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Summary of Contents for Festo CMMS-ST
- Page 1 PROFIBUS for motor controller CMMS/CMMD Description DeviceNet CMMS-ST CMMS-AS CMMD-AS Description 554 358 en 1103a [757 722]...
- Page 3 Edition ____________________________________________________en 1103a Designation _______________________________ P.BE-CMMS-FHPP-DN-SW-EN Order no. ___________________________________________________554 358 (Festo AG & Co KG., D-73726 Esslingen, Germany, 2011) Internet: http://www.festo.com E-mail: service_international@festo.com The reproduction, distribution and utilisation of this document as well as the communication of its contents to others without explicit authorisation is prohibited.
- Page 4 Name of manual: P.BE-CMMS-FHPP-DN-SW-EN File name: File saved at: Consec. no. Manual Index of revisions Date of amendment Creation 0708NH 02.07.2007 Revision 1103a 02.03.2011 Trademarks DeviceNet™ is registered trademark of the respective trademark owner in certain countries. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
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Page 5: Table Of Contents
Safety instructions ....................7 Target group......................8 Service ........................8 Important user instructions ................... 8 Festo Handling and Positioning Profile (FHPP) ............ 11 Data exchange in the DeviceNet ................11 Mounting and installation ..................13 Mounting......................13 Installation ......................13 Activating and configuring DeviceNet.............. - Page 6 7.10 Electronical identification plate ................25 7.11 Standstill ......................26 7.12 Error record ......................26 7.13 Record List Object ....................26 Module/network status LED ................. 27 DeviceNet error codes ................... 28 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
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Page 7: General Remarks
Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 8: Target Group
This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service or write to the following e-mail address if you have any technical problems: service_international@festo.com Important user instructions... - Page 9 This manual refers to versions set out in Table 1.1 Controller and firmware versions You can find the specifications on the version status as follows: Hardware version and firmware version in the Festo Configuration Tool (FCT) with active device connection under "Device Data" Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
- Page 10 Table 1.1 Controller and firmware versions For older versions: If necessary, use the associated older version of this document. Please note With newer firmware versions, check whether there is a newer version of this description available: } www.festo.com Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
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Page 11: Festo Handling And Positioning Profile (Fhpp)
2. Festo Handling and Positioning Profile (FHPP) Festo Handling and Positioning Profile (FHPP) Festo has developed an optimised data profile, the „Festo Handling and Positioning Profile (FHPP)“, tailored to the target applications for handling and positioning tasks. The FHPP enables uniform control and programming for the various field bus systems and controllers from Festo. - Page 12 2. Festo Handling and Positioning Profile (FHPP) Please note The Open DeviceNet Vendor Association (ODVA) is the user organisation for DeviceNet. Publications on the DeviceNet/CIP specification can be found under: • ODVA (Open DeviceNet Vendor Association) http://www.odva.org • CI (ControlNet International ) http://www.controlnet.org.
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Page 13: Mounting And Installation
6 MNS LED Fig. 3.1 DeviceNet module - pin assignment On the CMMS/CMMD motor controllers the DeviceNet interface has been designed in the form of an optional additional module. An open connector with 5 connections is accessible Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... - Page 14 In order to connect the DeviceNet interface correctly with the network, refer to the very detailed "Planning and Installation Manual" on the ODVA homepage: http://www.odva.org The different types of network supply are represented in detail there. For the best results we recommend that you use ready-made components. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
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Page 15: Activating And Configuring Devicenet
2 DIP switch 11 3 CAMC-DN slot Fig. 4.1 DIP switch DIP switch Meaning MAC ID. See example Reserved Bootloader (If the switch is set to ON, the system searches for new firmware on the SD card) Transmission rate Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 16: Setting The Mac Id
DIP switch 9 = 0 125 kBit DIP switch 10 = 0 DIP switch 9 = 1 250 kBit DIP switch 10 = 0 DIP switch 9 = 0 500 kBit DIP switch 10 = 1 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 17: Assignment Of The I/O Data For Cmmd
(every 1.6 ms) at the earliest. Only then can the answer be returned via the fieldbus. This means that the processing time of the fieldbus protocol is twice as long as with CMMS. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 18: Overview
Response Message with 16 bytes input data and 16 bytes output data are supported. This means that the master periodically sends 16 bytes of data to the slave and the slave also replies with 16 bytes. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 19: Explicit Messaging
EDS file. By using a suitable configuration tool you can configure a device within a network. The EDS for DeviceNet is contained on the CD supplied with the product. The latest version can be downloaded from our home page (www.festo.com/fieldbus). Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 20: Configuration In The Devicenet Network
6. Configuration in the DeviceNet network Configuration in the DeviceNet network The way in which you configure your network depends on the configuration software used. Follow the instructions of the controller manufacturer for registring the EDS file of the motor controller. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 21: Parameters
This object supplies demand and actual values for position, speed and torque. The digital inputs and outputs can also be controlled. Object Class ID: Number of Instances: Allocation Name Attribute FHPP-PNU Type position Position: Actual value 300,1 DINT Position: Setpoint 300,2 DINT Position: Actual deviation 300,3 DINT Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 22: Project Data
Project zero point 500,1 DINT Negative position limit 501,1 DINT Positive position limit 501,2 DINT Max. speed 502,1 UDINT Max. acceleration 503,1 UDINT Max. jerkfree filter time 505,1 UDINT Teach Teach target 520,1 USINT Table 7.4 Project Data Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 23: Jog Mode
This object supplies project information concerning direct mode speed regulation. Object Class ID: Number of Instances: Allocation Name Attribute FHPP-PNU Type Direct mode speed: Direct mode speed: Base ramp 560,1 UDINT Table 7.7 Direct Mode Speed Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 24: Axis Parameter
Homing Offset axis zero point 1010,1 DINT Homing method 1011,1 SINT Homing: Speed (Search for switch) 1012,1 UDINT Homing: Speed (Search for zero) 1012,2 UDINT Homing: Acceleration 1013,1 UDINT Homing required 1014,1 USINT Table 7.9 Homing Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 25: Controller Parameters
Gain current controller 1024,21 UINT Time current controller 1024,22 UINT Save position 1024,32 UINT Motor data Festo serial number + motor serial number 1025,1 UDINT I²t time motor 1025,3 UINT Drive data Power stage temperature 1026,1 UDINT Nominal motor current... -
Page 26: Standstill
USINT Record Control Byte2 402,x USINT Setpoint 404,x DINT Preselection value 405,x DINT Velocity 406,x UDINT Acceleration 407,x UDINT Deceleration 408,x UDINT Jerk-free filter time 413,x UDINT Following Position 416,x USINT Table 7.14 Record List Object Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 27: Module/Network Status Led
Critical error The device has an error which cannot be corrected. The device has ascertained an error which makes critical connection error communication in the network impossible (e.g. Bus- Off, double MAC-ID). Table 8.1 Status LED Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... -
Page 28: Devicenet Error Codes
70-3 FHPP: Changing from the current to the Check your application. It may be Operation mode desired operating mode is not that not every change is permitted. change failure permitted. Table 9.2 FHPP error codes Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a... - Page 29 9. DeviceNet error codes Error messages can be acknowledged by: The configuration interface, via the fieldbus (FHPP control word CCON), a falling edge at DIN5 (controller enable). Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a...
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