
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 position set table or with direct control via the control
interface). The PZ is defined by an adjustable 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
travel distance of the drive.
Reference switch External sensor that serves to determine the reference position and
is directly connected to the motor controller.
E Terms and abbreviations
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 183
Term/abbreviation Significance
Software end position Programmable stroke limit (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 below
during positioning.
Speed adjustment
(Profile Velocity mode)
Operating mode for executing a position set or a direct positioning
task with control of the speed or rotational speed.
Teach mode
(Teach mode)
Operating mode for setting positions by approaching the target
position, e.g. when creating positioning records.
Tab. E.1 Index of terms and abbreviations
CMMS-AS/CMMD-AS/CMMS-ST
184 Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English
Index
A
Axis zero point 150, 181. . . . . . . . . . . . . . . . . . .
B
Bus address 44. . . . . . . . . . . . . . . . . . . . . . . . . . .
C
CAN address 18. . . . . . . . . . . . . . . . . . . . . . . . . . .
D
Data rate 19, 59. . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic memory (malfunctions) 111. . . . . . . .
Diagnostics, FHPP status bytes 111. . . . . . . . . . .
Direct mode 65. . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E
Electric axis 181. . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error numbers 159. . . . . . . . . . . . . . . . . . . . . . . .
F
Festo Configuration Tool (FCT) 181. . . . . . . . . . . .
Festo Parameter Channel (FPC) 157, 181. . . . . .
FHPP operating mode
– Direct mode 65. . . . . . . . . . . . . . . . . . . . . . . . .
– Record selection 65. . . . . . . . . . . . . . . . . . . . . .
H
HMI (see device control) 181. . . . . . . . . . . . . . . .
Homing 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Homing method 181. . . . . . . . . . . . . . . . . . . . .
– Reference point 182. . . . . . . . . . . . . . . . . . . . .
– Reference switch 182. . . . . . . . . . . . . . . . . . . .
J
Job identifier (AK) 158. . . . . . . . . . . . . . . . . . . . . .
Jog operation 182. . . . . . . . . . . . . . . . . . . . . . . . .
M
MAC ID 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measuring reference system
– for linear drives 87. . . . . . . . . . . . . . . . . . . . . . .
– for rotative drives 88. . . . . . . . . . . . . . . . . . . . .
Motor controller 182. . . . . . . . . . . . . . . . . . . . . . .
N
Node ID 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on the documentation 9. . . . . . . . . . . . . . .
O
Operating mode 182. . . . . . . . . . . . . . . . . . . . . . .
– Homing 181. . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Positioning mode 182. . . . . . . . . . . . . . . . . . . .
– Profile torque mode (see force mode) 181. . . .
– Speed adjustment 183. . . . . . . . . . . . . . . . . . .
– Teach mode 183. . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode (FHPP operating mode)
– Direct mode 65. . . . . . . . . . . . . . . . . . . . . . . . .
– Record selection 65. . . . . . . . . . . . . . . . . . . . . .
P
Parameter channel (PKW) 157. . . . . . . . . . . . . . .
Parameter identifier (ParID) 157, 158. . . . . . . . .
Parameter Number (PNU) 158. . . . . . . . . . . . . . .
Parameter value (ParVal) 157. . . . . . . . . . . . . . . .
PDO message 22. . . . . . . . . . . . . . . . . . . . . . . . . .
PLC 182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position set 182. . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning mode 182. . . . . . . . . . . . . . . . . . . . . .
Profile position mode 182. . . . . . . . . . . . . . . . . . .
Profile torque mode (see force mode) 181. . . . . .
Profile velocity mode 183. . . . . . . . . . . . . . . . . . .
Project zero point 142, 182. . . . . . . . . . . . . . . . .
R
Record control byte 3 142. . . . . . . . . . . . . . . . . . .
Record selection 65. . . . . . . . . . . . . . . . . . . . . . .
Reply identifier (AK) 158. . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-HP-EN – 1404NH – English 185
S
SDO 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SDO error messages 26. . . . . . . . . . . . . . . . . . . .
Software limit 142, 183. . . . . . . . . . . . . . . . . . . .
– Negative (lower) 183. . . . . . . . . . . . . . . . . . . . .
– Positive (upper) 183. . . . . . . . . . . . . . . . . . . . .
Speed regulation 183. . . . . . . . . . . . . . . . . . . . . .
Subindex (IND) 157. . . . . . . . . . . . . . . . . . . . . . . .
SYNC 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SYNC message 27. . . . . . . . . . . . . . . . . . . . . . . . .
T
Teach mode 183. . . . . . . . . . . . . . . . . . . . . . . . . .
Terminating resistor 19, 44. . . . . . . . . . . . . . . . . .
V
Version 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.
Copyright:Festo AG & Co. KGPostfach73726 EsslingenGermany
Phone:+49 711 347-0
Fax:+49 711 347-2144
e-mail:[email protected]
Internet:www.festo.com
Original: de