Page 1 CiA 402 for motor controller CMMP‐AS‐...‐M3/-M0 Description Device profile CiA 402 for motor controller CMMP-AS-...-M3 via fieldbus: – CANopen – EtherCAT with interface CAMC-EC for motor controller CMMP-AS-...-M0 via fieldbus: – CANopen 8046795 1510b...
Page 2 Text designations: • Activities that may be carried out in any order 1. Activities that should be carried out in the order stated – General lists è Result of an action/References to more detailed information Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b –...
Page 3: Table Of Contents
Structure of the EMERGENCY Message ....... . Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
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Page 7: Instructions On This Documentation
This description is intended exclusively for technicians trained in control and automation technology, who have experience in installation, commissioning, programming and diagnosing of positioning systems. Service Please consult your regional Festo contact if you have any technical problems. Information on the version This description refers to the following versions: Motor controller Version CMMP-AS-...-M3...
Page 8: Documentation
Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the Festo Configuration Tool. è www.festo.com/sp Tab. 2 Documentation on the motor controller CMMP-AS-...-M3/-M0 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 9: Fieldbus Interfaces
CANopen terminating resistor [S2] on the switch or safety module in slot Ext3 CANopen interface [X4] Slots Ext1/Ext2 for interfaces CAN-LED Fig. 1.1 Motor controller CMMP‐AS‐...‐M3: Front view, example with micro switch module in Ext3 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 10: Canopen [X4]
Source address: è www.can-cia.de The CANopen implementation of the motor controller is based on the following standards: CiA Draft Standard 301, Version 4.02, 13 February 2002 CiA Draft Standard Proposal 402, Version 2.0, 26 July 2002 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 11: Cabling And Pin Assignment
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 following instructions on cabling are observed. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 12 Network protocol specification, Version 2.0 from Robert Bosch GmbH, 1991. Characteristic Value Wire pairs –  0.22 Wire cross section Screening –  0.2 Loop resistance [Ω / m] Surge impedance [Ω] 100…120 Tab. 2.2 Technical data, CAN bus cable Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 13: Configuration Of Canopen Stations On The Cmmp-As-...-M3
FCT without connection to the CANopen bus should be carried out first. Instructions on commissioning with the Festo Configuration Tool can be found in the Help for the device-specific FCT plug-in.
Page 14: Setting Of The Node Number
Setting of the offset of the node number Setting the base address of the node number with FCT With the Festo Configuration Tool (FCT), the node number is set as base address on the Fieldbus page in the Operating Parameters tab. Default setting = 0 (that means offset = node number).
Page 15: Setting Of The Transmission Rate With Dip Switches
In order for a fieldbus master to exchange position, speed and acceleration data in physical units 2 (e.g. mm, mm/s, mm/s ) with the motor controller, it must be parameterised via the factor group è section 5.3. Parameterisation can be carried out via FCT or the fieldbus. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 16: Configuration Of Canopen Participants On The Cmmp-As-...-M0
CANopen communication is activated. This section provides an overview of the steps required by the slave for parameterisation and configuration. Instructions on commissioning with the Festo Configuration Tool can be found in the Help for the device-specific FCT plug-in.
Page 17: Setting The Node Number Via Dins And Fct
The transmission rate can be set via the digital inputs DIN12 and DIN13 or in the FCT. Setting the transmission rate via DINs Transmission rate DIN 12 DIN 13 [Kbit/s] [Kbit/s] High [Kbit/s] High [Mbit/s] High High Tab. 2.8 Setting the transmission rate Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 18: Setting The Protocol (Data Profile) Via Dins Or Fct
CANopen communication is automatically activated by the FCT if the option “Fieldbus parameterisation via DINs” is deactivated. The CAN bus is switched off for as long as the device control remains with FCT. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 19: Setting The Physical Units (Factor Group)
Configuration CANopen master You can use an EDS file to configure the CANopen master. The EDS file is included on the CD-ROM supplied with the motor controller. You will find the most current version under è www.festo.com/sp EDS files Description CMMP-AS-...-M3.eds...
Page 20: Canopen Access Procedure
Transmission of error messages Network management Network service: All CAN nodes can be worked on simultaneously, for example. HEART Error Control Protocol Monitoring of the communications participants through BEAT regular messages. Tab. 3.1 Communication objects Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 21: Sdo Access
16 bit value with algebraic sign -32768 … 32767 UINT32 32 bit value without algebraic sign 0 … (2 INT32 32 bit value with algebraic sign ) … (2 Tab. 3.2 Supported data types Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 22: Sdo Sequences For Reading And Writing
Return data: 12345678 Data: 12345678 Command Response: Caution 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. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 23: Sdo Error Messages
2) “Status” should be understood generally here: It may be a problem of the incorrect operating mode or a technology module that is not available or the like. 3) This error is returned, for example, when another bus system controls the motor controller or the parameter access is not permitted. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 24: Simulation Of Sdo Access
Never use these test commands in applications! Access only serves test purposes and is not appropriate for real-time-capable commu nication. In addition, the syntax of the test commands can be revised at any time. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 25: Pdo Message
In the example below, the actual position is transmitted in the data bytes 0 … 3 of the PDO and the actual speed in the bytes 4 … 7. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 26: Description Of The Objects
The mapping information has the following format è Tab. 3.6 transmission_type and Which event results in sending (transmit PDO) or evaluation (receive PDO) of a message can be determined for each PDO. è Tab. 3.7 inhibit_time Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 27 PDO. With inhibit_time, the minimum interval between sending two PDOs can also be established in 100 μs steps. Tab. 3.7 Type of transmission The use of all other values is not permitted. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 28 The PDO should be sent no more than every 10 ms (100D100 μs). è cob_id_used_by_pdo = 40000187 6. Parametrisation of identifiers The PDO should be sent with identifier 187 Write the new identifier and activate the PDO through deletion of bit 31: Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 29: Objects For Pdo Parametrisation
– Value Range 0 … 8C , FE , FF Default Value Sub-Index Description inhibit_time_tpdo1 Data Type UINT16 Access PDO Mapping Units 100 μs (i.e. 10 = 1ms) Value Range – Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 30 Data Type UINT32 Access PDO Mapping Units – Value Range – è Table Default Value Sub-Index Description third_mapped_object_tpdo1 Data Type UINT32 Access PDO Mapping Units – Value Range – è Table Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 31 (100 μs) UINT16 0000 1A01 number of mapped objects UINT8 1A01 first mapped object UINT32 60410010 1A01 second mapped object UINT32 60610008 1A01 third mapped object UINT32 00000000 1A01 fourth mapped object UINT32 00000000 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 32 2014 number of entries UINT8 2014 tpdo_1_transmit_mask_low UINT32 FFFFFFFF 2014 tpdo_1_transmit_mask_high UINT32 FFFFFFFF tpdo_2_transmit_mask Index Comment Type Acc. Default Value 2015 number of entries UINT8 2015 tpdo_2_transmit_mask_low UINT32 FFFFFFFF 2015 tpdo_2_transmit_mask_high UINT32 FFFFFFFF Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 33 UINT8 1601 number of mapped objects UINT8 1601 first mapped object UINT32 60400010 1601 second mapped object UINT32 60600008 1601 third mapped object UINT32 00000000 1601 fourth mapped object UINT32 00000000 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 34: Activation Of Pdos
– The communication status of the motor controller must be operational (è chapter 3.6, Network Management: NMT-Service) To parametrise PDOs, the following points must be met: – The communication status of the motor controller must not be operational. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 35: Sync Message
The identifier on which the motor controller receives the SYNC message is set permanently to 080 . The identifier can be read via the object cob_id_sync. Index 1005 Name cob_id_sync Object Code Data Type UINT32 Access PDO Mapping Units Value Range 80000080 , 00000080 Default Value 00000080 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 36: Emergency Message
EMERGENCY telegram with the error code of the new error is sent. Error acknowledgment An error acknowledgment is attempted, and all causes are eliminated. An EMERGENCY telegram with the error code 0000 is sent. Tab. 3.8 Possible status transitions Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 37: Structure Of The Emergency Message
1003 (pre_defined_error_field_0). To be able to reactivate the output stage of the motor controller after an error, an error acknowledgement è chapter 6.1: Status Diagram (State Machine) must also be performed. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 38 Value Range – Default Value – Sub-Index Description standard_error_field_2 Access PDO Mapping Units – Value Range – Default Value – Sub-Index Description standard_error_field_3 Access PDO Mapping Units – Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 39: Network Management (Nmt Service)
CS byte in the NMT message. These are largely oriented on the target status. Power On Reset Application Reset Communication Pre-Operational (7F Stopped (04 Operational (05 Fig. 3.2 Status diagram Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 40 Communication via SDOs possible; PDOs not active (no – sending/evaluating) Operational Communication via SDOs possible; all PDOs active (send ing/evaluating) Stopped No communication except for heartbeating – – Tab. 3.11 NMT state machine Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 41: Bootup
Structure of the Bootup Message The Bootup message is structured almost identically to the following Heartbeat message. Only a zero is sent instead of the NMT status. Identifier: 700 + node number Bootup message identifier Data length Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 42: Heartbeat (Error Control Protocol)
To activate then Heartbeat function, the time between two Heartbeat telegrams can be established via the object producer_heartbeat_time. 1017 Index Name producer_heartbeat_time Object Code Data Type UINT16 Access Units Value Range 0 … 65535 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 43: Nodeguarding (Error Control Protocol)
The response of the controller is built up analogously to the Heartbeat message. It contains only 1 byte of user data, the toggle bit and the NMT status of the controller (è chapter 3.6). Identifier: 700 + node number Toggle bit / NMT status Data length Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 44: Description Of The Objects
). It is therefore recommended to write the life_time_factor with 1 and then specify the time directly via the guard_time in milliseconds. Index 100C Name guard_time Object Code Data Type UINT16 Access PDO Mapping Units Value Range 0 … 65535 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 45: Table Of Identifiers
+ node number TPDO1 Standard values. TPDO2 Can be revised if needed. TPDO3 TPDO4 RPDO1 RPDO2 RPDO3 RPDO4 SYNC EMCY + node number HEARTBEAT + node number NODEGUARDING + node number BOOTUP + node number Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 46: Ethercat With Coe
EtherCAT fieldbus system. Communication over the EtherCAT interface (IEEE 802.3u) takes place with an EtherCAT standard cabling and is possible between the CMMP-AS-...-M3 from Revision 01 and the FCT parameterisation software from Version 2.0. Festo supports the CoE protocol (CANopen over EtherCAT) with the CMMP-AS-...-M3. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 47 Connection and display elements at the EtherCAT interface The EtherCAT interface can only be operated in option slot Ext2. Operation of other inter face modules in option slot Ext1, except with CAMC-D-8E8A interface, is then no longer possible. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 48: Installing The Ethercat Interface In The Controller
The network structure must conform to the 5-4-3 rule. A maximum of 10 hubs can be cabled in series. The EtherCAT interface contains a hub. The total cable length is restricted to 100 m. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 49 These can cause the CMMP-AS-...-M3 motor controller to shut off with an error for safety reasons. Bus termination No external bus terminations are required. The EtherCAT technology module monitors its two ports and terminates the bus automatically (loop-back function). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 50: Configuration Of Ethercat Participants
Note: Parameterisation and commissioning of the motor controller with the EtherCAT control interface is possible only with the connected master. Notes on commissioning with the Festo Configuration Tool can be found in the Help for the device-specific FCT plug-in. When designing the EtherCAT interface, the user must therefore make these determinations. Only then should parameterisation of the fieldbus connection take place on both pages.
Page 51: Canopen Communication Interface
These two transfer types are used for the different CANopen transfer types for the CoE protocol. They are used as follows: Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 52 For this reason, additional mapping of the SDOs and PDOs to the Sync channels is required compared with CANopen. This occurs via the so-called Sync Manager objects (objects 1C00 and 1C10 … 1C13 è chapter 4.6.2). These objects are described in more detail below. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 53 The Sync channels described here are NOT the same as the Sync telegrams familiar from CANopen. CANopen Sync telegrams can still be transmitted as SDOs via the SDO interface implemented under CoE, but do not directly influence the Sync channels described above. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 54: New And Revised Objects Under Coe
The motor controller CMMP-AS-...-M3 with the EtherCAT interface supports four Receive PDOs (RxPDO) and four Transmit PDOs (TxPDO). Objects 1008 , 1009 and 100A are not supported by the CMMP-AS-...-M3, as plain text strings cannot be read from the motor controller. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 55 Access PDO Mapping Value Range Default Value Sub-Index Description Communication Type Sync Channel 0 Access PDO Mapping Value Range 2: Mailbox Transmit (Master => Slave) Default Value 2: Mailbox Transmit (Master => Slave) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 56 Object Code Array Data Type uint8 Sub-Index Description Number of assigned PDOs Access PDO Mapping Value Range 0 (no PDO assigned to this channel) Default Value 0 (no PDO assigned to this channel) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 57 In the current implementation, the data of the objects below is not evaluated further by the firmware of the motor controller. The CANopen configuration of the PDOs is used for evaluation under EtherCAT. Index 1C12 Name Sync Manager Channel 2 (Process Data Output) Object Code Array Data Type uint8 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 58 Default Value 1602 : third Receive PDO Sub-Index Description PDO Mapping object Number of assigned RxPDO Access PDO Mapping Value Range 1603 : fourth Receive PDO Default Value 1603 : fourth Receive PDO Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 59 Default Value 1A00 : first Transmit PDO Sub-Index Description PDO Mapping object Number of assigned TxPDO Access PDO Mapping Value Range 1A01 : second Transmit PDO Default Value 1A01 : second Transmit PDO Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 60 Default Value 1A02 : third Transmit PDO Sub-Index Description PDO Mapping object Number of assigned TxPDO Access PDO Mapping Value Range 1A03 : fourth Transmit PDO Default Value 1A03 : fourth Transmit PDO Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 61: Objects Not Supported Under Coe
608E acceleration_dimension_index Specifies the unit for displaying the acceleration values in the controller. The object is only available as a data container. The firmware is not evaluated further. Tab. 4.8 Unsupported communication objects Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 62: Communication Finite State Machine
In this status, both acyclic and cyclic communication are active. Masters and slaves exchange target and actual value data. In this status, the CMMP-AS-...-M3 can be enabled and travel via the CoE protocol. Tab. 4.9 Statuses of communication finite state machine Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 63 Stop Output Update, Stop Input Update: stop of cyclic communication (process data telegram protocol). The slave no longer sends actual values to the master, and the master no longer sends setpoint values to the slave. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 64: Differences Between The Finite State Machines Of Canopen And Ethercat
– Additional status: Safe-Operational The following table compares the different statuses: EtherCAT State CANopen NMT State Power ON Power-On (initialisation) Init Stopped Safe-Operational – Operational Operational Tab. 4.11 Comparison of the statuses for EtherCAT and CANopen Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 65: Sdo Frame
As the use of the CoE implementation of the CMMP-AS-...-M3 only allows the standard CANopen objects to be addressed, whose size is restricted to 32 bits (4 bytes), only transfer types with a maximum data length of up to 32 bits (4 bytes) are supported. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 66: Pdo Frame
As all data exchanged via the EtherCAT CoE protocol are forwarded directly to the internal CANopen implementation in the motor controller CMMP-AS-...-M3, the PDO mapping is also implemented as described in chapter 3.3 “PDO Message”. The figure below depicts this process: Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 67 – Cyclic PDO frame telegram via the process data telegram protocol. – Synchronous PDO frame telegram via the process data telegram protocol. The motor controller CMMP-AS-...-M3 with the EtherCAT interface supports four Receive PDOs (RxPDO) and four Transmit PDOs (TxPDO). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 68: Error Control
Tab. 4.14 Emergency Frame: elements As the “Emergency Messages” received and sent via CoE are simply forwarded to the CANopen protocol implemented in the motor controller, all error messages can be looked up in the chapter B. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 69: Xml Device Description File
Festo has created a device description file for the CMMP-AS-...-M3 motor controller. It can be down loaded from the Festo homepage. Its contents will now be described in more detail to permit users to adapt this file to their application.
Page 70 The following table describes only the subnodes of the “Description” node that are required for para meterisation of the motor controller CMMP-AS-...-M3 under CoE. All other nodes are fixed and may not be changed by the user. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 71: Receive Pdo Configuration In The Rxpdo Node
Sync Manager. A typical entry in the device description file for the motor controller CMMP-AS-...-M3 can be as follows: <RxPDO Fixed=”1” Sm=”2”> <Index>#x1600</Index> <Name>Outputs</Name> <Entry> <Index>#x6040</Index> <SubIndex>0</SubIndex> <BitLen>16</BitLen> <Name>Controlword</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x6060</Index> <SubIndex>0</SubIndex> <BitLen>8</BitLen> <Name>Mode_Of_Operation</Name> <DataType>USINT</DataType> </Entry> </RxPDO> Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 72 Data Type This entry specifies the data type of the object to be mapped. This can be taken from the respective description for the individual CANopen objects. Tab. 4.19 Elements of the node “Entry” Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 73: Transmit Pdo Configuration In The Txpdo Node
In a device description file for the motor controller CMMP-AS-...-M3, some entries in this section are already assigned. These entries must remain as they are and may not be changed by the user. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 74: Synchronisation (Distributed Clocks)
– The cycle time of the EtherCAT Frame must exactly match the cycle time tp of the controller-internal interpolator. – The Ethernet must be available exclusively for the EtherCAT Frame. It may be necessary to synchron ise other telegrams to the grid, as they may not block the bus. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 75: Setting Parameters
The current parameter set can be stored in the non-volatile flash memory. The storage process can be triggered with a read access to the CANopen object 1010 (save_all_parameters). When the motor controller is switched on, the application parameter set is automatically copied into the cur rent parameter set. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 76 Before the output stage is switched on for the first time, make sure the controller really includes the parameters you want. An incorrectly parametrised controller can turn out of control and cause personal injury or property damage. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 77 The CAN communication parameters (node no., baud rate and operating mode) as well as numerous angle encoder settings (some of which require a reset to become effective) remain unchanged. Object 1010 : store_parameters Index 1010 store_parameters Name Object Code ARRAY No. of Elements Data Type UINT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 78: Compatibility Settings
For new applications, we recommend setting the defined bits to permit as much agreement as possible with the named standards. Description of the Objects Objects treated in this chapter Index Object Name Type Attr. 6510_F0 compatibility_control UINT16 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 79 (voltage_enabled) is output in accordance with CiA 402 v2.0. In addition, the status FAULT_REACTION_ACTIVE is distinguishable from the FAULT status. è see chapter 6 0100 Reserved The bit is reserved. It must not be set. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 80: Conversion Factors (Factor Group)
Measurement file Unit Explanation Length Position units Increments 65536 increments per revolution Speed Velocity units Revolutions per minute Acceleration Acceleration units (min Rotational speed increase per second Tab. 5.3 Factor group default settings Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 81 (e.g. “degrees”) x in positioning unit (e.g. “mm”) Motor Gear unit Fig. 5.3 Calculating the positioning units Index 6093 Name position_factor Object Code ARRAY No. of Elements Data Type UINT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 82 The position_factor must be written to the motor controller separated into numerators and denomin ators. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly. The position_factor must not be larger than 2 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 83 ). Feed constant of the drive * 10 (points after the decimal) 3) Revolutions at the drive in per revolutions at the drive-out (R per R 4) Insert values into equation. Tab. 5.5 Examples of calculating the position factor Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 84 Gear ratio between revolutions at the drive-in (R ) and revolutions at the drive-out (R feed_constant Ratio between revolutions at the drive-out (R ) and movement in position_units (e.g. 1 R = 360 degrees) Tab. 5.6 Speed factor parameters Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 85 60 * 4096 4096 min 1 DP å 60 1 1966080 è 1/10 4096 min num: 131072 div: 631.5 6315 60 * 4096 631.5 4096 min 10 s Fig. 5.5 Velocity factor calculation sequence Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 86 The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit Revolutions per minute per 256 seconds. It consists of numerator and denominator. Index 6097 Name acceleration_factor Object Code ARRAY No. of Elements Data Type UINT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 87 Calculation of the acceleration_factor uses the following equation: gear_ratio * time_factor_a nummerator acceleration_factor divisor feed_constant The acceleration_factor is also written into the motor controller separated by numerator and denomin ator, so it may have to be expanded. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 88 (points after the decimal) 3) Time factor_v: desired time unit per internal time unit 4) Gear factor: R per R 5) Insert values into equation. Tab. 5.9 Examples of calculating the acceleration factor Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 89 Value Range , 80 , C0 Default Value Value Name Meaning velocity_polarity_flag 0: multiply by 1 (default) 1: multiply by -1 (inverse) position_polarity_flag 0: multiply by 1 (default) 1: multiply by -1 (inverse) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 90: Output Stage Parameter
24 V, and the enable can be controlled via the CAN bus. For this, the object 6510 (enable_logic) must be set to two. For safety reasons, this takes place automatically with activation of CANopen (also after a reset of the motor controller). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 91 Reversing is only possible when the output stage is switched off. Sub-Index Description pwm_frequency Data Type UINT16 Access PDO mapping Units – Value Range 0, 1 Default Value Value Meaning Standard output stage frequency Half output stage frequency Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 92 6510 (max_power_stage_temperature) is exceeded, the output stage shuts off and an error message is output. Sub-Index Description power_stage_temperature Data Type INT16 Access PDO mapping Units °C Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 93 : actual_dc_link_circuit_voltage Via the object actual_dc_link_circuit_voltage, the current voltage of the intermediate circuit can be read in millivolts. Sub-Index Description actual_dc_link_circuit_voltage Data Type UINT32 Access PDO mapping Units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 94 Sub-Index Description enable_dc_link_undervoltage_error Data Type UINT16 Access PDO mapping Units – Value Range 0, 1 Default Value Value Meaning Undervoltage error OFF (reaction WARNING) Undervoltage error ON (reaction CONTROLLER ENABLE OFF) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 95 The values apply for a current regulator cycle time of 125 μs. Other values may be displayed due to a power derating, dependent on the controller cycle time and the output stage clock frequency. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 96: Current Regulator And Motor Adjustment
Attr. 6075 motor_rated_current UINT32 6073 max_current UINT16 604D pole_number UINT8 6410 RECORD motor_data 60F6 RECORD torque_control_parameters Affected objects from other chapters Index Object Name Type Chapter 2415 RECORD current_limitation 5.8 Setpoint value limitation Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 97 The object 6073h (max_current) may only be written over if the object 6075h (motor_rated_current) was previously overwritten. Index 6073 max_current Name Object Code Data Type UINT16 Access PDO mapping Units per thousands of rated current Value Range – Default Value 2023 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 98 (motor_rated_current). The standard setting is two seconds and is valid for most motors. Index 6410 Name motor_data Object Code RECORD No. of Elements Sub-Index Description iit_time_motor Data Type UINT16 Access PDO mapping Units Value Range 0 … 100000 Default Value 2000 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 99 The error E 31-0 is activated by changing the error response. Reactions causing the drive to stop are returned as ON, all others as OFF. When overwriting with 0, the error response WARNING is set; when overwriting with 1, the error response CONTROLLER ENABLE OFF. è chapter 5.18, Error Management. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 100 Index Name motor_data Object Code RECORD No. of Elements Sub-Index Description encoder_offset_angle Data Type INT16 Access PDO mapping Units … Value Range -32767 … 32767 Default Value E000 (-45°) (according to factory setting) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 101 If the motor temperature defined in this object is exceeded, a reaction takes place in accordance with error management (error 03-0, over-temperature motor analogue). If a reaction that stops the drive is parametrised, an emergency message is sent. For parametrisation of error management è chap. 5.18, Error Management. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 102 PDO mapping Units 256 = “1” Value Range 0 … 32*256 Default Value 3*256 (768) Sub-Index Description torque_control_time Data Type UINT16 Access PDO mapping Units μs Value Range 104 … 64401 Default Value 1020 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 103: Speed Control
Index 60F9 Name velocity_control_parameter_set Object Code RECORD No. of Elements Sub-Index Description velocity_control_gain Data Type UINT16 Access PDO mapping Units 256 = Gain 1 Value Range 20 … 64*256 (16384) Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 104 1000 … 50000 Default Value 20000 Please observe that the object velocity_actual_value_filtered is used for spinning protec tion. With very large filter times, a spinning error is detected only with a corresponding delay. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 105: Position Controller (Position Control Function)
The permissible time period can be specified via the object following_error_time_out. Following_error_window (6065 Following_error_window (6065 Following_error_time_out (6066 Statusword, bit 13 (6041 Fig. 5.6 Contouring error – functional overview Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 106 UINT32 6066 following_error_time_out UINT16 6067 position_window UINT32 6068 position_window_time UINT16 607B ARRAY position_range_limit INT32 60F4 following_error_actual_value INT32 60FA control_effort INT32 60FB RECORD position_control_parameter_set 6510 position_range_limit_enable UINT16 6510 position_error_switch_off_limit UINT32 1) In increments Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 107 The size of a position deviation up to which the position controller will not intervene (dead area) can be defined with the object position_error_tolerance_window. This can be used for stabilisation, such as when there is play in the system. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 108 Value Range 0 … 131072 min Default Value 500 min Sub-Index Description position_error_tolerance_window Data Type UINT32 Access PDO mapping Units position units Value Range 1 … 65536 (1 R) Default Value 2 (1/32768 R) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 109 2022 synchronization_encoder_select (è chap. 5.11). This object is specified in user-defined increments. Index 202D Name position_demand_sync_value Object Code Data Type INT32 Access PDO mapping Units position units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 110 – the drive is blocked – the positioning speed is too high – the acceleration values are too large – the object following_error_window has too small a value – the position controller is not correctly parametrised Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 111 The current contouring error can be read out via this object. This object is specified in user-defined increments. 60F4 Index Name following_error_actual_value Object Code Data Type INT32 Access PDO mapping Units position units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 112 (target_position) is considered reached. Index 6067 Name position_window Object Code Data Type UINT32 Access PDO mapping Units position units Value Range – Default Value 1820 (1820/65536 R = 10°) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 113 STAGE OFF IMMEDIATELY is returned as ON, all others as OFF. When overwriting with 0, the error re sponse NO ACTION is set; when overwriting with a value greater than 0, the error response SWITCH OUTPUT STAGE OFF IMMEDIATELY is set. è chapter 5.18 Error Management. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 114 To do this, the drive adapts to the prefix of the travel speed. In both “fixed direction of rota tion” modes, positioning only takes place in the direction specified in the mode. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 115 All parameters belonging to the encoder storage are saved with their current values. Index 2030 Name set_position_absolute Object Code Data Type INT32 Access PDO mapping Units position units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 116: Setpoint Value Limitation
Sub-Index Description limit_current_input_channel Data Type UINT8 Access PDO mapping Units – Value Range 0 … 4 Default Value Sub-Index Description limit_current Data Type INT32 Access PDO mapping Units Value Range – Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 117 Data Type UINT8 Access PDO mapping Units – Value Range 0 … 4 Default Value Sub-Index Description limit_speed Data Type INT32 Access PDO mapping Units speed units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 118: Encoder Adjustments
2024 encoder_x2a_divisor INT16 2025 RECORD encoder_x10_data_field 2025 encoder_x10_resolution UINT32 2025 encoder_x10_numerator INT16 2025 encoder_x10_divisor INT16 2025 encoder_x10_counter UINT32 2026 RECORD encoder_x2b_data_field 2026 encoder_x2b_resolution UINT32 2026 encoder_x2b_numerator INT16 2026 encoder_x2b_divisor INT16 2026 encoder_x2b_counter UINT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 119 INT16 Access PDO mapping Units – Value Range –32768 … 32767 (except 0) Default Value Sub-Index Description encoder_x2a_divisor Data Type INT16 Access PDO mapping Units – Value Range 1 … 32767 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 120 Data Type INT16 Access PDO mapping Units – Value Range –32768 … 32767 Default Value Sub-Index Description encoder_x2b_divisor Data Type INT16 Access PDO mapping Units – Value Range 1 … 32767 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 121 No. of Elements Sub-Index encoder_x10_resolution Description Data Type UINT32 Access PDO mapping Units Increments (4 * number of lines) Value Range Dependent on the encoder used Default Value Dependent on the encoder used Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 122: Incremental Encoder Emulation
[X10], can hereby be parametrised under CANopen. Description of the objects Objects treated in this chapter Index Object Name Type Attr. 2028 encoder_emulation_resolution INT32 201A RECORD encoder_emulation_data 201A encoder_emulation_resolution INT32 201A encoder_emulation_offset INT16 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 123 The object encoder_emulation_resolution is available only for compatibility reasons. It corresponds to the object 201A Index 2028 Name encoder_emulation_resolution Object Code Data Type INT32 Access PDO mapping è 201A Units è 201A Value Range è 201A Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 124: Setpoint/Actual Value Activation
If the other encoder is selected, the commutation encoder is switched to automatically. Index 2021 position_encoder_selection Name Object Code Data Type INT16 Access PDO mapping Units – Value Range 0 … 2 (è table) Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 125 Through bit 8, it can be established that homing should take place without activation of the synchronous position so that the master and slave can be referenced separately. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 126 2023 Index Name synchronisation_filter_time Object Code Data Type UINT32 Access PDO mapping Units μs Value Range 10 … 50000 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 127: Analogue Inputs
ARRAY No. of Elements Data Type INT16 Sub-Index Description analog_input_voltage_ch_0 Access PDO mapping Units Value Range – Default Value – Sub-Index analog_input_voltage_ch_1 Description Access PDO mapping Units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 128 –10000 … 10000 Default Value Sub-Index Description analog_input_offset_ch_1 Access PDO mapping Units Value Range –10000 … 10000 Default Value Sub-Index Description analog_input_offset_ch_2 Access PDO mapping Units Value Range –10000 … 10000 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 129: Digital Inputs And Outputs
00000004 Reference switch 00000008 Interlock (controller or output stage enable missing) 16 … 23 00FF0000 Digital inputs of the CAMC-D-8E8A 24 … 27 0F000000 DIN0 … DIN3 10000000 DIN 8 20000000 DIN 9 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 130 If brake triggering is enabled via digital_output_mask, deletion of bit 0 in digital_out put_data causes the holding brake to be manually ventilated! In case of hanging axes, this can result in sagging of the axes. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 131 PDO mapping Units – 0 … 44, è table Value Range Default Value Sub-Index Description dig_out_state_mapp_dout_3 Data Type UINT8 Access PDO mapping Units – 0 … 44, è table Value Range Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 132 Reserved CAM active without CAM-IN or CAM-CHANGE movement Speed actual value in the window for rest Teach acknowledge Saving process (SAVE!, Save Positions) in operation STO active STO is requested Motion Complete (MC) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 133 Function for CAMC-D-8E8A 0 DOUT5 8 … 15 0000FF00 EA88_0_dout_5_mapping Function for CAMC-D-8E8A 0 DOUT6 16 … 23 00FF0000 EA88_0_dout_6_mapping Function for CAMC-D-8E8A 0 DOUT7 24 … 31 FF000000 EA88_0_dout_7_mapping Function for CAMC-D-8E8A 0 DOUT8 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 134: Limit Switch/Reference Switch
6510 Index Name drive_data Object Code RECORD No. of Elements Sub-Index Description limit_switch_polarity Data Type INT16 Access PDO mapping Units – Value Range 0, 1 Default Value Value Meaning N/C contact N/O contact Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 135 “1” is entered when normally open contacts are used. Sub-Index Description homing_switch_polarity Data Type INT16 Access PDO mapping Units – Value Range 0, 1 Default Value Value Meaning N/C contact N/O contact Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 136 The object limit_switch_deceleration establishes the deceleration used in braking when the limit switch is reached during normal operation (limit switch emergency stop ramp). Sub-Index Description limit_switch_deceleration Data Type INT32 Access PDO mapping Units acceleration units Value Range 0 … 3000000 min Default Value 2000000 min Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 137: Sampling Of Positions
The following object can be used to select whether the position should be determined for each occur rence of a sample event (continuous sampling) or sampling should be blocked after a sample event until sampling is approved again. Observe that even just one bounce can trigger both edges! Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 138 Sub-Index Description sample_status_mask Data Type UINT8 Access PDO mapping Units – 0 … 1, è table Value Range Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 139 Data Type INT32 Access PDO mapping Units position units Value Range – Default Value – Sub-Index Description sample_position_falling_edge Data Type INT32 Access PDO mapping Units position units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 140: Brake Activation
Index Object Name Type Attr. 6510 RECORD drive_data Object 6510 : brake_delay_time This brake delay time can be parametrised through the object brake_delay_time. 6510 Index Name drive_data Object Code RECORD No. of Elements Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 141: Device Information
(serial_number) can be read out. 1018 Index Name identity_object Object Code RECORD No. of Elements Sub-Index Description vendor_id Data Type UINT32 Access PDO mapping Units – Value Range 0000001D Default Value 0000001D Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 142 PDO mapping Units MMMMSSSS (M: main version, S: sub version) Value Range – Default Value – Sub-Index serial_number Description Data Type UINT32 Access PDO mapping Units – Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 143 The main version number of the firmware (product stage) can be read out via the object firmware_main_version. Sub-Index Description firmware_main_version Data Type UINT32 Access PDO mapping Units MMMMSSSS (M: main version, S: sub version) Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 144 Through the object firmware_type can be read for which device family and which angle encoder type the loaded firmware is appropriate. Sub-Index Description firmware_type Data Type UINT32 Access PDO mapping Units – Value Range 00000F2 Default Value 00000F2 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 145 Through the object cycletime_position_controller, the cycle time of the position regulator in micro seconds can be read. Sub-Index Description cycletime_position_controller Data Type UINT32 Access PDO mapping Units μs Value Range – Default Value 000001F4 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 146 “A”. Of course, if required it is also possible to use this object in order to notice the status of the con troller parameterisation. Observe in this case that the parameterisation software also accesses this object. Sub-Index Description commissioning_state Data Type UINT32 Access PDO mapping Units – Value Range – Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 147 “A” in the 7-segments display Observe that at least one bit in the commissioning_state object has to be set in order to suppress the “A” on the 7-segments display of your motor controller. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 148: Error Management
The main error number is normally specified before the hyphen (e.g. error 08-2, main error num ber 8). For possible error numbers, è also chap. 3.5. Sub-Index Description error_number Data Type UINT8 Access PDO mapping Units – Value Range 1 … 96 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 149 PDO mapping Units – Value Range – Default Value – Value Meaning 0 … 3 000F Sub-number of the warning 4 … 11 0FF0 Main number of the warning 8000 Warning is active Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 150: Device Control
Example: Enable Operation Status diagram The statuses and status transitions together form the status diagram, (state machine) that is, the overview of all conditions and the transitions possible from there. Tab. 6.1 Controller regulation terms Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 151: Status Diagram Of The Motor Controller (State Machine)
Status diagram of the motor controller (state machine) Power disabled Fault (output stage off ) (error) NOT_READY_TO_SWITCH_ON FAULT_REACTION_ACTIVE FAULT SWITCH_ON_DISABLED READY_TO_SWITCH_ON Power enabled (output stage on) SWITCH_ON OPERATION_ENABLE QUICK_STOP_ACTIVE Fig. 6.1 Status diagram of the motor controller Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 152 0 x Motor rotates freely. Error eliminated + Fault Bit 7 = Fault Reset = Acknowledge Error 0 è 1 Reset command Tab. 6.2 Most important status transitions of the motor controller Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 153 . For the status transition 2, the set bit 3 is not relevant. 1) The Host must wait until the status in the statusword can be read back. This is explained in detail below. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 154 FAULT An error has occurred. No voltage is applied to the motor. 1) The output stage is switched on. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 155 Output stage is blocked. Error handling is ended Internal transition Motor rotates freely. Error eliminated + Fault Bit 7 = Acknowledge error Fault Reset 0 è 1 Reset command (with rising edge) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 156: Control Word (Controlword)
The function of bits 4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the motor controller, which is explained after this chapter. Index 6040 Name controlword Object Code Data Type UINT16 Access PDO Mapping Units – Value Range – Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 157 Only when the re quested status can also be read in the statusword may a further command be written via the controlword. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 158 (position_demand_value) of the position control ler. reset_fault In the transition from zero to one, the motor con troller tries to acknowledge the existing errors. This is only successful if the cause of the error has been resolved. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 159: Read-Out Of The Motor Controller Status
Ready_to_Switch_On 006F 0021 Switched_On 006F 0023 OPERATION_ENABLE 006F 0027 QUICK_STOP_ACTIVE 006F 0007 Fault_Reaction_Active 004F 000F Fault 004F 0008 FAULT (in accordance with 004F 0008 CiA402) Tab. 6.6 Device status (x = not relevant) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 160: Status Words (Statuswords)
1) To identify the statuses, bits that are not set must also be evaluated (see table). For that reason, the statusword must be masked correspondingly. 6.1.5 Status words (statuswords) Object 6041 : statusword Index 6041 Name statusword Object Code Data Type UINT16 Access PDO Mapping Units – Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 161 (è chap. 5.2) the following applies: This bit is set if the output stage transistors are switched on. Tab. 6.8 statusword bit 4 Warning In case of a defect, the motor can still be powered. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 162 In the Interpolated Position Mode: This bit shows that interpolation is active and the interpolation data records are being evaluated. It is set when requested by the bit enable_ip_mode in the controlword. è unconditionally also chapter 7.4. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 163 The object group manufacturer_statuswords was extended for the safety module. Index 2000 manufacturer_statuswords Name Object Code RECORD No. of Elements Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 164 Bit 4 ... 7 Reserved and used for the cam. Bit 8 SAFE_STANDSTILL “Safe Stop” “H” on the 7-segment display. Use by safety module CAMC-G-S1. Bit 9 ... 11 – Reserved for extensions. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 165 If at least one bit is set after masking, bit 14 of the statusword is also set. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 166 … … Manufacturer_ status_mask_1 … … 2005 … … Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 10 11 12 13 14 15 statusword 6041 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 167 è for this also chapter 6.1.5. Index 2005 Name manufacturer_status_masks Object Code RECORD No. of Elements Sub-Index Description manufacturer_status_mask_1 Data Type UINT32 Access PDO Mapping Units – Value Range – Default Value 0x00000000 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 168 Name FSM_vout Object Code RECORD No. of Elements Sub-Index Description FSM_vout_0_31 Data Type UINT32 Access PDO Mapping Units – Value Range – Default Value – Bits 0..31 = VOUT0..31 of the safety module Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 169 Logical status DIN46; mode selector switch (1 of 3) Bit 7 LOUT55 Logical status DIN47; mode selector switch (1 of 3) Bit 8 LOUT56 Error acknowledgment via DIN48 Bit 9 LOUT57 Restart via DIN49 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 170: Description Of The Additional Objects
It cannot be changed. Index 605B Name shutdown_option_code Object Code Data Type INT16 Access PDO Mapping Units – Value Range Default Value Value Significance The output stage is switched off, and the motor is freely rotatable Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 171 The object shows the implemented behaviour of the motor controller. It cannot be changed. Index 605A quick_stop_option_code Name Object Code Data Type INT16 Access PDO Mapping Units – Value Range Default Value Value Significance Braking with quickstop_deceleration Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 172 0. To change the error response of the individual errors è chapter 5.18, error management. Index 605E fault_reaction_option_code Name Object Code Data Type INT16 Access PDO Mapping Units – Value Range Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 173: Operating Modes
The object modes_of_operation sets the operating mode of the motor controller. Index 6060 modes_of_operation Name Object Code Data Type INT8 Access PDO mapping Units – Value Range 1, 3, 4, 6, 7 Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 174 “user” operating mode is returned to show that the selectors have been changed. Index 6061 Name modes_of_operation_display Object Code Data Type INT8 Access PDO mapping Units – Value Range see table Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 175: Operating Mode Reference Travel (Homing Mode)
Fig. 7.1 Reference travel The user can determine the speed, acceleration and type of reference travel . With the object home_offset, the zero position of the drive can be displaced to any position desired. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 176: Description Of The Objects
ARRAY homing_speeds UINT32 609A homing_acceleration UINT32 2045 homing_timeout UINT16 Affected objects from other chapters Index Object Name Type Chapter 6040 controlword UINT16 6.1.3 Control word (controlword) 6041 statusword UINT16 6.1.5 Status words (statuswords) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 177 Index 6098 Name homing_method Object Code Data Type INT8 Access PDO mapping Units Value Range -18, -17, -2, -1, 1, 2, 7, 11, 17, 18, 23, 27, 32, 33, 34, 35 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 178 This object determines the speeds used during the reference travel. Index 6099 Name homing_speeds Object Code ARRAY No. of Elements Data Type UINT32 Sub-Index Description speed_during_search_for_switch Access PDO mapping Units speed units Value Range – Default Value 100 min Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 179 If this time is exceeded without homing having been ended, error 11-3. Index 2045 homing_timeout Name Object Code Data Type UINT16 Access PDO mapping Units Value Range 0 (off ), 1 … 65535 Default Value 60000 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 180: Reference Travel Processes
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. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 181 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. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 182 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. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 183 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. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 184: Control Of Reference Travel
Bit 4 Significance Reference travel is not active 0 è 1 Start Homing Reference travel is active 1 è 0 Reference travel interrupted Tab. 7.2 Description of the bits in the controlword Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 185 Operating modes Bit 13 Bit 12 Significance Reference travel is not completed yet Reference travel performed successfully Reference travel not performed successfully Prohibited status Tab. 7.3 Description of the bits in the status word Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 186: Positioning Operating Mode (Profile Position Mode)
All input variables of the curve generator are converted with the variables of the factor group (è chap. 5.3) into the internal units of the controller. The internal variables are marked here with an asterisk and are normally not needed by the user. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 187: Description Of The Objects
(motion_profile_type) etc. must be considered thereby. The target position (target_position) is inter preted either as an absolute or relative specification (controlword, bit 6). Index 607A Name target_position Object Code Data Type INT32 Access PDO mapping Units position units Value Range – Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 188 The object profile_acceleration specifies the acceleration with which the motor accelerates to the nominal value. It is specified in user-defined acceleration units (è chapter 5.3 Conversion factors (factor group)). Index 6083 profile_acceleration Name Object Code Data Type UINT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 189 (è chapter 6). The object quick_stop_deceleration is specified in the same unit as the object profile_deceleration. 6085 Index Name quick_stop_deceleration Object Code Data Type UINT32 Access PDO mapping Units acceleration units Value Range – Default Value 14100 min Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 190: Description Of Function
These bits are in a question- answer relationship to each other. This makes it possible to prepare a positioning task while another is still running. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 191 In Fig. 7.5, a new positioning task is only started after the previous one has been completely finished. To determine this, the host evaluates the bit target_reached in the object statusword. Velocity Time Fig. 7.5 Simple positioning task Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 192 If besides the bit new_set_pointthe bit change_set_immediately is also set to “1” in the controlword, the host instructs the motor controller to start the new positioning task immediately. In this case, a positioning task already in process is interrupted. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 193: Synchronous Position Specification (Interpolated Position Mode)
7.4.2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr. 60C0 interpolation_submode_select INT16 60C1 interpolation_data_record 60C2 interpolation_time_period 60C3 ARRAY interpolation_sync_definition UINT8 60C4 interpolation_data_configuration Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 194 2 (ip_data_controlword) and then sub-index 1 (ip_data_position) are written, since data transfer is triggered internally with write access to ip_data_position. Index 60C1 Name interpolation_data_record Object Code RECORD No. of Elements Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 195 (è chapter 5.1) and a reset performed (è chapter 6), so that the new synchronisation interval becomes effective. The synchronisation interval must be maintained exactly. Index 60C2 Name interpolation_time_period Object Code RECORD No. of Elements Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 196 (ip_sync_every_n_event) of synchronisation telegrams per synchronisation interval. For the CMMP series, only the standard SYNC telegram and 1 SYNC per interval can be set. Index 60C3 interpolation_sync_definition Name Object Code ARRAY No. of Elements Data Type UINT8 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 197 60C4 Index Name interpolation_data_configuration Object Code RECORD No. of Elements Sub-Index Description max_buffer_size Data Type UINT32 Access PDO mapping Units – Value Range Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 198 Value Significance FIFO Sub-Index Description buffer_position Data Type UINT16 Access PDO mapping Units – Value Range Default Value Sub-Index Description size_of_data_record Data Type UINT8 Access PDO mapping Units – Value Range Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 199: Description Of Function
(-1). If the SYNC-telegrams are not sent in the right slot pattern after completed synchronisation, the motor controller switches back into the invalid mode of operation. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 200 Writing back as current setpoint position 60C1 , ip_data_position Start of interpolation 6040 , controlword, enable_ip_mode Acknowledgement by motor controller 6041 , statusword, ip_mode_active Changing the current setpoint position in 60C1 , ip_data_position accordance with trajectory Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 201: Speed Adjustment Operating Mode (Profile Velocity Mode)
– Limitation of the torque setpoint value (torque_demand_value) – Monitoring of the actual speed (velocity_actual_value) with the window function/threshold The significance of the following parameters is described in the Positioning chapter (Profile Position Mode): profile_acceleration, profile_deceleration, quick_stop. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 202 (6041 Timer velocity = 0 velocity_actual_value (606C Window Comparator velocity_threshold (606F velocity_window_time (606E status_word (6041 Timer velocity_reached velocity_actual_value (606C Window Comparator velocity_window (606D Fig. 7.9 Structure of the speed-regulated operation (profile velocity mode) Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 203: Description Of The Objects
A separate tachometer cannot be connected in the CMMP family. Therefore, to determine the actual speed value, the object 606C should be used. 6069 Index Name velocity_sensor_actual_value Object Code Data Type INT32 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 204 If the position controller is activated, its correction speed is also added. 606B Index Name velocity_demand_value Object Code Data Type INT32 Access PDO mapping Units speed units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 205 The actual speed value can be read via the object velocity_actual_value . Index 606C Name velocity_actual_value Object Code Data Type INT32 Access PDO mapping Units speed units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 206 Units speed units Value Range – Default Value – velocity_control_filter_time (60F9 Filter internal velocity value velocity_actual_value (606C [speed units] Filter velocity_actual_value_filtered [speed units] (2074 velocity_display_filter_time (2073 Fig. 7.10 Determination of velocity_actual_value and velocity_actual_value_filtered Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 207 The speed must lie within the velocity_window for the time specified here so that the bit 10 target_reached is set in the object statusword. Index 606E Name velocity_window_time Object Code Data Type UINT16 Access PDO mapping Units Value Range 0 … 4999 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 208 The object velocity_threshold_time specifies how long the drive may exceed the specified speed before bit 12 (velocity = 0) is deleted in the statusword. Index 6070 Name velocity_threshold_time Object Code Data Type UINT16 Access PDO mapping Units Value Range 0 … 4999 Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 209: Speed Ramps
And so it is possible to limit a jump-like setpoint change to a specific speed change per time via the objects profile_acceleration and profile_deceleration. The controller not only permits specification of different values for braking deceleration and acceleration, but also differentiation between positive and negative speed. The following illustration depicts this behaviour: Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 210 No. of Elements Sub-Index Description velocity_ramps_enable Data Type UINT8 Access PDO mapping Units – 0: Setpoint value NOT over the ramp generator Value Range 1: Setpoint value over the ramp generator Default Value Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 211 PDO mapping Units acceleration units Value Range – Default Value 14 100 min Sub-Index Description velocity_deceleration_neg Data Type INT32 Access PDO mapping Units acceleration units Value Range – Default Value 14 100 min Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 212: Torque Regulation Operating Mode (Profile Torque Mode)
(6076 (6077 current_actual_value (6078 Torque max_current (6073 Limit DC_link_voltage Control Function (6079 motor_rated_current (6075 Power Stage control effort Motor max_current (6073 motor_rated_current (6075 motor_rated_current (6075 Fig. 7.12 Structure of torque-regulated operation Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 213: Description Of The Objects
6040 controlword INT16 6 Device Control 60F9 RECORD motor_parameters 5.5 Current Regulator and Motor Adjustment 6075 motor_rated_current UINT32 5.5 Current Regulator and Motor Adjustment 6073 max_current UINT16 5.5 Current Regulator and Motor Adjustment Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 214 6075 : motor_rated_current is overwritten with a valid value. Index 6072 Name max_torque Object Code Data Type UINT16 Access PDO mapping Units motor_rated_torque/1000 Value Range -1000 … 65536 Default Value 2023 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 215 Object 6077 : torque_actual_value By means of this object, the motor's actual torque can be read out in thousanths of the nominal torque (object 6076 6077 Index Name torque_actual_value Object Code Data Type INT16 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 216 The intermediate circuit voltage of the controller can be read via this object. The voltage is specified in the unit millivolts. Index 6079 dc_link_circuit_voltage Name Object Code Data Type UINT32 Access PDO mapping Units Value Range – Default Value – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 217 Currently, only the linear ramp is implemented in this controller, so this object can only be written with the value 0. Index 6088 Name torque_profile_type Object Code Data Type INT16 Access PDO mapping Units – Value Range Default Value Value Significance Linear ramp Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 218: A Technical Appendix
Technical data: transport Storage Storage temperature [°C] –25 … +75 Air humidity, at max. 40 °C 0 … 90 ambient temperature, non-condensing  1000 Permissible altitude (above sea level) Tab. A.4 Technical data: storage Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 219: B Diagnostic Messages
A complete list of the diagnostic messages corresponding to the firmware statuses at the time of print ing of this document can be found in section B.3. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 220: B.2 Error Codes Via Cia 301/402
PS off 5283h 21-3 Error 2 current measurement V PS off 5410h 05-3 Undervoltage dig. I/O PS off 05-4 Overload current dig. I/O PS off 5580h 26-0 Missing user parameter set PS off Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 221 Limit switch: negative setpoint value blocked Configurable 8082h Limit switch: positive setpoint value blocked 43-1 Configurable 8083h 43-2 Limit switch: positioning suppressed Configurable 8120h 12-1 CAN: Communication error, bus OFF Configurable 8180h CAN: double node number 12-0 Configurable Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 222 80-3 Interpolator IRQ overflow PS off F084h Low-level IRQ overflow 81-4 PS off F085h 81-5 MDC IRQ overflow PS off FF01h Missing hours-run meter 28-0 Configurable FF02h 28-1 Hours-run meter: write error Configurable Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 223: B.3 Diagnostic Messages With Instructions For Fault Clearance
Log entry of the Safety module Ignore Information: è Entry in the diagnostic memory. Cause Measure – 0-22 Default parameter set loaded Ignore Information: è Entry in the diagnostic memory. Cause Measure – Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 224 – Broken cable? Measure • Check parameterisation (current regulator, current limits). • Check the parameterisation of the sensor or the sensor charac teristics. If the error persists when the sensor is bypassed: device faulty. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 225 – Is displayed temperature plausible? – Device fan faulty? – Device overloaded? Measure • Check installation conditions; control cabinet fan filter dirty? • Check the cylinder sizing (due to possible overloading in con tinuous duty). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 226 • Check digital outputs and brake output for short circuit or spe cified load. • Separate device from the entire peripheral equipment and check whether the error is still present after reset. If so, an internal defect is present è Repair by the manufacturer. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 227 Defect in the motor controller. • Internal defect è Repair by the manufacturer. Measure Encoder supply defective PSoff Cause Back measurement of the encoder voltage not OK. • Internal defect è Repair by the manufacturer. Measure Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 228 Overload current at the brake chopper output. Measure • Check external braking resistor for short circuit or insufficient resistance value. • Check circuitry of the brake chopper output at the motor con troller (jumpers, etc.). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 229 If the signals do not comply with the signal spe cifications, replace the resolver. c) If the error recurs sporadically, check the screen bonding or check whether the resolver simply has an insufficient transmis sion ratio (standard resolver: A = 0.5). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 230 For example, EnDat 2.2 or EnDat 2.1 without analogue track. informa Heidenhain encoder: order codes EnDat 22 and EnDat 21. With tion these encoders there are no incremental signals, even when the cables are connected. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 231 – Angle encoder connected? – Angle encoder cable defective? – Angle encoder faulty? Measure Check the configuration of the angle encoder interface. a) Encoder signals faulty? b) Test with another encoder. è Tab. B.2, page 281. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 232 – Diminishing illumination intensity with visual encoders? – Excess rotational speed? – Angle encoder faulty? If the error occurs repeatedly, the encoder is faulty. è Replace Measure encoder. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 233 Purely serial eval uation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue tracking signal evaluation è connect to analogue Z0 tracking signal evaluation. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 234 • Save the encoder parameters again in order to delete the para meter record in the encoder and replace it with a readable re cord. If the error still occurs after that, the encoder may be faulty. • Replace the encoder as a test. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 235 – Motor is parameterised correctly, but the limit for spinning pro tection is set too low. Measure • Check the commutation angle offset. • Check the parameterisation of the limit value. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 236 • Reference switch connected? • Check configuration of the reference switches. • Move limit switch so that it is not in the zero pulse area. • Check limit switch parameterisation (N/C contact/N/O contact. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 237 • If necessary, replace device as a test. If a different device works without errors with the same cabling, send the device to the manufacturer for inspection. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 238 • Check the parameterisation of the selected CAN bus protocol. Error group 13 CAN bus timeout Code Message Reaction 13-0 CAN: Timeout configurable Cause Error message from manufacturer-specific protocol. Measure • Check the CAN parameters. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 239 The pulse train or segmenting of the Hall signals is inappropriate. Measure • Check connection. • Refer to the technical data to check whether the encoder shows three Hall signals with 1205 or 605 segments; if neces sary, contact Technical Support. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 240 Internal firmware error. Error during program execution. Illegal CPU command found in the program sequence. Measure • In case of repetition, load firmware again. If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 241 Temperature warning thresholds Code Message Reaction 18-0 Analogue motor temperature configurable Cause Motor temperature (analogue) more than 5° below T_max. Measure • Check parameterisation of current regulator and/or speed reg ulator. • Motor permanently overloaded? Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 242 During conversion with the factor group, the range of values was exceeded. Mathematical error in the conversion of the physical units. Measure The value ranges of the data and the physical units do not match. • Check and correct. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 243 Invalid hardware revision 6082h PSoff Cause The controller's hardware version is not supported by the loaded firmware. Measure • Check the firmware version; update the firmware to a more recent version if necessary. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 244 • Load firmware again. If the error appears again, the hardware may be faulty. 26-5 5585h Missing calibration data PSoff Cause Factory-set calibration parameters incomplete / corrupted. Measure This fault cannot be fixed by the user. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 245 The data block in which the operating hour counter is stored could not be written to. Cause unknown; possibly problems with the hardware. Measure Warning only, no further action required. If the error occurs again, the hardware may be faulty. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 246 – Memory card could not be initialised. Card type may not be supported! – File system not supported. – Error in connection with the shared memory. Measure • Check card type used. • Connect memory card to a PC and format again. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 247 PSoff Cause Range exceeded for internal scaling factors, which are dependent on the parameterised controller cycle times. Measure • Check whether extremely short or extremely long cycle times were set in the parameters. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 248 32-1 3281h Undervoltage for active PFC configurable Cause The PFC cannot be activated at all until an intermediate circuit voltage of about 130 V DC is reached. Measure • Check the power supply. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 249 Measure • Check the power supply. 32-9 Phase failure 3286h QStop Cause Failure of one or more phases (only in the case of three-phase supply). Measure • Check the power supply. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 250 – Synchronisation via fieldbus messages during ongoing opera tion (interpolated position mode) has failed. – Synchronisation messages from master failed? – Synchronisation interval (IPO interval) parameterised too small/too large? Measure • Check the settings for the controller cycle times. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 251 If this is the case, reduce the excitation current. In the opposite case, if the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 252 • Check the positioning range. Error group 41 Record sequence Code Message Reaction 41-0 Record sequence: Synchronisation error configurable Cause Start of synchronisation without prior sampling pulse. Measure • Check parameterisation of the lead section. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 253 Error group 43 Hardware limit switch Code Message Reaction 43-0 8081h Limit switch: Negative setpoint value blocked configurable Cause Negative hardware limit switch reached. Measure • Check parameterisation, wiring and limit switches. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 254 An attempt is being made to switch to the speed control or torque control operating mode or to issue the controller enable in one of these operating modes, although the drive requires a valid refer ence position for this. Measure • Carry out homing. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 255 50-1 SDO error has occurred configurable Cause An SDO transfer has caused an SDO abort. – Data exceed the range of values. – Access to non-existent object. Measure • Check the command sent. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 256 Cause CMMP-AS-...-M0: Internal voltage error of the STO circuit. Measure • Protection circuit defective. No action possible, please contact Festo. If possible, replace with another motor controller. Cause CMMP-AS-...-M3: Internal voltage error of the safety module or micro switch module.
Page 257 – Error in safety module. Measure • Check circuitry of the safety module – are the inputs STO-A and STO-B switched off on two channels and simultaneously? • Replace safety module if you suspect it is faulty. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 258 • See USF0, error 53-0. 53-2 80A3h USF2: Safety condition violated configurable Cause – Violation of monitored speed limits of the SSF2 in operation / when USF2 / SSF2 requested. Measure • See USF0, error 53-0. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 259 – increase monitoring tolerance time if necessary. • With b) If the actual speed value is very noisy at rest. Check and if necessary adjust expert parameters for speed recording and detection of standstill. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 260 • Check whether the error can be acknowledged and whether it occurs again upon a new STO request – if yes: basic unit is pre sumably faulty. If possible, replace with another basic unit. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 261 / screening). • Check the supply voltage for the position encoder. • Check the motor cable / screening on motor and drive side – EMC problems may trigger the error. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 262 • Check the connection wiring (broken wire, short between two signals or signal / screening). • Check the motor cable / screening on motor and drive side – EMC problems may trigger the error. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 263 "rigidly coupled". • Check for elasticity or looseness, improve mechanical system. • Adjust the expert parameters for the position comparison if this is acceptable from an application point of view. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 264 X6. In this case: Disconnect the brake connection lines at X6. • If there is not error in the connection wiring, there may be an internal error in the module (check by swapping the module). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 265 SafetyTool and when paramet ers are backed up in the safety module. Measure • Note instructions for SafetyTool for complete validation; critic ally check parameterisation. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 266 – Checksum error during transmission μC1 <-è μC2. Measure • Internal malfunction in the motor controller. • Check whether the firmware versions of the safety module and basic unit and the versions of the FCT plugin and SafetyTool are compatible. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 267 – Logic supply overvoltage +24 V detected. Measure • Module faulty, replace. 59-3 Internal voltage supply error 80F3h configurable Cause – Voltage (internal 3.3 V, 5 V, ADU reference) outside the per missible range. Measure • Module faulty, replace. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 268 Measure Check whether the error recurs after a reset. If it does: • Parameterise the module again and validate the parameter set again. If the error remains: • Module is faulty; replace. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 269 • Check the TPDO configuration of the motor controller and the higher-level control system. 62-5 EtherCAT: Erroneous cyclic communication configurable Cause Emergency shut-down due to failure of cyclic data transmission. Measure • Check the configuration of the master. Synchronous transmis sion is unstable. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 270 • In addition to the motor controller, the DeviceNet interface must also be connected to 24 V DC. 64-2 DeviceNet: RX queue overflow configurable Cause Too many messages received within a short period. Measure • Reduce the scan rate. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 271 Ethernet stack can download the requested TCP connection does not provide. Internal device error. Measure • Restart device or restore factory settings. • If the error occurs lasting effect on the HW is defective. Can not be repaired on site. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 272 • Replace the interface. • If the error continues, contact Technical Support. 68-2 EtherNet/IP: Connection closed configurable Cause The connection was closed via the controller. Measure A new connection to the controller must be established. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 273 Measure • Check the cyclic data. • Check the factor group. 70-2 FHPP: Factor group invalid configurable Cause Calculation of the factor group leads to invalid values. Measure • Check the factor group. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 274 Interface presumably includes an incompatible stack version or is faulty. Measure • Replace interface. 72-1 PROFINET: Bus error configurable Cause No communication possible (e.g. line removed). Measure • Check the wiring • Restart PROFINET communication. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 275 IRQ overflow Code Message Reaction 80-0 F080h Overflow current controller IRQ PSoff Cause The process data could not be calculated in the set current/speed/ position interpolator cycle. Measure • Please contact Technical Support. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 276 • For information only - no action required. 82-1 Multiple-started KO write access configurable Cause Parameters in cyclical and acyclical operation are used concur rently. Measure • Only one parameterisation interface can be used (USB or Ether net). Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 277 The plugged-in interface could be detected and is basically also supported. In this case, however, the current hardware version is not supported (because it is too old). Measure • The interface must be exchanged. If necessary, contact Tech nical Support. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 278 SD-ADUs (hardware) cannot be started. One or more SD-ADUs are not supplying any serial data. Measure • Switch on the device again (24 V). If the error occurs again, the hardware is faulty. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 279 6000h Internal initialising error PSoff Cause Internal SRAM too small for the compiled firmware. Can only occur with beta versions. Measure • Check the firmware version, and update the firmware if neces sary. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 280 • Check the firmware file. • Restart firmware download. 92-1 Error during bootloader update PSoff Cause Error during requested bootloader download. Measure • Restart bootloader download. • Send the device to the manufacturer for inspection. Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 281 (error-free) encoder (replace the connecting cable as well). If the error still coders. occurs, there is a fault in the motor controller. Repair by the manufacturer required. Tab. B.2 Instructions on error messages 08-2 … 08-7 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 282: Index
..... . – Speed regulator ..... Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 283 ....enable_enhanced_modulation ... . fourth_mapped_object ....Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 284 ... Intermediate circuit voltage max_torque ......Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 285 ....Objects – Object 1C00h_03h ....Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 286 ..... . . – Object 2602h ..... . . Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 287 ..... . . – Object 60F4h ..... . . Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 288 ....COBID used by PDO ....Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 289 ....Permissible torque ..... Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 290 ....Positioning profile profile_deceleration ....Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 291 ......speed_limitation ..... . Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 292 Target speed for speed adjustment ..transmission_type ..... . Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 293 ..... . . velocity_threshold_time ....Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English...
Page 294 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 e-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica Internet: tion of its contents to others without express authorization is www.festo.com...

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Cmmp-as-***-m0 series

Festo CMMP-AS-***-M3 Series Manual

1 Fieldbus Interfaces

2 Canopen [X4]

3 Canopen Access Procedure

4 Ethercat with Coe

5 Setting Parameters

6 Device Control

7 Operating Modes

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