Festo CMMP-AS-...-M3 Series Description
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Festo CMMP-AS-...-M3 Series Description

Motor controller
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Motor controller
CMMP-AS-...-M3
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for motor controller
CMMP-AS-...-M3
FW: 4.0.1501.1.0
760330
1203NH

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Summary of Contents for Festo CMMP-AS-...-M3 Series

  • Page 1 Motor controller CMMP-AS-...-M3 Description Functional description (firmware). for motor controller CMMP-AS-...-M3 FW: 4.0.1501.1.0 760330 1203NH...
  • 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-M3-FW-EN – 1203NH...

  • Page 3: Table Of Contents

    ........Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
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  • Page 6: Cmmp-As

    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-...-M3 from Rev. 01 –...
  • Page 7 (firmware). Overview of fieldbus, safety engineering. Description FHPP, Control and parameterisation of the motor controller through GDCP-CMMP-M3-C-HP-... the Festo profile FHPP with the following fieldbuses: CANopen, PROFIBUS, DeviceNet, EtherCAT, PROFINET, Ethernet/IP. Description CiA 402 (DS 402), Control and parametrisation of the motor controller through the GDCP-CMMP-M3-C-CO-...

  • 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, tak- ing into account all integrated components. This also includes the electric drives. – Bypassing safety equipment is impermissible. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

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

    A of the documentation GDCP-CMMP-AS-M3-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-M3-FW-EN – 1203NH...

  • Page 10: Prerequisites For Use

    ( appendix A of the documentation GDCP-CMMP-AS-M3-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-M3-FW-EN – 1203NH...

  • Page 11: Operating Modes And Functions

    The movement is parameterised for several axes in advance in the shape of data points (position, speed, time) and loaded into the controllers. Between the data points, the various axes interpolate independently and work off the movement profile synchronously in time. Tab. 2.1 Overview of operating modes Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 12: Control Interfaces

    24 ff – Linked position sets – Homing run – Cam disc Fieldbus Depending on the field- – Speed adjustment GDCP-CMMP- bus profile – Torque regulation M3-C-HP-... – Position control GDCP-CMMP- M3-C-CO-... Tab. 3.2 Interfaces Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 13: Fieldbus Options

    But only one fieldbus can be active at any given time. For all fieldbuses, the Festo Profile for Handling and Positioning (FHPP) has been implemented as the communication protocol. Additionally, for the CAN bus, the communication protocol based on the CANopen profile in accordance with the CiA DS-301 and the drive profile in accordance with the CiA 402 have been implemented.

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

    Default - motion complete / DOUT1 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 Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 15: Service

    Supported file systems FAT16 FAT32 Format filename 1) Recommended are industry-suitable 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 16: 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 digit representation with 7 segments. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 17: Ethernet (Tftp)

    Procedure with the program TFTP.EXE: 1. Make sure that the output stage enable is switched off. 2. Start the program CMD.EXE 3. Call up the program TFTP.EXE with the following syntax Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 18: Save 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-M3-FW-EN – 1203NH...

  • Page 19: Functions

    – Record at digital input NEXT1 – Record at digital input NEXT2 – Ignore stop input – End speed – Synchronisation – Remaining path message – Torque feed forward – Torque limitation – Start Delay Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 20 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-M3-FW-EN – 1203NH...
  • Page 21 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-M3-FW-EN – 1203NH...
  • Page 22 When synchronisation is active, the position of the encoder (master) selected for the synchronisation is locked onto the setpoint position value. The drive thus follows the changes in position of the master drive. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 23 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-M3-FW-EN – 1203NH...

  • Page 24: 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-M3-FW-EN – 1203NH...
  • Page 25 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-M3-FW-EN – 1203NH...

  • Page 26: Modulo Positioning

    In the case of the “Direction of rotation always positive/negative” mode, the set- ting also applies to setpoints outside the interval (i.e. position specification prefixes are ignored in the position record table). The “Shortest Patch” setting only applies for absolute positioning within the Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 27 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-M3-FW-EN – 1203NH...

  • Page 28: Homing

    The reference signal supplies, for example, a switch that is triggered at a known, unique position on the travel path. Also, dependent on the motor encoder, additional signals (e.g. encoder zero track) can be evaluated to increase accuracy. You establish the used signals via the homing method. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 29: Homing Methods

    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-M3-FW-EN – 1203NH...
  • Page 30 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-FW-EN – 1203NH...
  • 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-M3-FW-EN – 1203NH...
  • 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-M3-FW-EN – 1203NH...
  • 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-M3-FW-EN – 1203NH...
  • Page 34 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-M3-FW-EN – 1203NH...

  • Page 35: 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-M3-FW-EN – 1203NH...

  • Page 36: 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-M3-FW-EN – 1203NH...

  • Page 37: Homing Via I/O

    A requirement in both cases is an active output stage and controller enable. – Activation through the assigned digital input “reference start” – Selection of the positioning record 0 and activation of the assigned digital input “position selector - start”. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 38: 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-M3-FW-EN – 1203NH...
  • Page 39 HA: HOMING_ACTIVE 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-M3-FW-EN – 1203NH...

  • Page 40: Jog Mode

    – Drive free running (e.g. after a system malfunction) – Manual travel as a normal operating mode (manually operated feed). The jog mode can be controlled as follows: – Fieldbus/FHPP (jog mode) – I/O interface through the parameterised digital inputs Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 41: Process

    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-M3-FW-EN – 1203NH...

  • Page 42: 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-M3-FW-EN – 1203NH...
  • Page 43 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-M3-FW-EN – 1203NH...

  • Page 44: Teach-In Function

    These data are lost when the power supply is switched off or in the event of a power failure. Data are stored permanently in the permanent memory of the controller and remain available even after a power failure or switch-off. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 45: Setpoint Specification

    Specify in the FCT which value of the respective input variables corresponds 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-M3-FW-EN – 1203NH...
  • Page 46 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-M3-FW-EN – 1203NH...

  • Page 47: Digital Nominal Value

    CMMP-AS-...-M3. 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-M3-FW-EN – 1203NH...
  • Page 48 This is entered as position lead. The Start can already exist before the travel range of the master posi- tion is reached. In this case, the drive does not start until positioning when the position lead has been covered. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 49 [X10]. Alternatively, the following signals can be con- nected in accordance with RS422 specification: – Differential inputs with TTL level A-B-(N), – Differential inputs for SSI pulse/direction encoder (CLK/DIR) or upward/downward counter (CW/CWW). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 50 – The number of increments for the master referred to 90° must be entered here due to the controller's four-fold evaluation method. After a change of the encoder data, you must save the data following download and per- form a restart with interruption of the power supply. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 51: Master-Slave

    “Flying saw” designates position-synchronous applications in which synchronisation is activated or deactivated, dependent on the positioning record. The setpoint value at the synchronisation input is added to the setpoint position value in the selected record only. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 52 Synchronisation must be explicitly terminated by starting a new positioning record without synchronisation or by using the digital input “Disconnect sync.”. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

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

    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-M3-FW-EN – 1203NH...

  • Page 54: 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-M3-FW-EN – 1203NH...

  • Page 55: 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-M3-FW-EN – 1203NH...

  • Page 56: Egc

    As part of the normal parameterisation, the 2nd displacement encoder must be activated. Through the selection of reversal of direction, the counting direction of the 2nd displacement encoder can be turned. Parameters to be set: – Signal period ( Tab. 6.21) – Encoder difference – Reference signal Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 57: 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-M3-FW-EN – 1203NH...

  • Page 58: 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-M3-FW-EN – 1203NH...

  • Page 59: 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-M3-FW-EN – 1203NH...
  • Page 60 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-M3-FW-EN – 1203NH...

  • Page 61: 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-M3-FW-EN – 1203NH...

  • Page 62: 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-M3-FW-EN – 1203NH...

  • Page 63: Input For Digital Halt

    – Four additional inputs (DIN10 … 13) are possible through corresponding reconfiguration of digital outputs or analogue inputs with FCT – Two extension modules, each with 8 additional digital inputs and outputs (accessories type CAMC-D-8E8A). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 64 – 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-M3-FW-EN – 1203NH...
  • Page 65 Jog mode Negative travel direction Jog mode enables manual travel of the drive. In the “Op- High active eration enabled” status, the drive can be travelled over Positive travel direction High active the positive/negative inputs. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 66 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-M3-FW-EN – 1203NH...
  • Page 67 The actual speed corresponds to the parameterised com- High active parison 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-M3-FW-EN – 1203NH...
  • Page 68 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-M3-FW-EN – 1203NH...
  • Page 69 Analogue inputs — configuration Input Resolution Level AIN0 16 bit, high resolution, differential +10 VDC … –10 VDC (Digital filter) AIN1 10 bit, single-ended (optional: DIN12) AIN2 10 bit, single-ended (optional: DIN13) Tab. 6.29 Analogue inputs Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 70 – Speed actual value – Position setpoint – Position actual value Values for current – Effective current setpoint – Effective current actual value – Reactive current setpoint value – Reactive current actual value – Phase Current Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 71: Supported Encoder Systems

    Single- / multi-turn encoder with HIPERFACE [X2B] SRM50/60/64 SCLxx analogue incremental signal. Line count 1024 (fixed). Number of multi-turn revolutions: +/- 2048 U xx = 25 / 35 / 40 / 45 / 50 / 53 Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 72 100/400/1100/1300 Digital incremental encoders CDD50 Stegmann encoder with Hall – [X2B] sensors Resolver Standard Transmission ratio type 0.5 +- – [X2A] 10 %, Input supply type 7 Vrms Tab. 6.31 Supported encoder systems Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 73: Dynamic Response

    If the motor controller is supplied with less than the nominal voltage of 230 VAC, after pre-loading is completed, a power reduction for the PFC step is calculated based on the achieved intermediate circuit voltage. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 74: Behaviour Under Normal Operation And Control Properties

    With the CMMP-AS-...-M3 motor controller, the cycle rate in the current regulator circuit is set to a cycle time of 125 μs or 62.5 μs. To minimise switching losses, the pulse width modulation clock frequency can be set to half that of the current regulator clock frequency. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 75: Variable Cycle Times, Current, Speed And Position Controller

    Variable cycle times, current, speed and position controller The motor controllers of the CMMP-AS-...-M3 series permit a switchable current control cycle time. From these settings are derived the cycle times for the speed and position controller as well as the interpolation time.

  • Page 76: 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-M3-FW-EN – 1203NH...

  • Page 77: Overvoltage Monitoring For The Intermediate Circuit

    (too much) energy is fed back to the 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-M3-FW-EN – 1203NH...

  • Page 78: 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 it is commissioned again at the location of the final customer, the motor controller CMMP-AS-...-M3 must be parametrised.

  • Page 79: Seven-Segment Display

    Error message with main index “xx” and sub-index “y” -xxy- Warning message with main index “xx” and sub-index “y”. Warnings are shown at least twice on the seven-segment display. Tab. 8.3 Operating mode and error display Festo – GDCP-CMMP-M3-FW-EN – 1203NH...

  • Page 80: 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-M3-FW-EN – 1203NH...

  • Page 81: A Diagnostic Messages

    – Entry (Entry in diagnostic memory), – Ignore (Ignore). Tab. A.1 Explanations on the table “Diagnostic messages of the CMMP-AS-...-M3” The following table includes the error messages corresponding to the firmware versions at the time this document was printed. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 82 • Load an approved PS off Sporadic high processor firmware. load due to cycle time be- • Reduce the processor ing too short and special load. compute-bound pro- • Contact Technical cesses (save parameter Support. set, etc.). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 83 • Check the paramet- risation (threshold value) for wire break detection. 1) Supplemental information in PNU 203/213: Top 16 bits: Status number of internal state machine Bottom 16 bits: Intermediate circuit voltage (internal scaling approx. 17.1 digit/V). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 84 Defect on the safety mod- Interface replacement PS off ternal voltage Repair by the manu- failure facturer. 05-8 – Failure of internal Defect in the motor con- Internal defect Repair PS off voltage 3 troller by the manufacturer. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 85 Repair by the man- ufacturer. 05-3 5410 Undervoltage dig. Defective peripheral • Check connected peri- PS off device? pherals for short cir- cuit / rated loads. • Check connection of the brake (connected incorrectly?). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 86 Case f ) Check parametrisation of the current regulator. Oscillations in an incorrectly parametrised current regulator can generate currents up to the short circuit threshold, usually clearly audible as a high-frequency whistling. Verification, if necessary, with the trace in the FCT (actual active current value). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 87 3) The encoder counts internally, for example positively in clockwise rotation while the incremental evaluation counts in negative direction with the same mechanical rotation. The interchange of the direction of rotation is detected mechanically at the first movement of over 30° and the error is triggered. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 88 (standard resolver: A = 0.5). 5) e.g. EnDat 2.2 or EnDat 2.1 without analogue track. Heidenhain encoder: order codes EnDat 22 and EnDat 21. With these encoders there are no incremental signals, even when the cables are connected. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 89 – Angle encoder con- terface. Proceed accord- [X10] nected? ing to a) and b): – Angle encoder cable a) Encoder signals defective? faulty? – Angle encoder defect- b) Test with another en- ive? coder. Tab. A.3, Page 128. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 90 Replace warded it via serial com- encoder. munication to the control- ler. – Declining illumination intensity with visual encoders – Excess rotational speed – Angle encoder defective? Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 91 0007: Code length measuring system with EnDat2.1 connected, but parametrised as a purely serial encoder. Purely serial evalu- ation is not possible due to the long response times of this encoder system. Encoder must be operated with analogue track signal evaluation -> connect to analogue Z0 track signal evaluation. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 92 The data in question is then discarded. • The parameter record can be adapted to the current firmware by writing the encoder data to the encoder. • Alternatively, load ap- propriate (more re- cent) firmware. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 93 EEPROM encoder. only (e.g. after operation Occurs with Hiperface en- on a motor controller of coders. another manufacturer). No solution possible, en- coder memory must be unlocked with an appro- priate parametrisation tool (from manufacturer). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 94 – Reference switch is • If applicable, lock the beyond the limit stop input during switch. homing if it is not de- – External stop signal (a sired. phase was aborted during homing). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 95 • Method appropriate parametrisation of fol- for the application? lowing error. – No reference switch reached between the end stops. – Zero pulse method: end stop reached (here not permiss- ible). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 96 • Replace device on a test basis. If a differ- ent device works without errors with the same cabling, send the device to the manufacturer for checking. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 97 • Replace device on a test basis. If a differ- ent device works without errors with the same cabling, send the device to the manufacturer for checking. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 98 The pulse train or seg- data to check whether Faulty Hall signals menting of the Hall sig- the encoder shows nals is inappropriate. three Hall signals with 120° or 60° segments; if necessary, contact Technical Support. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 99 Error during program exe- • In case of repetition, PS off cution. An unused IRQ load firmware again. If vector was used by the the error occurs re- CPU. peatedly, the hard- ware is defective. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 100 The closed-loop defective. controller carries out off- set compensation of the current measurement every time its controller enable is issued. Toler- ances that are too large result in an error. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 101 – Power section is not supported by the firm- ware 25-0 6080 Invalid device Device coding not recog- This fault cannot be fixed PS off type nised or invalid. by the user. • Send motor controller to the manufacturer. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 102 The device must be sent to Festo for this. 26-7 – Faulty data tables Data for the cam disk is • Load factory settings...
  • Page 103 • Check the paramet- Config- warning motor capacity. risation of the motor urable threshold Acceleration or braking data. ramps are set too steep. • Check parametrisa- Motor blocked? Commut- tion of following error ation angle correct? (drag error). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 104 Warning only, no further Config- converted which the hours-run action required. urable meter has a different data format. The next time the controller is switched on, the old hours-run meter record is converted to the new format. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 105 – The memory card to a PC and format could not be initial- again. ised. Card type may not be supported! – File system not sup- ported – Error in connection with the shared memory Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 106 – The DCO file to be loaded is defective. Servo >> DCO file – The memory card is read-only. – Other error while sav- ing the parameter set as a DCO file. – Error in creating the file “INFO.TXT” Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 107 Range exceeded for in- • Check whether ex- PS off atical error ternal scaling factors, tremely short or ex- which are dependent on tremely long cycle the parametrised control- times were set in the ler cycle times. parameters. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 108 32-1 3281 Undervoltage for The PFC cannot be activ- • Check power supply. Config- active PFC ated at all until an inter- urable mediate circuit voltage of about 130 VDC is reached. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 109 The drive cannot be enabled in this phase, because the drive is not yet firmly connected to the mains (through the mains relay). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 110 – The synchronisation messages from the master may have failed or – the IPO interval is not correctly set to the synchronisation inter- val of the fieldbus. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 111 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-FW-EN – 1203NH...
  • Page 112 (e.g. with con- troller enable active). 40-0 8612 Negative soft- The position setpoint has • Check target data. Config- ware limit switch reached or exceeded the • Check positioning urable respective software limit area. switch. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 113 – The calculated direc- tion of rotation is not permitted for the modulo positioning in the set mode. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 114 – Technical defect in the system? 44-0 – Fault in the cam Cam disk to be started • Check transferred cam Config- disk tables not available. disc no. urable • Correct parametrisa- tion. • Correct programming. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 115 PDO is error management. to be transmitted syn- • Extend the synchron- chronously, but a high isation interval. number of other PDOs with a different transmis- sion type have been activ- ated. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 116 • Install safety or switch PS off unequal module module is not supported. module appropriate version for the firmware and hardware. (Error cannot be • Load firmware appro- acknowledged) priate for the module, see type designation on the module. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 117 62-5 – EtherCAT: Emergency shut-down • Check the configura- Config- Cyclic data trans- due to failure of cyclic tion of the master. urable mission error data transmission. Synchronous trans- mission is unstable. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 118 DeviceNet interface must also be connec- ted to 24 V DC. 64-2 – DeviceNet: Too many messages re- • Reduce the scan rate. Config- Receive buffer ceived within a short peri- urable overflow Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 119 Serious error has occurred. It can be the error. urable triggered by a defective • Carry out a reset. interface, for example. • Replace the interface. • If the error continues, contact Technical Sup- port. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 120 69-3 – EtherNet/IP: There is an EtherNet/IP Carry out a firmware up- Config- Interface version interface with incompat- date on the most current urable not supported ible version in the slot. motor controller firm- ware. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 121 72-1 – PROFINET: No communication pos- • Check cabling Config- Bus error sible (e.g. line removed) • Start PROFINET com- urable munication again. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 122 Support. set current/velocity/posi- tion interpolator cycle. 80-1 F081 Speed regulator The process data could Please contact Technical PS off IRQ overflow not be calculated in the Support. set current/velocity/posi- tion interpolator cycle. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 123 For information only - no action required. 82-1 – Multiple-started Parameters in cyclical and Only one parametrisation Config- CO write access acyclical operation are interface can be used urable used concurrently. (USB or Ethernet) Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 124 If necessary, urable not supported basically also supported. contact Technical Sup- however in this case the port. current hardware version is not supported (be- cause it is too old). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 125 – DCO download onto memory card still act- – Firmware download via Ethernet active 90-0 5080 Missing hardware External SRAM not detec- Hardware error (SRAM PS off components ted / not sufficient. component or board is (SRAM) defective). Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 126 (24V). If the error error IRQ which then operates appears again, the hard- the current regulator. ware is faulty. Very likely to be a hard- ware error on the board or in the processor. Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 127 Processor error Internal SRAM too small Check the firmware ver- PS off for the compiled firm- sion, and update the firm- ware. Can only occur with ware if necessary. beta versions. Tab. A.2 Diagnostic messages CMMP-AS-...-M3 Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 128 (error-free) encoder (replace the connecting cable as well). If the error still oc- coders. curs, there is a fault in the motor controller. Repair by the manufacturer is neces- sary. Tab. A.3 Instructions on error messages 08-2 … 08-7 Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 129 ......Homing ......11, 28 Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 130 ......Smoothing ......Festo – GDCP-CMMP-M3-FW-EN – 1203NH...
  • Page 132 Copyright: Festo AG & Co. KG Postfach D-73726 Esslingen 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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