festo cmms-as fhpp

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DescriptionFHPP

Motor controllerType – CMMP-AS

– CMMS-ST – CMMS-AS – CMMD-AS

Festo handling andpositioning profile

Description555 696en 1011b[757 714]

Festo Handling andPositioning Profile


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Contents and general safety instructions

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

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 1011b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-CMM-FHPP-SW-EN. . . . . . . . . . . . . . . . . .

Order no. 555 696. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo AG & Co. KG, D-73726 Esslingen, 2010)Internet: http://www.festo.comE-Mail: [email protected]

The copying, distribution and utilization of this document aswell as the communication of its contents to others without

express authorization is prohibited. Offenders will be heldliable for the payment of damages. All rights are reserved,in particular the right to carry out patent, registered designor ornamental design registration.


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


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Contents

Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Information about the version XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terms and abbreviations XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. I/O data and sequence control 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Overview of Festo Handling and Positioning Profile (FHPP) 1-3. . . . . . . . . . . . .

1.2 Setpoint specification (FHPP operating modes) 1-5. . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Switching FHPP operating modes 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Record selection 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Direct mode 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3 Configuration of the I/O data 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Concept 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Assignment of the I/O data for CMMD 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3.3 I/O data in the various FHPP operating modes (control view) 1-10. . . .

1.4 Assignment of the control bytes and status bytes (overview) 1-11. . . . . . . . . . . .

1.5 Description of the control bytes 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Control byte 1 (CCON) 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Control byte 2 (CPOS) 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.3 Control byte 3 (CDIR) – Direct mode 1-14. . . . . . . . . . . . . . . . . . . . . . . .

1.5.4 Bytes 4 and 5 ... 8 – Direct mode 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.5 Bytes 3 and 4 ... 8 – Record selection 1-15. . . . . . . . . . . . . . . . . . . . . . .

1.6 Description of the status bytes 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Status byte 1 (SCON) 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.2 Status byte 2 (SPOS) 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Status byte 3 (SDIR) – Direct mode 1-18. . . . . . . . . . . . . . . . . . . . . . . . .

1.6.4 Bytes 4 and 5 ... 8 – Direct mode 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . .1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection 1-20. . . . . . . . . . . . . . . . . . . . .


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1.7 FHPP finite state machine 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Establishing the ready status 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Positioning 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.3 Special features dependent on FHPP operating mode 1-27. . . . . . . . . .

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

2. Drive functions 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Reference system for electric drives 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.2 Calculation rules for the reference system 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Homing 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Homing for electric drives 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Homing methods 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Jog mode 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 Teaching via fieldbus 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Carry out record (Record selection) 2-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Record selection sequence charts 2-18. . . . . . . . . . . . . . . . . . . . . . . . . .2.6.2 Record structure 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Conditional record chaining (PNU 402) 2-23. . . . . . . . . . . . . . . . . . . . . .

2.7 Direct mode 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Sequence for discrete setpoint value 2-29. . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Sequence for Profile Torque mode (torque and current control) 2-30. .

2.7.3 Sequence for Profile Velocity mode 2-32. . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Standstill control 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3. Fault reaction and diagnosis 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Classifying the faults 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Warnings 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Fault type 1 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3 Fault type 2 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Diagnostic memory (faults) 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Warning memory (CMMP only) 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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3.4 Fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 CMMP fault numbers 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 CMMS/CMMD fault numbers 3-47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Diagnosis using FHPP status bytes 3-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Parameters 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 FHPP general parameter structure 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Access protection 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.1 Access via PLC and FCT 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Overview of FHPP parameters 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Descriptions of FHPP parameters 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Representation of the parameter entries 4-12. . . . . . . . . . . . . . . . . . . . .

4.4.2 PNUs for the telegram entries for FHPP+ 4-13. . . . . . . . . . . . . . . . . . . . .

4.4.3 Device data – Standard parameters 4-15. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 Device data – Extended parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5 Diagnostics 4-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.6 Process data 4-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.7 On-the-fly measurement 4-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.8 Record list 4-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.9 Project data – General project data 4-41. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.10 Project data – Teaching 4-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.11 Project data – Jog mode 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.12 Project data – Direct mode, Profile Position mode 4-44. . . . . . . . . . . . .

4.4.13 Project data – Direct mode, Profile Torque mode 4-45. . . . . . . . . . . . . .4.4.14 Project data – Direct mode, Profile Velocity mode 4-46. . . . . . . . . . . . .

4.4.15 Function data – Camming function 4-47. . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.16 Function data – Position triggers and rotor position triggers 4-49. . . . .

4.4.17 Axis parameters for electric drives 1 – Mechanical parameters 4-52. . .

4.4.18 Axis parameters for electric drives 1 – Homing parameters 4-55. . . . . .

4.4.19 Axis parameters for electric drives 1 – Closed-loop controllerparameters 4-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.20 Axis parameters for electric drives 1 – Electronic rating plate 4-60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.21 Axis parameters for electric drives 1 – Standstill control 4-61. . . . . . . .


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4.4.22 Axis parameters for electric drives 1 – Drag error monitoring 4-62. . . .

4.4.23 Axis parameters for electric drives 1 – Other parameters 4-62. . . . . . . .

4.4.24 Function parameters for digital I/Os 4-63. . . . . . . . . . . . . . . . . . . . . . . .

5. Parametrisation with FPC 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Parametrisation with FHPP 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 5-3. . . . . . . .

5.1.2 Task identifiers, response identifiers and error numbers 5-5. . . . . . . .5.1.3 Rules for task-response processing 5-7. . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Conversion factors (factor group) A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.1 Overview A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.2 Objects in the factor group A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.3 Calculating the positioning units A-6. . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1.4 Calculating the units of velocity A-9. . . . . . . . . . . . . . . . . . . . . . . . . . . .A.1.5 Calculating the units of acceleration A-13. . . . . . . . . . . . . . . . . . . . . . . .

B. FHPP+ and cam disk expansions B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 FHPP+ overview B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Structure of the FHPP+ telegram B-4. . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Examples B-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.3 Configuration of the fieldbuses with FHPP+ B-6. . . . . . . . . . . . . . . . . . .

B.1.4 Telegram editor for FHPP+ B-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.5 Overview of FHPP+ parameters B-6. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 CMMP-AS - operation of cam disks B-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 Camming function in Direct mode B-8. . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 Camming function in Record selection mode B-10. . . . . . . . . . . . . . . . .

B.2.3 Parameters for the camming function B-10. . . . . . . . . . . . . . . . . . . . . . .

B.2.4 Extended finite state machine with camming function B-11. . . . . . . . . .

C. Index C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Intended use

This description includes the Festo Handling and PositionProfile (FHPP) for the CMMx product family corresponding toTab. 0/1 in the ”Version information” section.

This provides you with supplementary information about con-trolling, diagnosing and parametrising the motor controllersvia the fieldbus.

The complete set of information can be found in the docu-mentation for the motor controller in question:

– Description P.BE-CMM...-HW-...:Mechanical system - Electrical system - Overview of thefunction range.

NoteAlways follow the safety-related instructions listed in the

product manual for the motor controller in question.

Depending on which fieldbus is used, you can find furtherinformation in the following manuals for the CMMx productfamily:

– Description P.BE-CMM...-CO-...:Description of the implemented CANopen protocol as perDSP 402.

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

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

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


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Safety instructions

When commissioning and programming positioning systems,you must always observe the safety regulations in thismanual as well as those in the operating instructions forthe other components used.

The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access

to the potential danger area must be prevented by suitablemeasures such as barriers and warning signs.

Warning Axes can move with high force and at high speed. Colli-sions can lead to serious injuries and damage to compo-nents.

Make sure that nobody can reach into the sphere of influ-ence of the axes or other connected actuators and that no

items are within the positioning range while the system isconnected to energy sources.

Warning Errors in the parametrisation can cause injuries anddamage to property.

Enable the controller only if the axis system has beencorrectly installed and parametrised.


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Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing posi-tioning systems.

Service

Please consult your local Festo Service department or writeto the following e-mail address if you have any technicalproblems:

[email protected]


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Important user instructions

Danger categories

This description contains instructions on the possible dangerswhich can arise if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto-

gram. A distinction is made between the following dangerwarnings:

Warning ... means that failure to observe this instruction may resultin serious personal injury or material damage.

Caution... means that failure to observe this instruction may result

in personal injury or material damage.

Note... means that failure to observe this instruction may resultin material damage.

Additionally, the following pictogram designates textpassages, which describe activities with electrostaticallysensitive devices:

Electrostatically sensitive devices: inappropriate handlingcan result in damage to components.


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Identification of special information

The following pictograms designate text passages that con-tain special information.

Pictograms

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

Accessories:Information on necessary or useful accessories for the Festoproduct.

Environment:Information on the environmentally-friendly use of Festo

products.

Text designations

• Bullet points indicate activities that may be carried out inany sequence.

1. Numerals indicate activities that must be carried out inthe sequence specified.

– Arrowheads indicate general listings.


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Information about the version

This manual refers to versions set out in Tab. 0/1.

Controller Firmware Description

CMMP-AS-... Version 3.5.1501.4.1 and higher Premium motor controller for servo motors

Note: This description does not apply to the

variants CMMP-AS-...-M3. Use the special

FHPP description for these variants.

CMMS-ST-... Version 1.3.0.1.14 and higher Standard motor controller for stepper motors.

CMMS-AS-... Version 1.3.0.1.15 and higher Standard motor controller for servo motors.

CMMD-AS-... Version 1.4.0.3.1 and higher Standard double motor controller for servo

motors.

Tab. 0/1: Controller and firmware versions

For older versions: You may need to use the corresponding older version of thisdocument.

NoteWith newer firmware versions, check whether there is anewer version of this description available:www.festo.com


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Terms and abbreviations

The following terms and abbreviations are used in thismanual:

Term/abbreviation Meaning

Axis Mechanical component of a drive that transfers the drive force for themotion. An axis enables the attachment and guiding of the work load

and the attachment of a reference switch.Axis zero point (AZ) Point of reference for the software end positions and the project zero

point PZ. The axis zero point AZ is defined by a preset distance (offset)from the reference point REF.

Controller Contains power electronics + closed-loop controllers + positioncontroller, evaluates sensor signals, calculates movements and forcesand provides the power supply for the motor via the power electronics.

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

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

Festo Configuration Tool(FCT)

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

Festo Handling andPositioning Profile (FHPP)

Uniform fieldbus data profile for position controllers from Festo

Festo Parameter Channel(FPC)

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

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

HMI Human-Machine Interface, e.g. control panel with LCD screen andoperating buttons.

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

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


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Homing mode Defines the measuring reference system of the axis

IOIO

Input.Output.Input and/or output.

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

Load voltage, logic voltage The load voltage supplies the power electronics of the controller andthereby the motor. The logic voltage supplies the evaluation and con-trol logic of the controller.

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

Logic 1 24 V present at input or output (positive logic, corresponds to HIGH).

Operating mode Type of control, or internal operating mode of the controller. – Type of control: Record selection, Direct mode – Operating mode of the controller: Profile Position mode,

Profile Torque mode, Profile Velocity mode – Predefined sequences: Homing mode...

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

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

Profile Position mode Operating mode for executing a positioning record or a direct

positioning task with closed-loop position control.

Profile Torque mode Operating mode for executing a direct positioning task with forcecontrol (open-loop transmission control) by regulation of the motorcurrent.

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

Reference point (REF) Point of reference for the incremental measuring system. Thereference point defines a known orientation or position within thepositioning path of the drive.


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


Reference switch External sensor used for ascertaining the reference position and con-nected directly to the controller.

Software end position Programmable stroke limitation (point of reference = axis zero point) – Software end position, positive:

max. limit position of the stroke in positive direction; must not beexceeded during positioning.

– Software end position, negative:

min. limit position in negative direction; must not be fallen short of during positioning.

Speed adjustment(Profile Velocity mode)

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

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

Tab. 0/2: Index of terms and abbreviations


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


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I/O data and sequence control

1-1Festo P.BE-CMM-FHPP-SW-EN en 1011b

Chapter 1

I/O data and sequence control


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1. I/O data and sequence control

1-2 Festo P.BE-CMM-FHPP-SW-EN en 1011b

Contents

1.1 Overview of Festo Handling and Positioning Profile (FHPP) 1-3. . . . . . . . . . . . .

1.2 Setpoint specification (FHPP operating modes) 1-5. . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Switching FHPP operating modes 1-5. . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Record selection 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Direct mode 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Configuration of the I/O data 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3.1 Concept 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Assignment of the I/O data for CMMD 1-9. . . . . . . . . . . . . . . . . . . . . . .

1.3.3 I/O data in the various FHPP operating modes (control view) 1-10. . . .

1.4 Assignment of the control bytes and status bytes (overview) 1-11. . . . . . . . . . . .

1.5 Description of the control bytes 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Control byte 1 (CCON) 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.2 Control byte 2 (CPOS) 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Control byte 3 (CDIR) – Direct mode 1-14. . . . . . . . . . . . . . . . . . . . . . . .1.5.4 Bytes 4 and 5 ... 8 – Direct mode 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.5 Bytes 3 and 4 ... 8 – Record selection 1-15. . . . . . . . . . . . . . . . . . . . . . .

1.6 Description of the status bytes 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Status byte 1 (SCON) 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.2 Status byte 2 (SPOS) 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Status byte 3 (SDIR) – Direct mode 1-18. . . . . . . . . . . . . . . . . . . . . . . . .

1.6.4 Bytes 4 and 5 ... 8 – Direct mode 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection 1-20. . . . . . . . . . . . . . . . . . . . .

1.7 FHPP finite state machine 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Establishing the ready status 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Positioning 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.3 Special features dependent on FHPP operating mode 1-27. . . . . . . . . .

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


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1.1 Overview of Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especiallytailored to the target applications for handling and positioningtasks, the “Festo Handling and Positioning Profile (FHPP)”.The FHPP enables uniform control and programming for thevarious fieldbus systems and controllers from Festo.

In addition, it defines the following so that they are largely

uniform for the user:

– The operating modes,

– I/O data structure,

– Parameter objects,

– Sequence control.

Fieldbus communication

Record selection

Free access to allparameters –read and write

. . .

Direct mode Parametrisation

Position Velocity Torque

. . .

1

2

3

...

n

>

Fig. 1/1: The FHPP principle


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Control and status data (FHPP Standard)

Communication over the fieldbus is effected by way of 8-bytecontrol and status data. Functions and status messages re-quired in operation can be written and read directly.

Parametrisation (FPC)

The control system can access all parameter values of the con-troller via the fieldbus by means of the parameter channel.

A further 8 bytes of I/O data are used for this purpose.

Note on the controllers

Each controller has specific features and tasks. They thereforeeach have their own finite state machine and a separate data-base.

The Festo Handling and Positioning Profile (FHPP) providesusers with information about a controller’s individual character-istics. The profile is implemented as independently as possiblefrom each controller and fieldbus.


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1.2 Setpoint specification (FHPP operating modes)

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

Operating mode Description

Record selection A specific number of positioning records can be saved in the con-

troller. A record contains all the parameters which are specified for apositioning task. The record number is transmitted in the cyclic I/Odata as the setpoint or actual value.

Direct mode The positioning task is transmitted directly in the I/O telegram. Themost important setpoint values (position, velocity, torque) are trans-mitted here. Supplementary parameters (e.g. acceleration) are de-fined by the parametrising.

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

1.2.1 Switching FHPP operating modes

The FHPP operating mode is switched by the CCON controlbyte (see below) and indicated in the SCON status word.

Switching between record selection and direct mode is onlypermitted in the “Ready” state; see section 1.7, Fig. 1/2.


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1.2.2 Record selection

Each controller has a specific number of records, which con-tain all the information needed for one positioning task. Themaximum number of records is specified separately for eachcontroller.

The record number that the controller is to process at thenext start is transmitted in the PLC’s output data. The input

data contains the record number that was processed last.The positioning task itself does not need to be active.

The controller does not support any automatic mode, i.e. nouser program. Records cannot be processed automaticallywith a programmable logic. The controller cannot accomplishany useful tasks in a stand-alone state; close coupling to thePLC is necessary.

However, depending on the controller, it is also possible to

concatenate various records and execute them one after theother with the help of a start command. It is also possible(again, dependent on the controller) to define record chainingbefore the target position is reached.

It is only possible to set all of the parameters for the recordchaining (“route program”) (e.g. the following record) usingthe FCT.

In this way, positioning profiles can be created without the

inactive times (which arise from the transfer in the fieldbusand the PLC’s cycle time) having an effect.


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1.2.3 Direct mode

In the direct mode, positioning tasks are formulated directlyin the PLC’s output data.

The typical application calculates dynamically the target set-point values for each task or just for some tasks. This makesit possible to adjust the system to different workpiece sizes,for example, without having to re-parametrise the record list.

The positioning data is managed completely in the PLC andsent directly to the controller.


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1.3 Configuration of the I/O data

1.3.1 Concept

The FHPP protocol stipulates 8 bytes of input data and8 bytes of output data. Of these, the first byte is fixed (thefirst two bytes in the FHPP operating modes Record selectionand Direct mode). It remains intact in each operating mode

and controls the enabling of the controller and the FHPP oper-ating modes. The other bytes are dependent on the FHPPoperating mode that was selected. Additional control orstatus bytes and setpoint and actual values can be trans-mitted here.In the cyclic data, a further 8 bytes of input data and 8 bytesof output data are permissible to transmit parameters accord-ing to the FPC protocol.

A PLC exchanges the following data with the FHPP:

– 8-byte control and status data:

– Control and status bytes

– Record number or setpoint position in the output data

– Feedback of actual position and record number in theinput data

– Additional mode-dependent setpoint and actual

values

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

– If required, up to 24 (without FPC) or 16 (with FPC) addi-tional bytes support I/O data for parameter transfer viaFHPP+, see Appendix B.1.

If applicable, observe the specification in the bus master

for the representation of words and double words (Intel/Motorola).E.g. in the “little endian” representation when transmitted viaCAN (lowest-value byte first).


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1.3.2 Assignment of the I/O data for CMMD

With CMMD, control via FHPP for axis 1 and axis 2 alwaystakes place over a shared fieldbus interface. If an interface isactivated, it is always valid for both axes.

Each axis then has its own I/O data corresponding to section1.3.1 or 1.3.3.

Assignment of the I/O data over the fieldbus depends on thecontrol interface used:

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

CAN address axis 2 = CAN address axis 1 + 1

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

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


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

Record selection

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Outputdata

CCON CPOS Recordno.

Reserved Reserved

Input

data

SCON SPOS Record

no.

RSB Actual position

Direct mode


Outputdata

CCON CPOS CDIR Setpointvalue 1

Setpoint value 2

Inputdata

SCON SPOS SDIR Actualvalue 1

Actual value 2

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

Festo FPC


Outputdata

Reserved Subindex Task identifier(ReqID) + parameternumber (PNU)

Parameter value

Inputdata

Reserved Subindex Response identifier(ResID) + parameternumber (PNU)

Parameter value


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1.4 Assignment of the control bytes and status bytes (overview)

Assignment of the control bytes (overview)

CCON(all)

B7OPM2

B6OPM1

B5LOCK

B4 –

B3RESET

B2BRAKE

B1STOP

B0ENABLE

Select FHPP operat-ing mode

Softwareaccesslocked

– Resetfault

Openbrake

Stop Driveenable

CPOS(RecordselectionandDirectmode)

B7 –

B6CLEAR

B5TEACH

B4 JOGN

B3 JOGP

B2HOM

B1START

B0HALT

– Clear re-mainingposition

Teachactualvalue

Jog nega-tive

Jog posi-tive

Starthoming

Startposition-ing task

Halt

CDIR(Directmode)

B7FUNC

B6FGRP2

B5FGRP1

B4FNUM2

B3FNUM1

B2COM2

B1COM1

B0 ABS

Execute

function

Function group Function number Control mode

(position, torque,velocity, ...)

Abso-

lute/Relative

Assignment of the status bytes (overview)

SCON(all)

B7OPM2

B6OPM1

B5LOCK

B424VL

B3FAULT

B2WARN

B1OPEN

B0ENABLED

Display FHPP operat-ing mode

Drive con-trol bysoftware

Supplyvoltage isapplied

Fault Warning Operationenabled

Driveenabled

SPOS(RecordselectionandDirectmode)

B7REF

B6STILL

B5DEV

B4MOV

B3TEACH

B2MC

B1 ACK

B0HALT

Axis isrefer-enced

Standstillcontrol

Drag(deviation)error

Axis ismoving

Acknow-ledgeteach/sampling

Motioncomplete

Acknow-ledgestart

Halt

SDIR(Directmode)

B7FUNC

B6FGRP2

B5FGRP1

B4FNUM2

B3FNUM1

B2COM2

B1COM1

B0 ABS

Functionis ex-ecuted

Function group feed-back

Function numberfeedback

Control mode feed-back (position,torque, velocity)

Absolute/Relative


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1.5 Description of the control bytes

1.5.1 Control byte 1 (CCON)

Control byte 1 (CCON)

Bit EN Description

B0ENABLE

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

B1STOP

Stop = 1: Operation enabled.Any error will be deleted.

= 0: STOP active (cancel emergency ramp + positioning task). The drivestops with maximum braking ramp, the positioning task is reset.

B2BRAKE

Open Brake = 1: Release brake= 0: Activate brakeNote: it is only possible to release the brake if the controller is disabled.As soon as the controller is enabled, it has priority over the brake’s con-

trol system.

B3RESET

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

B4 –

– Reserved, must be at 0.

B5LOCK

Software Ac-cess Lock ed

Controls access to the controller’s local (integrated) diagnostic inter-face.= 1: The software can only observe the controller; the software cannot

take over device control (HMI control) from the software.

= 0: The software may take over the device control (in order to modifyparameters or to control inputs).

B6OPM1

Select Operat-ing Mode

Bit 7 6 Operating mode0 0 Record selection0 1 Direct mode1 0 Reserved1 1 Reserved

B7OPM2

CCON controls statuses in all FHPP operating modes. Formore information, see the description of the drive functions in

Chapter 2.


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1.5.2 Control byte 2 (CPOS)

Control byte 2 (CPOS)

Bit EN Description

B0HALT

Halt = 1: Halt is not active= 0: Halt activated (do not cancel braking ramp + positioning task).

The axis stops with a defined braking ramp, the positioning taskremains active (with B6 the remaining positioning distance can be

deleted).

B1START

Start Position-ing Task

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

B2HOM

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

B3 JOGP

Jog positive The drive moves at the specified velocity or rotational speed in the direc-tion of larger actual values, providing the bit is set. The movement be-gins with the rising edge and ends with the falling edge.

B4 JOGN

Jog negative The drive moves at the specified velocity or rotational speed in the direc-tion of smaller actual values, see B3.

B5TEACH

Teach ActualValue

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

B6CLEAR

Clear Remain-ing Position

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

B7 –

– Reserved, must be at 0.

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


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1.5.3 Control byte 3 (CDIR) – Direct mode

Control byte 3 (CDIR) – Direct mode

Bit EN Description

B0 ABS

Absolute/Relative

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

B1COM1

Control Mode Bit 2 1 Control mode0 0 Profile Position mode0 1 Profile Torque mode (torque, current)1 0 Profile Velocity mode (speed)1 1 Reserved

Only Profile Position mode can be used for the camming function.

B2COM2

B3FNUM1

FunctionNumber

Without camming function (CDIR.B7, FUNC = 0): no function, = 0!If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):No. Bit 4 3 Function number 1)

0 0 0 Reserved1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming

function3 1 1 Synchronisation with a virtual master with camming

function

B4

FNUM2

B5FGRP1

FunctionGr oup

Without camming function (CDIR.B7, FUNC = 0): no function, = 0!If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):No. Bit 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7

FUNC

Function = 0: Normal task

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

1) With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 deter-mine the reference and the closed-loop control mode of the master.

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


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1.5.4 Bytes 4 and 5 ... 8 – Direct mode

Control byte 4 (setpoint value 1) – Direct mode

Bit EN Description

B0 ... B7Velocity

–

Velocity ramp

preselection depends on the closed-loop control mode (CDIR.B1/B2): – Profile Position mode: Velocity as percentage of

base value (PNU 540) – Profile Torque mode: No function, = 0!

– Profile Velocity mode: Velocity ramp as percentage of base value (PNU 560)

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

Bit EN Description

B0...B31

Position

Torque

Velocity

Preselection depends on closed-loop control mode (CDIR.B1/B2), ineach case a little-endian 32-bit number:

– Profile Position mode: Position in positioning unit (see appendix A.1)

– Profile Torque mode: Torque setpoint as percentage of the ratedtorque (PNU 1036)

– Profile Velocity mode: Speed in unit of velocity (see appendix A.1)

1.5.5 Bytes 3 and 4 ... 8 – Record selection

Control byte 3 (record number) – Record selectionBit EN Description

B0 ... B7 Recordnumber

Preselection of record number for record selection.

Control bytes 4 ... 8 – Record selection

Bit EN Description

B0 ... B7 – Reserved (= 0)


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1.6 Description of the status bytes

1.6.1 Status byte 1 (SCON)

Status byte 1 (SCON)

Bit EN Description

B0ENABLED

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

B1OPEN

Operation En-abled

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

B2WARN

Warning = 0: Warning not registered= 1: Warning registered

B3FAULT

Fault = 0: No fault= 1: There is a fault or fault reaction is active.

Fault code in the diagnostic memory.

B424VL

Supply V oltageis A pplied

= 0: No load voltage= 1: Load voltage applied

B5LOCK

Drive Controlby Software

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

(PLC control is Lock ed)

B6OPM1

Display Oper-ating Mode

Bit 7 6 Operating mode acknowledgment0 0 Record selection

0 1 Direct mode1 0 Reserved1 1 Reserved

B7OPM2


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1.6.2 Status byte 2 (SPOS)

Status byte 2 (SPOS)

Bit EN Description

B0HALT

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

B1 ACK

Ack nowledgeStart

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

B2MC

Motion Com-plete

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

B3TEACH

AcknowledgeTeach /Sampling

Depending on the setting in PNU 354: – PNU 354 = 0: Display of the teach status

SPOS.B3 = 0: Ready for teachingSPOS.B3 = 1: Teaching carried out, actual value is transferred

– PNU 354 = 1: Display of the sampling status

SPOS.B3 = 0: No edge.SPOS.B3 = 1: An edge has appeared. New position value available.

For position sampling: see section 2.9.

B4MOV

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

B5DEV

Drag ( devi-ation) Error

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

B6STILL

Standstillcontrol

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

B7REF

Axis is ref er-enced

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


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1.6.3 Status byte 3 (SDIR) – Direct mode

The SDIR status byte acknowledges the positioning mode.

Status byte 3 (SDIR) – Direct mode

Bit EN Description

B0 ABS

Absolute/Relative

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

B1COM1

Control Modefeedback

Bit 2 1 Control mode feedback0 0 Profile Position mode0 1 Profile Torque mode (torque, current)1 0 Profile Velocity mode (speed)1 1 Reserved

B2COM2

B3FNUM1

FunctionNumberfeedback

Only if the camming function is used (SDIR.B7, FUNC = 1):No. Bit 4 3 Function number0 0 0 CAM-IN / CAM-OUT / Change active1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming


function

B4FNUM2

B5FGRP1

FunctionGr oupfeedback

Only if the camming function is used(SDIR.B7, FUNC = 1):No. Bit 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7

FUNC

Function

feedback

= 0: Normal task

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


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1.6.4 Bytes 4 and 5 ... 8 – Direct mode

Status byte 4 (actual value 1) – Direct mode

Bit EN Description

B0 ... B7Velocity

Torque

–

Feedback depends on the closed-loop control mode (CDIR.B1/B2): – Profile Position mode: Velocity as percentage of

base value (PNU 540) – Profile Torque mode: Torque as percentage of the rated

torque (PNU 1036) – Profile Velocity mode: no function, = 0

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

Bit EN Description

B0...B31

Position

Torque

Velocity

Feedback depends on closed-loop control mode (CDIR.B1/B2), in eachcase a little-endian 32-bit number:

– Profile Position mode: Position in positioning unit,see appendix A.1

– Profile Torque mode: Position in positioning unit,see appendix A.1 – Profile Velocity mode: Speed as an absolute value in unit of velocity


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

Status byte 3 (record number) – Record selection

Bit EN Description

B0 ... B7 Recordnumber

Acknowledgement of record number for record selection.

Status byte 4 (RSB) – Record selection

Bit EN Description

B0RC1

1st RecordChaining Done

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

B1RCC

Record Chain-ing Complete

Valid as soon as MC applies.= 0: Record chaining cancelled. At least one step enabling condition has

not been met.= 1: Record chain was processed to the end of the chain.

B2

–

– Reserved

B3FNUM1

FunctionNumberfeedback

Only if the camming function is used (RSB.B7, FUNC = 1):No. Bit 4 3 Function number0 0 0 CAM-IN / CAM-OUT / Change active1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming


function

B4FNUM2

B5FGRP1 FunctionGr oupfeedback

Only if the camming function is used(RSB.B7, FUNC = 1):No. Bit 6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.

B6FGRP2

B7FUNC

Functionfeedback

= 0: Normal task= 1: Camming function is executed

(bits 3 ... 6 = function number and group)


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

Bit EN Description

B0...B31 Position, ... Acknowledgment of the position: – Position in positioning unit, see appendix A.1

(32-bit number, low byte first)


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1.7 FHPP finite state machine

T7* always has thehighest priority.

Switched off

S1

Controllerswitched on

S3

Drive enabled

S2

Drive disabled

SA1

Ready

SA5

Jog positive

SA6

Jog negative

SA4

Homing is beingcarried out

SA2

Positioning taskactive

SA3

Intermediate stop

S5

Reaction to fault

S6

Fault

From all states

S4Operation enabled

T6

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1TA2

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

Fig. 1/2: Finite state machine


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Notes on the “Operation enabled” state

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

Switched off

S1 Controllerswitched on

S3 Drive enabled

S2 Drive disabled

S5 Reaction tofault

S6 Fault

From all states

Operationenabled

T6

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

S4

Fig. 1/3: Finite state machine equivalent circuit diagram

Transitions T4, T6 and T7* are executed from every sub-stateSAx and automatically have a higher priority than any transi-tion TAx.

Reaction to faults

T7 (“Fault recognised”) has the highest priority (and receivesthe asterisk “*”).

T7 is executed from S5+S6 if an fault of higher priority occurs.This means that a serious fault can displace a simple fault.


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1.7.1 Establishing the ready status

To create the ready status, additional input signals are re-quired, depending on the controller, at DIN 4, DIN 5, DIN 13,etc., for example.For more detailed information about this, see the descriptionof the controller in question.

T Internal conditions Actions of the user

T1 Drive is switched on.There is no fault detected.

T2 Load voltage applied.Control sovereignty with PLC.

“Drive enable” = 1CCON = xxx0.xxx1

T3 “Stop” = 1CCON = xxx0.xx11

T4 “Stop” = 0

CCON = xxx0.xx01

T5 “Drive enable” = 0CCON = xxx0.xxx0

T6 “Drive enable” = 0CCON = xxx0.xxx0

T7* Fault detected.

T8 Reaction to fault completed, drive stopped.

T9 There is no longer a fault.It was a serious fault.

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

T10 There is no longer a fault.It was a simple fault.

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

T11 Fault still exists. “Reset fault” = 0 → 1CCON = xxx0.P xx1

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


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1.7.2 Positioning

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

TA Internal conditions Actions of the user

TA1 Homing has been carried out. Start positioning task = 0→1Halt = 1

CCON = xxx0.xx11CPOS = 0xx0.00P1

TA2 Motion Complete = 1The current record is completed. The next recordis not to be carried out automatically

“Halt” status is anyCCON = xxx0.xx11CPOS = 0xxx.xxxx

TA3 Motion Complete = 0 Halt = 1 → 0CCON = xxx0.xx11CPOS = 0xxx.xxxN

TA4 Halt = 1

Start positioning task = 0→1Clear remaining position = 0CCON = xxx0.xx11CPOS = 00xx.xxP1

TA5 Record selection: – A single record is finished. – The next record is to be carried out automatically.

CCON = xxx0.xx11CPOS = 0xxx.xxx1

Direct mode: – A new positioning task has arrived.

CCON = xxx0.xx11CPOS = 0xxx.xx11

TA6 Clear remaining position = 0 → 1CCON = xxx0.xx11CPOS = 0Pxx.xxxx

TA7 Start homing = 0→1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.0Px1

TA8 Homing finished or Halt. Only for Halt:Halt = 1 → 0

CCON = xxx0.xx11CPOS = 0xxx.xxxN



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TA Actions of the user Internal conditions

TA9 Jog positive = 0 → 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.Pxx1

TA10 Either – Jog positive = 1→0 – CCON = xxx0.xx11 – CPOS = 0xxx.Nxx1or

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

TA11 Jog negative = 0 → 1Halt = 1CCON = xxx0.xx11CPOS = 0xxP.0xx1

TA12 Either

– Jog negative = 1 → 0 – CCON = xxx0.xx11 – CPOS = 0xxN.xxx1or

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


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


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1.7.3 Special features dependent on FHPP operating mode

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.

1.7.4 Examples of control and status bytes

On the following pages you will find typical examples of con-trol and status bytes:

0. Safeguard device control

1. Create readiness to operate – Record selection

2. Create readiness to operate – Direct mode

3. Fault handling

4. Homing

5. Positioning with record selection6. Positioning with direct mode

For information about the state machine, see section 1.7.

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

for the CMM... controller used.


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0. Safeguard device control

Step/Description Control bytes Status bytes

Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0

0.1 Drive control bysoftware = on

By te 1 OPM 2 OPM 1 LOC K – R ESET B RA KE STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 24V L FA ULT W AR N OPE N E NA BL

CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0

Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

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

Description of 0. Safeguard device control:

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


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1. Create readiness to operate – Record selection



1.1 Basic status

(Drive control bysoftware = off)


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

1.2 Disable devicecontrol by software


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

1.3 Enable drive,enable operation

(Record selection)


CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


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

Description of 1. Create readiness to operate:

1.1 Basic status of the drive when the supply voltage hasbeen switched on.

} Step 1.2 or 1.31.2 Disable device control by software.

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

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

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


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2. Create readiness to operate – Direct mode



2.1 Basic status

(Drive control bysoftware = off)


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

2.2 Disable devicecontrol by software


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

2.3 Enable drive,enable operation

(Direct mode)


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


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

Description of 2. Create readiness to operate:

2.1 Basic status of the drive when the supply voltage hasbeen switched on.

} Step 2.2 or 2.32.2 Disable device control by software.

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

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

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


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3. Fault handling



3.1 Fault By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 24V L FA ULT WA RN OPE N EN ABL

CCON x x x 0 x x x x SCON x x x x 1 x x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.2 Warning By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN OPE N EN ABL

CCON x x x 0 x x x x SCON x x x x x 1 x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.3 Reset fault

with CCON.B3(RESET)


CCON 0 x x 0 F x x 1 SCON 0 x 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; N: negative edge

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


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Description of 3. Fault handling

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

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

3.3 Reset fault with positive edge at CCON.B3 (RESET).} Fault bit SCON.B3 (FAULT) or

SCON.B3 (WARN) is reset} SPOS.B2 (MC) is set} Drive is ready to operate

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


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4. Homing (requires status 1.3 or 2.3)



4.1 Start homing By te 1 OPM 2 OPM 1 L OC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L F AULT WA RN O PE N EN ABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1

4.2 Homing running By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 24V L FA ULT WA RN OPE N EN ABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1

4.3 Homing finished By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 24V L FA ULT WA RN OPE N EN ABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1


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


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Description for 4. Homing:

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

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

4.3 After successful homing SPOS.B2 (MC, Motion

Complete) and SPOS.B7 (REF) will be set.

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


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

Step/Descrip-tion

Control bytes Status bytes


5.1 Preselect recordnumber(control byte 3)

Byte 3 Record number Byte 3 Record number

RecordNo.

Record no. (0 ...) RecordNo.

Previous record no. (0 ...)

5.2 Start task By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN OPE N EN ABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

5.3 Task running By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN O PE N EN ABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

Byte 3 Record number Byte 3 Record number

RecordNo.

Record no. (0 ...) RecordNo.

Current record no. (0 ...)

5.4 Task finished By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN O PE N EN ABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 5...8 Reserved Byte 5...8 Position

– Reserved Act.pos.

Actual position(positioning units)


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


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Description of 5. Positioning with record selection:

(steps 5.1 ... 5.4 conditional sequence)

When the readiness to operate is created and homing hasbeen carried out, a positioning task can be started.

5.1 Preselect record number: Byte 3 of the output data0 = Homing1 ... = Programmable positioning records

5.2 With CPOS.B1 (START, Start positioning task) thepreselected positioning task will be started. The startis confirmed with SPOS.B1 (Acknowledge start) as longas CPOS.B1 (START) is set.

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

5.4 At the end of the positioning task, SPOS.B2

(MC, Motion Complete) will be set.If there are faults during positioning:} Fault handling: see example 3, Tab. 1/7.


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



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

Byte 4 Velocity Byte 4 Velocity

Veloc-ity

Speed preselect (0...100 %) Veloc-ity

Speed feedback (0...100 %)

Byte 5...8 Position Byte 5...8 Position

Set-pointpos.

Setpoint position(positioning units)

Act.pos.

Actual position(positioning units)

6.2 Start task By te 1 OPM 2 OPM 1 LOC K – R ESET BR AK E STOP E N ABL By te 1 OPM 2 OPM 1 LOC K 2 4V L FA ULT WA RN O PE N EN ABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM 1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM 1 ABS

CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S

6.3. Task running By te 1 OPM 2 OPM 1 L OC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L F AULT WA RN O PE N EN ABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

6.4 Task finished By te 1 OPM 2 OPM 1 L OC K – R ESET BR AK E STOP E NA BL By te 1 OPM 2 OPM 1 LOC K 2 4V L F AULT WA RN O PE N EN ABL

CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

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

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


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Description of positioning with direct mode:

(step 6.1 ... 6.4 conditional sequence)

When the readiness to operate is created and homing hasbeen carried out, a setpoint position must be preselected.

6.1 The setpoint position is transferred in positioning unitsin bytes 5...8 of the output word.The setpoint speed is transferred in % in byte 4

(0 = no speed; 100 = max. speed).

6.2 With CPOS.B1 (START, Start positioning task) thepreselected positioning task is started. The start isconfirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B1 (START) is set.

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

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

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


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Drive functions


Chapter 2

Drive functions


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2. Drive functions


Contents

2.1 Reference system for electric drives 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Calculation rules for the reference system 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Homing 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Homing for electric drives 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Homing methods 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Jog mode 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.5 Teaching via fieldbus 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Carry out record (Record selection) 2-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Record selection sequence charts 2-18. . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Record structure 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.3 Conditional record chaining (PNU 402) 2-23. . . . . . . . . . . . . . . . . . . . . .

2.7 Direct mode 2-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Sequence for discrete setpoint value 2-29. . . . . . . . . . . . . . . . . . . . . . . .

2.7.2 Sequence for Profile Torque mode (torque and current control) 2-30. .2.7.3 Sequence for Profile Velocity mode 2-32. . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Standstill control 2-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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


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2. Drive functions


2.1 Reference system for electric drives

Reference system for electric linear drives

1

REF AZ

a b c

PZ

d e

TP/AP USELSE

Positions increasing in size, “positive” travel

LES HES

REF Homing point (reference point) a Axis zero point offset

AZ Axis zero point b Project zero point offset

PZ Project zero point c Target/actual positionoffset

LSE Lower software end position d, e Software end positionoffsets

USE Upper software end position 1 Effective stroke

LES Lower end switch (lower limit switch) 2 Nominal stroke

HES Higher end switch (higher limit switch)

TP, AP Target/actual position

Tab. 2/1: Reference system for electric drives


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2. Drive functions


Reference system for electric rotary drives

Rotation axis: example with negativereference switch homing method REF

AZ

ab

e

PZ

d

1

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

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

PZ Project zero point: point of reference (= zero point) for actual position and absolute posi-

tions in the positioning record table.

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

b Project zero point offset: distance from AZ

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

1 Effective stroke: permitted positioning range

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


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2. Drive functions


2.2 Calculation rules for the reference system

Reference point Calculation rule

Axis zero point AZ = REF + a

Project zero point PZ = AZ + b = REF + a + b

Lower software end position LSE = AZ + d = REF + a + d

Upper software end position USE = AZ+

e = REF+

a+

e

Target/actual position TP, AP = PZ + c = AZ + b + c = REF + a + b + c

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

2.3 Homing

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

Various homing modes are permitted, depending on the

controller and drive.An overview is shown in Tab. 2/4.

For a description of the homing modes, see section 2.3.2.


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2. Drive functions


Homing mode Controller

Hex Dec Description CMMP-AS CMMS-AS/CMMD-AS

CMMS-ST

01h 1 Negative limit switch with index pulse x x x 1)

02h 2 Positive limit switch with index pulse x x x 1)

07h 7 Reference switch in positive direction withindex pulse

x – –

0Bh 11 Reference switch in negative direction withindex pulse

x – –

11h 17 Negative limit switch x x x

12h 18 Positive limit switch x x x

17h 23 Reference switch in positive direction x – –

1Bh 27 Reference switch in negative direction x – –

21h 33 Index pulse in negative direction x x x 1)

22h 34 Index pulse in positive direction x x x 1)

23h 35 Current position x x x

FFh -1 Negative stop with index pulse x x x 1)

FEh -2 Positive stop with index pulse x x x 1)

EFh -17 Negative stop x x x 1)

EEh -18 Positive stop x x x 1)

E9h -23 Reference switch in positive direction withtravel to stop or limit switch

x – –

E5h -27 Reference switch in negative direction withtravel to stop or limit switch

x – –

1) Only possible for motors with an encoder

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


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2. Drive functions


2.3.1 Homing for electric drives

The drive homes against a stop, a limit switch or a referenceswitch. An increase in the motor current indicates that a stophas been reached. As the drive must not continuously refer-ence against the stop, it must move at least one millimetreback into the stroke range.

Sequence:1. Search for the reference point in accordance with the

configured method.

2. Travel the distance of the “axis zero point offset” relativeto the reference point.

3. Set at axis zero point:Current position = 0 – project zero point offset.

Overview of parameters involved (see also section 4.4.17)

Parameters involved Description PNU

Axis zero point offset 1010

Homing method 1011

Homing speeds 1012

Homing accelerations 1013

Homing required 1014

CMMP only: Homing maximum torque 1015

Start (FHPP) CPOS.B2 = positive edge: Start homing

Feedback (FHPP) SPOS.B1 = positive edge: Acknowledge startSPOS.B7 = Axis is referenced

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”

There must not be any command for jogging

Tab. 2/5: Parameters involved in homing


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2. Drive functions


2.3.2 Homing methods

The homing methods are oriented towards CANopen DS 402.

With some motors (those with absolute encoders, single/multi-turn) the drive may be permanently referenced. In suchcases, methods involving homing to an index pulse (= zeropulse) might not cause homing to be carried out; rather the

drive will move directly to the axis zero po

festo cmms-as fhpp

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