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Festo CMMP-AS-...-M0 Series Description

Festo CMMP-AS-...-M0 Series Description

Motor controller
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Motor controller
CMMP-AS-...-M0
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CMMP-AS-...-M0
FW: 4.0.1501.1.2
8022067
1304NH

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Summary of Contents for Festo CMMP-AS-...-M0 Series

  • Page 1 Motor controller CMMP-AS-...-M0 Description Functional description for motor controller CMMP-AS-...-M0 FW: 4.0.1501.1.2 8022067 1304NH...
  • Page 2 Essential or useful accessories. Information on environmentally sound usage. Text designations: • Activities that may be carried out in any order. 1. Activities that should be carried out in the order stated. – General lists. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 3: Table Of Contents

    ........Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 4 ........... Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 5 ........Diagnostic messages with instructions for troubleshooting ......Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 6 Service Please consult your regional Festo contact if you have any technical problems. Product identification, versions This description refers to the following versions: – Motor controller CMMP-AS-...-M0 from Rev 01 –...
  • Page 7 CMMP-AS-...-M0 with the integrated safety function STO. Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the Festo Configuration Tool. www.festo.com Tab. 1 Documentation on the motor controller CMMP-AS-...-M0 Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 8: Safety And Requirements For Product Use

    – Perform a risk assessment in accordance with the EC machinery directive. – Based on this risk evaluation, design the safety system for the entire machine, taking into account all integrated components. This also includes the electric drives. – Bypassing safety equipment is impermissible. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 9: Protection Against Electric Shock Through Protective Extra-Low Voltage (Pelv)

    A of the documentation GDCP-CMMP-AS-M0-HW-...), – in an industrial environment. Note In the event of damage caused by unauthorised manipulation or other than intended use, the guarantee is invalidated and the manufacturer is not liable for damages. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 10: Prerequisites For Use

    ( appendix A of the documentation GDCP-CMMP-AS-M0-HW-...). The product-relevant EU directives can be found in the declaration of conformity. Certificates and the declaration of conformity for this product can be found at www.festo.com. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 11: Operating Modes And Functions

    (position, speed, time) and loaded into the motor controllers. Between the data points, the various axes interpolate automatically and work off the movement profile synchronously in time. Tab. 2.1 Overview of operating modes Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 12: Control Interfaces

    – Cam disc Fieldbus Depending on the – Speed adjustment Description fieldbus profile – Torque regulation – FHPP: – FHPP – Position controller GDCP-CMMP- – CiA 402 M3/-M0-C-HP-... – CiA 402 GDCP-CMMP- M3/-M0-C-CO-... Tab. 3.2 Interfaces Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 13: Fieldbus Options

    For CANopen and DriveBus, a communication protocol based on the CANopen profile in accordance with the CiA 301 and the drive profile in accordance with the CiA 402 has been implemented. In addition, the Festo Profile for Handling and Positioning (FHPP) has been implemented as a commu- nication protocol for CANopen.

  • Page 14: Required I/O Connection For Fieldbus Control

    The connection plan shows the switch position in the active operating state. 1) The limit switches are set by default to N/C contact (configuration over FCT) Fig. 4.1 Connection diagram: required I/O interface without DINs for fieldbus parameterisation Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 15 The connection plan shows the switch position in the active operating status. 1) The limit switches are set by default to N/C contact (configuration over FCT) Fig. 4.2 Connection diagram: required I/O interface with DINs for fieldbus setting Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 16: Service

    Supported file systems FAT16 FAT32 Format filename 1) Recommended are industry-suitable memory cards from the Festo accessories programme. Tab. 5.2 Characteristics of the memory card Note The filenames may only consist of upper case letters. If lower case letters are used when the filename is issued, Windows automatically saves...

  • Page 17: Load Firmware Via Memory Card

    Possible options: – Use the newest parameter file. – Load parameter file with specific name. Loading of the parameter set is shown with a “d” on the 7-segments display. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 18: Ethernet (Tftp)

    – The firmware to be loaded is unsuitable for the device! (see FW header) – Faulty S record received. – Error when programming the S record in FLASH. The decimal point in the 7-segments display is also displayed in case of errors that were detected/triggered through the bootloader. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 19: Load Parameter Set Via Ethernet

    Creation of the DCO file takes approx. 1-2 seconds. Therefore, the first GET command is answered with the error message “File not found”. 6. Enter the command “tftp -i <ip-address> GET <FILENAME.DCO>” again. 7. The motor controller copies the parameter set into the PC. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 20: Cmmp-As

    – Ignore stop input – End speed – Synchronisation – Remaining path message – Torque feed forward – Torque limitation – Start Delay The positioning records can be addressed via digital inputs, fieldbus or the parameterisation software FCT. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 21 With jerk-limited positioning, the acceleration is trapezoidal and the speed curve is third-order. Since the acceleration constantly changes, the drive moves in a manner that is especially gentle to the mechanics. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 22 The number of positions in a record sequence is limited only by the total number of positions available. The continuation condition for the next positioning record is determined through the “Command” column of the positioning record table. The following commands are available: Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 23 Execution (travel to the subsequent position) corresponds to the logic operation of the digital inputs NEXT1 and NEXT2 through step enabling condition of the positioning record. The digital inputs NEXT1 and NEXT2 are evaluated only through the step enabling conditions GoImm, IgnUTP, GoATP. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 24 During standard positioning, the torque is limited only by the set nominal or peak currents. Torque limit- ation provides another way of further limiting the torque during active positioning. The value should be less than the set nominal current. Start Delay Waiting time until positioning starts. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 25: Record Selection Through I/O

    – Linear sequence with established subsequent position NEXT1 of the positioning record – Conditional branching to the subsequent position NEXT1 or NEXT2 of the current positioning record – Cyclical process (repetition of the sequence, infinite loop...). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 26 The MC signal (Motion Complete) is set (0 1), the READY signal is reset (1 Combined 1: START position of the record continuation is approached. START/STOP 0: activates Stop function of record continuation Tab. 6.4 Sequence control via I/O Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 27: Modulo Positioning

    Selection for the modulo positioning is possible for the following axis configurations: – Rotative axis with unlimited positioning range – User-defined linear axis - type “conveyor belt” Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 28 By specifying an interval, the actual value only runs through values (interval) within the specified limits. The position range is not influenced by specifying the interval (unlimited, software limit switch not active). Tab. 6.6 Options modulo positioning Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 29 Setpoints outside the interval (incl. the upper interval limit) are always approached again, even if the drive is already at the position. Note When the cam disc function is activated, modulo positioning can only be used for the master. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 30: Homing

    1. Search for the homing point corresponding to the configured method. 2. Run relative to the reference point around the “Offset axis zero point”. 3. Set at the axis zero point: Current position = 0 – offset project zero point. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 31 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-M0-FW-EN – 1304NH...
  • Page 32 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-M0-FW-EN – 1304NH...
  • Page 33 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-M0-FW-EN – 1304NH...
  • Page 34 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-M0-FW-EN – 1304NH...
  • Page 35 3) Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset must be ≠ 0. Tab. 6.7 Overview of homing methods Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 36: Homing - Options

    “Homing: End of search path reached” Torque threshold Requirement: Homing method “Stop” Optional specification of a torque for identification of the stop in the homing method. Tab. 6.8 Homing – options Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 37: Homing Parameters

    Such an encoder is calibrated on the measuring reference system one time through homing and through a position offset stored in the EEPROM of the encoder (saving the zero point offset). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 38: Homing Via I/O

    A requirement in both cases is an active output stage and controller enable. – Activation through the assigned digital input “Start homing” – Selection of the positioning record 0 and activation of the assigned digital input “position selector - start”. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 39: Timing Diagrams

    HA: HOMING_ACTIVE 0 … 10 ms MC: MOTION COMPLETE 20 ms E0: Limit switch 0 Dependent on braking ramp E1: Limit switch 1 Dependent on braking ramp 20 ms Fig. 6.2 Timing diagram: homing without error Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 40 0 … 10 ms MC: MOTION COMPLETE 20 ms ERR: Error Dependent on braking ramp 50 ms + x (x = delay until brake locked) 0 … 10 ms Fig. 6.3 Timing diagram: homing with error Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 41 Functions DIN8 (Start) Speed <> 0 DIG. HOLD HA: HOMING_ACTIVE 0 … 10 ms MC: MOTION COMPLETE 20 ms Dependent on braking ramp 0 … 10 ms Fig. 6.4 Timing diagram: homing with digital halt Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 42: Jog Mode

    Jogging = 0. Low speed phase 1 (slow travel). Maximum speed for Speed phase 2 v(t) Acceleration Deceleration t(s) Time period phase 1 (creeping duration) positive/negative Tab. 6.10 Sequence chart for jog mode Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 43: Jog Mode Parameters

    Setpoint for deceleration of the drive during jog movements. Tab. 6.10 4 Smoothing Smoothing in acceleration value in % (default = 0 %). – 0 % no smoothing – 100 % jerk-free approach or jerk-free braking Tab. 6.11 Parameters for jog mode Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 44 Functions Negative Positive Speed > 0 Speed < 0 MC: MOTION COMPLETE 0 … 10 ms Dependent on braking ramp Fig. 6.5 Timing diagram. Jog positive/negative Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 45 Functions Negative Positive Speed > 0 Speed < 0 MC: MOTION COMPLETE 0 … 10 ms Dependent on braking ramp Fig. 6.6 Timing diagram: Jog positive/negative (simultaneously) Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 46: Teach-In Function

    Teach (DIN) Digital position selector (bit 0 … 3, 4 … 7 optional) Position saved TA: TEACH_ACKNOWLEDGE 0 … 10 ms 0 … 10 ms Fig. 6.7 Timing diagram: Teach Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 47: Setpoint Specification

    Filter time constant AIN0 is a 16-bit input. Due to the high resolution, a digital filter is activated. • Specify the time constant to be used to filter the input voltage. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 48: Digital Nominal Value

    CMMP-AS-...-M0. The switch takes place automatically in positioning mode, and through setpoint value selector in the speed-controlled mode and force/torque mode. Deactivate Through a configured input (DIN) or FHPP, synchronisation can be switched on and off. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 49 Accidental positioning may occur here. If a start command is generated without a prior trigger signal, the diagnostic event 41-0 is triggered: (Record continuation: Start of synchronisation without prior sampling pulse: Check parameterisation of the pre-stop section) Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 50 (Value must be between 1 and 2 ). The incremental input always uses four-fold evaluation. Accordingly the resolution is higher than the line count itself by a factor of 4. Tab. 6.14 Increment generator input parameter Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 51 1) In accordance with RS 422 specification, specifications must be taken from the data sheet of the encoder. Tab. 6.15 Track signals (slave, input [X10]) Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 52: Master-Slave

    – Synchronous positioning records for synchronisation with the rotation of the master – Non-synchronous positioning records for travel to the rest position/wait position – Upward and downward synchronisation so that not jerking movements are generated. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 53: Scope Of Functions For Cam Discs (Cam)

    A requirement is the positioning mode operating mode (record selection or direct mode). Additional information on parameterisation can be found in the Help for the CMMP-AS plug-in. For complete in- formation on the cam disc function, see the special cam disc manual P.BE-CMMP-CAM-SW-..Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 54: Second Measuring System

    For most applications, a high relative posi- tioning accuracy, also called repetition accuracy, is sufficient. Since a second displacement encoder means expense, both mechanically and in parameterisation, the accuracies of common systems are compared in the following: Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 55: Example, Toothed Belt Axis

    Through encoder difference monitoring, an adjustable offset between the motor encoder and external measuring system is detected and reported. Errors, for instance mechanical offset, failure of external encoders or torn toothed belt, result in stopping with a corresponding error message. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 56: Inclusion Of A Second Displacement Encoder

    Increment distance/signal period Track B Resolution through fourfold evaluation Zero track Fig. 6.9 Timing diagram: evaluation of incremental encoder Alternatively, pulse-direction signals or upward-downward counters can be evaluated at [X10], likewise with 5 volt level. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 57: Egc

    – Signal period ( Tab. 6.21) – Encoder difference – Reference signal The encoder difference of 60° represents a start value that is operational in most cases. But it must be adjusted, depending on the application. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 58: 2Nd Measuring System At Input [X2A]

    Usually, the controller data must be adjusted manually to achieve a good positioning. For longer toothed belt axes, reinforcement of the position controller must not be too large, since the system would otherwise swing up. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 59: Additional Functions

    – Without cam disc function: actual position of the motor controller. Setpoint value position – With cam disc function: setpoint position of the slave. – Without cam disc function: setpoint position of the motor controller. Tab. 6.22 Configuration of the encoder emulation Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 60: Brake Control And Automatic Brake

    In this example, the activation time of the automatic brake starts to run after the completion of a posi- tioning record (MC). After the activation time has expired, the brake is closed and the switch-off delay runs simultaneously. After the switch-off delay has expired, the controller end stage is switched off (less warming). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 61 After the start of a new positioning record, the drive moves only after the switch-on delay has expired. Drive is moving START Open brake Automatic Switch-on delay Switch-off delay Controller energised Start of new Record positioning record completed Fig. 6.10 Pulse-time diagram - holding brake with automatic function Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 62: Position Trigger

    A maximum of four value pairs for positions or four value pairs for rotor locations must be assigned to each position trigger. To depict the information on a digital output, the function of a digital output must be set to “position trigger 1” … “4”. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 63: Inputs For Option "Flying Measurement

    The software end positions refer to the axis zero point. If the target position of a positioning command lies outside of the software limits, the positioning command will not be processed and an error status will be set. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 64: Input For Digital Halt

    – Fixed functions are assigned to the inputs DIN4 … DIN7 and the output DOUT0. This assignment is not configurable. The following I/O expansions are possible: – Two additional inputs (DIN10, DIN11) are possible through corresponding reconfiguration of digital outputs with FCT Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 65 – the control interface used – the selected operating mode – the number of freely usable inputs. To control additional functions via digital inputs, you can change the factory-set assignment of the digital inputs present at the basic unit. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 66 Jog mode Negative travel direction Jog mode enables manual travel of the drive. In the High active “Operation enabled” status, the drive can be travelled Positive travel direction High active over the positive/negative inputs. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 67 NEXT1 and NEXT2 through step enabling condition of the positioning record. The digital inputs NEXT1 and NEXT2 are evaluated only through the step enabling conditions GoImm, IgnUTP, GoATP. Tab. 6.27 Function overview of the digital inputs Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 68 The actual speed corresponds to the parameterised High active comparison speed in the “Speed reached” message, taking into consideration the specified tolerance window. Following error The deviation between the nominal and actual position High active exceeds the set value. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 69 Signals that one or more errors are active. High active 1) When a cam disc is active, the MC signal always relates to the movement of the master (physical or virtual), i.e. to the setpoint for the active cam disc. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 70 • Specify in the respective registers in the FCT which value of the respective input variables corres- ponds to an input voltage of 10 V. The scaled range corresponds to a linear characteristic curve symmetric to the zero point (e.g. –1000 R/min … +1000 R/min). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 71 – Effective current actual value – Reactive current setpoint value – Reactive current actual value – Phase Current Additional signals – Rotor Position – Intermediate circuit voltage – Fixed voltage level Tab. 6.30 Output variables Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 72: Supported Encoder Systems

    Single-/multi-turn encoder with HIPERFACE [X2B] analogue incremental signals. Sine/cosine periods 128. Max. revolutions multi-turn: +/- 2048 R SEK37/52 SEL37/52 Single-/multi-turn encoder with HIPERFACE [X2B] analogue incremental signals. Sine/cosine periods 16. Max. revolutions multi-turn: +/- 2048 R Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 73 ERN 100/400/1100/ 1300 Digital incremental encoders CDD50 Stegmann encoder with Hall – [X2B] sensors Resolver Standard Transmission ratio – [X2A] 0.5 +/– 10 %, Excitation voltage. 7 Vrms Tab. 6.31 Supported encoder systems Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 74: Dynamic Response

    If the motor controller is supplied with less than the nominal voltage of 230 V AC, after pre-loading is completed, a power reduction for the PFC step is calculated based on the achieved intermediate circuit voltage. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 75: Behaviour Under Normal Operation And Control Properties

    The intermediate circuit voltage is usually regulated to a constant average value that, under stationary load conditions, is independent of the specified effective power of the motor. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 76: Extended Sine Modulation For Increased Output Voltage

    The PWM frequency can be set in the parameterisation software FCT with the option “Half output stage frequency”. With higher PWM frequencies, the result is reduced nominal/peak currents of the power sections. Derating tables Technical data GDCP-CMMP-M0-HW-..Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 77: Service Functions And Diagnostic Messages

    PE. If the error control detects overload current, the power output stage shuts down immediately, guaranteeing protection against short circuits. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 78: Overvoltage Monitoring For The Intermediate Circuit

    (too much) energy is fed back to the motor controller. In addition, the brake chopper is protected by means of overcurrent detection. If a short circuit is detec- ted via the braking resistor, the brake chopper controller is switched off. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 79: Commissioning Status

    Service functions and diagnostic messages 8.1.9 Commissioning status Motor controllers sent to Festo for servicing are loaded with other firmware and parameters for testing purposes. Before a new commissioning takes place at the end customer, the motor controller CMMP-AS-...-M0 must be parameterised. The parameterisation software queries the commissioning status and prompts the user to parameterise the motor controller.

  • Page 80: 7-Segments Display

    Warning message with main index “xx” and sub-index “y”. A warning is shown at least twice on the 7-segments display. 1) Several characters are displayed one after the other. Tab. 8.3 Operating mode and error display Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 81: Acknowledgement Of Error Messages

    Diagnostic events which are parametrised as warnings are automatically acknowledged when the cause is no longer on hand. 8.2.4 Diagnostic messages The significance and their measures for diagnostic messages are summarised in the following chapter: chapter A Diagnostic messages). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 82: A Diagnostic Messages

    – NoLog (No message and no entry in diagnostic memory). Tab. A.1 Explanations of the 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 A.2. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...

  • Page 83: Diagnostic Messages With Instructions For Troubleshooting

    – Sporadic high processor load due to cycle time being too short and special compute-bound processes (save parameter set, etc.). Measure • Load an approved firmware. • Reduce the processor load. • Contact Technical Support. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 84 – Suitable sensor or sensor characteristics parameterised? – Sensor defective? 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 defective. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 85 – Temperature display plausible? – Device fan defective? – Device overloaded? Measure • Check installation conditions; are the control cabinet fan filters dirty? • Check the drive layout (due to possible overloading in continu- ous duty). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 86 • Check connected peripherals for short circuit or specified load. • Check connection of the brake (connected incorrectly?). 05-5 Voltage failure interface Ext1/Ext2 PS off Cause Defect on the plugged-in interface. Measure • Replace interface Repair by the manufacturer. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 87 Defect in the motor controller. Measure • Internal defect Repair by the manufacturer. 05-9 Encoder supply defective PS off Cause Back measurement of the encoder voltage not OK. Measure • Internal defect Repair by the manufacturer. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 88 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 (bridge, etc.). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 89 If the signals do not comply with the signal specifications, replace the resolver. c) If the error recurs sporadically, check the screen bonding or check whether the resolver simply has an insufficient transmis- sion ratio (standard resolver: A = 0.5). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 90 Additional e.g. 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-M0-FW-EN – 1304NH...
  • Page 91 – Angle encoder connected? – Angle encoder cable defective? – Angle encoder defective? Measure Check the configuration of the angle encoder interface. a) Encoder signals faulty? b) Test with another encoder. Tab. A.2, Page 118. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 92 – Declining illumination intensity with visual encoders? – Excess rotational speed? – Angle encoder defective? Measure If the error occurs repeatedly, the encoder is defective. Replace encoder. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 93 Purely serial evaluation is not possible due to the long response times of this system. Encoder must be operated with analogue track signal evaluation Connect to analogue Z0 track signal evaluation. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 94 (!) save in the motor controller. • If motor exchanged: Parameterise the motor controller again, then carry out homing again and save in the angle encoder, after that (!) save in the motor controller. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 95 – External stop signal (a phase was aborted during homing). Measure • Check homing sequence. • Check arrangement of the switches. • If applicable, lock the STOP input during homing if it is not desired. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 96 Homing: End of search path Configurable Cause The maximum permissible path for the homing run has been travelled without reaching the point of reference or the homing run destination. Measure Malfunction in switch detection. • Switch for homing defective? Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 97 • Replace device on a test basis. If a different device works without errors with the same cabling, send the device to the manufacturer for checking. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 98 • The parameters must be optimised manually. 14-2 Output stage enable could not be granted PS off Cause The output stage has not been enabled. Measure • Check the connection of DIN4. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 99 Invalid number of pairs of poles PS off Cause The calculated number of pole pairs lies outside the parameteris- able range. Measure • Compare result with the technical data specifications for the motor. • Check the parameterised number of lines. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 100 Error during periphery access within the CPU or error in the pro- gram sequence (illegal branching in case structures). Measure • In case of repetition, load firmware again. If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 101 If the error occurs repeatedly, the hardware is defective. 21-3 5283h Error 2 current measurement V PS off Cause Offset for current measurement 2 phase V is too great. Measure If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 102 Device is not enabled for this function. Measure Device is not enabled for the desired functionality and may need to be enabled by the manufacturer. The device must be sent to Festo for this purpose. 25-4 Invalid power stage type...
  • Page 103 – Motor overloaded? Check sizing. – Acceleration or braking ramps are set too steep. – Motor blocked? Commutation angle correct? Measure • Check the parameterisation of the motor data. • Check parameterisation of the following error. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 104 DCO file, firmware download), but no memory card is plugged in. – The DIP switch S3 is set to ON but no card is plugged in after the reset/restart. Measure Insert appropriate memory card in the slot. Only if expressly desired! Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 105 – The firmware file is not appropriate for the device. – Other error during firmware download, e.g. checksum error with an SRecord, error with flash memory, etc. Measure • Connect memory card to PC and transfer firmware file. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 106 • Parameterise operation without PFC (FCT). 31-3 2314h Braking resistor I²t Configurable Cause – Overloading of the internal braking resistor. Measure • Use external braking resistor. • Reduce resistance value or use resistor with higher pulse load. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 107 (mains relay). Measure • In the application, check whether the mains supply and control- ler enable signals were sent quickly one after the other. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 108 – Synchronisation via fieldbus messages during ongoing opera- tion (interpolated position mode) has failed. – Synchronisation messages from master failed? – Synchronisation interval (IPO interval) set too small/too large? Measure • Check the settings for the controller cycle times. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 109 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-M0-FW-EN – 1304NH...
  • Page 110 • Check positioning area. Fault group 41 Position set forwarding: synchronisation error Code Message Reaction 41-0 Position set forwarding: synchronisation error Configurable Cause Start of synchronisation without prior sampling pulse. Measure • Check parameterisation of the lead section. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 111 Measure • Check the selected mode. 42-9 Error when starting the positioning task Configurable Cause – Acceleration limit value exceeded. – Position record blocked. Measure • Check parameterisation and sequence control, correct if neces- sary. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 112 An attempt is being made to switch to the speed control or torque control operating mode or to issue the controller enable in these operating modes, although the drive requires a valid reference position for this. Measure • Execute a homing run. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 113 Safety function: driver function defective (error cannot be PS off acknowledged) Cause Internal voltage error of the STO circuit. Measure • Protection circuit defective. No action possible, please contact Festo. If possible, replace with another motor controller. Fault group 52 Safety function error Code Message Reaction 52-1...
  • Page 114 (data length too great). Measure • Check the data length parameterised in the control system for the controller’s received telegram. • Check the configured data length in the FHPP+ Editor of the FCT. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 115 • For information only - no action required. 82-1 Multiple-started CO write access Configurable Cause Parameters in cyclical and acyclic operation are used concurrently. Measure • Only one parameterisation interface can be used (USB or Ethernet). Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 116 PS off Cause SD-ADUs cannot be started (hardware). One or more SD-ADUs are not supplying any serial data. Measure • Switch on the device again (24 V). If the error appears again, the hardware is faulty. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 117 Firmware parts were not copied correctly from the external FLASH into the internal RAM. Measure • Switch on the device again (24 V). If the error occurs repeatedly, check the firmware version and update the firm- ware if necessary. Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 118 (error-free) encoder (replace the connecting cable as well). If the error still encoders. occurs, there is a fault in the motor controller. Repair by the manufacturer is necessary. Tab. A.2 Instructions regarding error messages 08-2 … 08-7 Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 119 ......Homing ......11, 30 Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 120 ....Synchronisation ....24, 49, 53 Festo – GDCP-CMMP-M0-FW-EN – 1304NH...
  • Page 122 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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