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Motor controller CMMS-AS/CMMS-ST/CMMD-AS Description Fuctions and commissioning Firmware-Version from 1.4.0.x.6 8040107 1404NH [8034520]...
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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-CMMS/D-FW-EN – 1404NH –...
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....Configure RS485 interface in the Festo Configuration Tool (FCT) ....
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Before using a newer firmware version, check whether a newer version of the FCT plug- in or documentation is available Support portal: http://www.festo.com/sp. Service Please consult your regional Festo contact if you have any technical problems. Product identification For additional information about the rating plate and manufacturing date “Mounting and installa- tion”...
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Type codes CMMS-AS-C4-3A-G2 Type codes CMMS-ST-C8-7-G2 CMMS – – – – Interfaces CMMS Motor controller, standard Motor technology Stepper motor Nominal current Input voltage 48 V DC Generation 2nd generation Fig. 2 Type codes CMMS-ST-C8-7-G2 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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CMMS-AS/CMMS-ST/CMMD-AS Type codes CMMD-AS-C8-3A CMMD – – – Interfaces CMMD Motor controller, double Motor technology AC synchronous Nominal current Input voltage 230 V AC Fig. 3 Type codes CMMD-AS-C8-3A Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Help for the CMMD-AS plug-in CMMD-AS plug-in Help for the CMMS-ST plug-in CMMS-ST Tab. 1 Documentation on the motor controllers The documentation is available on the following media: – CD-ROM (scope of delivery) – Support Portal: www.festo.com/sp Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
• Perform a risk assessment in accordance with the EC machinery directive. • Based on this risk assessment, design the safety system for the entire machine, taking into account all integrated components. This also includes the electric drives. Bypassing of safety equipment is impermissible. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the event of damage caused by unauthorised manipulation or other than intended use, the guaran- tee is invalidated and the manufacturer is not liable for damages. The motor controller supports the following safety function: – “Safe torque off ” (STO) Additional information “STO safety function” description, GDCP-CMMS-AS-G2-S1-.../GDCP-CMMS-ST-G2-S1-.../GDCP-CMMD-AS-S1-..Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The motor controller carries the CE marking; for standards and test values “Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/ GDCP-CMMS-ST-G2-HW-…, Appendix A.1. The product-relevant EU directives can be found in the declaration of conformity. Certificates and the declaration of conformity for this product www.festo.com/sp Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Interfaces 2.1.2 Power supply, motor and motor encoder interfaces 1 x 110 … 230 V AC Power ON/OFF 24 V DC Fig. 2.2 Overview: Power supply, motor and motor encoder interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(connected with protective earthing “) Motor encoder (closed loop) EnDat interface Servo motor EMMS-AS – Motor (U/V/W/PE) – Holding brake (BR+/BR–) – Motor temperature sensor (MT+/MT–) Tab. 2.2 Overview: Power supply, motor and motor encoder interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Interfaces 2.1.4 LED indicators, seven-segment displays and DIL switches Fig. 2.4 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Firmware download activation from the memory card [S1.8] Data rate configuration [S1.9…10] (CAN bus/DeviceNet) CAN bus activation [S1.11] Terminating resistor activation [S1.12] (CAN bus) Tab. 2.4 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1 x 110 … 230 V AC/3x400 … 500 V AC Power ON/OFF 24 V DC/ 24 V DC 48 V DC 1) Dependent on the power supply “power supply unit power section” Fig. 2.6 Overview: Power supply, motor and motor encoder interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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– Holding brake (BR+/BR–) – Motor temperature sensor (MT+/MT–) 1) If the stepper motor is configured without a motor encoder in the Festo Configuration Tool (FCT), the motor controller is automatic- ally operated in an open control circuit (open loop).
Interfaces 2.2.4 LED indicators, seven-segment displays and DIL switches Fig. 2.8 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Firmware download activation from the memory card [S1.8] Data rate configuration [S1.9…10] (CAN bus/DeviceNet) CAN bus activation [S1.11] Terminating resistor activation [S1.12] (CAN bus) Tab. 2.8 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Power supply, motor and motor encoder interfaces 1 x 110 … 230 V AC Power ON/OFF 24 V DC X2.2 X6.2 Axis string 2 X2.1 X6.1 Axis string 1 Fig. 2.10 Overview: Power supply, motor and motor encoder interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(connected with protective earthing “) Motor encoder (closed loop) EnDat interface Servo motor EMMS-AS – Motor (U/V/W/PE) – Holding brake (BR+/BR–) – Motor temperature sensor (MT+/MT–) Tab. 2.10 Overview: Power supply, motor and motor encoder interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Interfaces 2.3.4 LED indicators, seven-segment displays and DIL switches Fig. 2.12 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Firmware download activation from the memory card [S1.8] Data rate configuration [S1.9…10] (CAN bus/DeviceNet) CAN bus activation [S1.11] Terminating resistor activation [S1.12] (CAN bus) Tab. 2.12 Overview: LED indicators, seven-segment displays and DIL switches Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Record selection (Positioning record 0) Jog mode page 171 Direct application Digital inputs Teach mode page 177 Direct application Record selection (Positioning record 1…63) Tab. 2.14 Overview: Positioning mode “homing mode/jog mode/teach mode” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Direct mode Direct application Analogue setpoint value Analogue input 1) Only for configuration “linear axis” active. 2) Only for configuration “rotative axis” active. Tab. 2.15 Overview: Speed mode, force mode and torque mode Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) HTL signal (high transistor logic): High signal = 24 V 2) TTL signal (transistor-transistor logic): High signal = 5 V 3) Interface module CAMC-... (optional) Fig. 3.1 Overview: Digital, analogue, synchronisation and fieldbus interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) HTL signal (high transistor logic): High signal = 24 V 2) TTL signal (transistor-transistor logic): High signal = 5 V 3) Interface module CAMC-... (optional) Fig. 3.2 Overview: Digital, analogue, synchronisation and fieldbus interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) The digital input (DIN9) is used as a sample input with flying measurement. 2) The digital input (DIN12) is used as an analogue input “AIN0” in speed, force or torque mode. Tab. 3.1 Overview: Selecting the operating mode/mode via digital input signals “Mode bit 0/1” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
3) The digital inputs (DIN12/DIN13) are used as analogue inputs (AIN0/#AIN0) in speed, force or torque mode. 4) The digital output can be freely configured (default setting in the Festo Configuration Tool (FCT)). Tab. 3.2 Overview: Digital I/O modules dependent on the operating mode/mode...
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Record linking, mode 2 Synchronisation, mode 3 1) Only active for mode 0…2 5 ms 2) Only active for mode 3 Fig. 3.4 Timing diagram: Selecting the operating mode/mode via digital input signals “Mode bit 0/1” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
• Functional timing diagram for – Individual record operation page 123 – Record linking operation page 141 – Homing mode page 159 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Signal for interrupting the record sequence page 140. low active (DIN3) – With the low signal, the record sequence is stopped. [X1.8]/[X1.1.8/X1.2.8] – With the high signal, the record sequence is continued at the stopped position. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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– With the falling edge, the current actual position is temporarily stored in the selected positioning record. The taught positions are not permanently stored until there is a falling edge of the controller enable signal (DIN5)[X1.9]. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The higher-order controller can interrogate the last stored actual position via the act- ive fieldbus. Tab. 3.3 Overview: Digital input signals Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
“Start positioning” is withdrawn again. – During record linking operation the signal is automatically withdrawn (approx. 16 ms) after setting the digital input signal “Start record sequence”. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
EMMS-AS-...-TM...): The signal is high. If homing is aborted due to an er- ror, the signal becomes low. CMMS-ST – The signal becomes high as soon as homing has been completed without error. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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210. Permanent signal The signal is permanently low (O V). (configurable) The signal is permanently high (24 V). high (configurable) Tab. 3.4 Overview: Digital output signals Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
= … ms (FCT: Dependent on the parameter = +/– … R (rotative axis) “Damping time” in the message “Target (FCT: Dependent on the parameter “Message reached”) window” in the message “Target reached”) Fig. 3.5 Timing diagram: Message “Target reached” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
“Response delay” in the message “Following (FCT: Dependent on the parameter “Message error”) L 5 s (time after which the warning message window” in the message “Following error”) is automatically removed) Fig. 3.6 Timing diagram: Message “Following error” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Tab. 3.9 Overview: Encoder input signals at the digital input Max. cycle rate The encoder signals can be operated with the following cycle rates: Digital input [X1]: Max. 20 kHz Encoder input [X10]: Max. 150 kHz Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
[X10.3/8] [X10.1.3/8] /[X10.2.3/8] 1) Differential signals in accordance with RS422 2) The encoder output is used as an encoder input during synchronisation (slave operation). Tab. 3.10 Overview: Encoder output signals and control interface Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Incremental signal: #A 90° Incremental signal: B Incremental signal: #B One revolution Zero pulse signal: N Zero pulse signal: #N Fig. 3.11 Timing diagram: Incremental signal for direction of rotation to the right (basic setting) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Timing diagram: Pulse/direction signals Pulse period Pulse signal: CLK Pulse signal: #CLK Direction of rotation “positive” Direction of rotation “negative” Direction signal: DIR Direction signal: #DIR Rotor position Fig. 3.12 Timing diagram: Pulse/direction signals Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Reverse signal: CCW Reverse signal: #CCW Rotor position Fig. 3.13 Timing diagram: Forward/reverse signals Only one signal pair may be active for activation of the motor controller. – Forward signals CW/#CW – Reverse signals CCW/#CCW Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Only one fieldbus may be used for activation of the motor controller. The Festo Profile for Handling and Positioning (FHPP) and the CANopen device profile CiA 402 have been implemented as the device profile (communication protocol) in the motor controller.
2) The limit switches are set by default to N/C contact (configuration over FCT) 3) Only required for applications with limited positioning range or homing methods with limit switch. Fig. 3.14 Connection: Required digital inputs/outputs with fieldbus control Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Device profiles for fieldbuses 3.6.1 Device profile: Festo handling and positioning profile (FHPP) Independent of the fieldbus used, a uniform control concept can be implemented through the device profile “FHPP”. The user does not have to know the specific functions of the respective fieldbuses or controllers, but can commission and control the drive in the shortest possible time through a uniform profile.
Working stroke (no hardware limit switches) 1) Additional information page 161. Tab. 4.1 Measuring system for linear drives Additional information CD-ROM: Documentation “CMMS-AS_de.pdf/CMMS-ST_de.pdf/CMMD- AS_de.pdf ” or the Festo Configuration Tool (FCT): Dynamic/static plug-in help. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
2) In the “Endless positioning” operational function, no limit switch can be parameterised. Tab. 4.2 Measuring system for rotative drives Additional information CD-ROM: Documentation “CMMS-AS_de.pdf/CMMS-ST_de.pdf/ CMMD-AS_de.pdf ” or the Festo Configuration Tool (FCT): Dynamic/static plug-in help. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
SLN/SLP. If a target position lies outside this range, the positioning record is not executed and the reaction parameterised in the FCT error management of messages “400…403” is carried out. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
5.1.1 Festo Configuration Tool (FCT) The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, paramet- erisation and commissioning of different components and devices from Festo. – Management of data/files via the RS232 data interface (online) or memory card •...
The FCT is installed on your PC with an installation programme: 1. Close all other programmes before starting installation. 2. Insert the “Festo Configuration Tool” CD in your CD-ROM drive. • If Auto-Run is enabled: The installation process starts automatically.
Window: Dynamic Help Button. Dynamic Help Fig. 5.1 Overview: Dynamic Help in the Festo Configuration Tool (FCT) Static Help: – Click in the FCT user interface in a parameter/configuration field. When the F1 key is pressed, the Static Help is displayed for the parameter/configuration field.
Fieldbus Port DIL switch [S1.11] CANOpen CAN bus active inactive DriveBus 1) The CAN bus interface is disabled with installation of the interface module “CAMC-PB/PROFIBUS DP” or “CAMC-DN/DeviceNet”. Tab. 5.5 CAN bus activation Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the PROFIBUS DP, the terminating resistor is integrated into the “CAMC-PB” interface module. The terminating resistor (120 Ω) can be connected externally to the end participant, if required, for DeviceNet and RS485. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the event of a firmware download, the parameter set of the motor controller is de- leted (“factory setting” status). – Before downloading the firmware, back up the device data to the Festo Configura- tion Tool (FCT) (Upload/Synchronisation) or save the current parameter set of the motor controller to the memory card (FCT: Controller >>...
6. The process for downloading the firmware file is executed (flashing decimal point “.” on the seven- segment display) if a valid firmware file is present on the memory card and if this file is of a different version to the firmware currently in use. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The firmware download process must be restarted again. 7. The newly loaded firmware starts automatically. 8. Set the DIL switch [S1.8] to the “OFF” position. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
– Save all modifications made to the device data in the permanent memory of the motor controller (FCT: Save). Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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2 Download 4 Save 3 Synchronisation Upload Syncronisation The current device data on the motor The device data on the Festo Configuration controller is loaded into the Festo Tool (FCT) and the motor controller is Configuration Tool (FCT). synchronised. Download...
Archive file (.ZIP) 2 Extract Archive: Extract: The device data from the Festo Configuration The archive file (.ZIP) containing the device Tool (FCT) is saved to the PC's hard disk as an data is loaded from the PC's hard disk into archive file (.ZIP).
= digits 1–6 are used for the file name. Any ASCII characters can be used here. n = digits 7+8 are used for the consecutive number of the file. This increases automatically from “00”. Tab. 5.8 Requirement for parameter file names Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The latest parameter set of the motor controller is written to the memory card as a parameter file (.DCO). Fig. 5.8 Overview: Downloading/uploading the parameter file (.DCO) (memory card >>/<< motor controller) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
• Check the status of the firmware version Support portal: www.festo.com/sp. Note Before using a newer firmware version, check whether a newer version of the FCT plug- in or documentation is available Support portal: http://www.festo.com/sp. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The connection diagram shows the switch positions in operation. 1) The digital input (DIN13) is used as an analogue input (#AIN0) in speed, force or torque mode. 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 5.9 Connection: Digital inputs/outputs for operation Festo –...
Device data (FCT) Parameter file (.DCO) Ready for operation Enable output Controller operating mode Block output stage stage and controller Position Current Enable controller Rotational speed Fig. 5.10 Status diagram of the motor controller Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The housing can reach a temperature of > 80° C during operation, which can cause burns. 1. Install the product in a control cabinet. 2. Check the temperature of the housing before touching it (e.g. by slowing moving the back of your hand towards the housing). Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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6. the grounding or screening element is insufficient or has not been connected. – Before switching on, check to ensure the grounding and screening elements are connected. 7. The plug connector is disconnected during operation. – Do not disconnect any plug connectors during operation. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1. Connect the PC to the motor controller. Observe the pin allocation of the RS232 interfaces page 235. 2. Start the Festo Configuration Tool (FCT). 3. Establish an online connection to the motor controller in the FCT. The online firmware download process can be executed if required.
(e.g. emergency off switch with safety switching device), which can result in crushing injuries within the operating area of the drive. • Parameterise the motor controller with the Festo Configuration Tool (FCT) before the controller enable is enabled (DIN5)[X1.9][X1.1.9/X1.2.9] (= 24 V).
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(brake 2.5 ms control, brake timing)) 10 ms (dependent on the operating mode and the status of the drive) Fig. 5.11 Timing diagram: Enabling the output stage (DIN4) and controller (DIN5) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The commutation finding process is only performed by motor controller CMMS-ST-C8-7-G2 if the step- per motor with motor encoder EMMS-ST-...-...E... (closed loop) has been configured in the Festo Config- uration Tool (FCT). In the commutation finding process the stepper motor executes a brief rotation (<3.6 °) the first time it is supplied with power after the controller enable (DIN5 = 24 V).
5.3.8 Checking motor and limit switch functionality Checking activation of the motor Activate the motor controller by using the jog function in the Festo Configuration Tool (FCT) page 172 to check the function and direction of rotation of the motor.
On initial start-up or after replacing the motor – Incremental encoder (CMMS-ST): After each Power ON/Controller restart (FCT) 3. If the axis has been parameterised in the Festo Configuration Tool (FCT) with a limited working stroke (linear)/positioning range (rotative). For additional information on homing page 154.
• Interrupt mains supply page 106. The holding brake is configured in the Festo Configuration Tool (FCT) via the selection of the motor type. When the holding brake has been configured, the time delays in the brake control are activated and can be parameterised.
(DIN5)[X1.9] Holding brake released (BR+)[X6.2] Output stage active (DOUT… )[X1.…] Controller ready for operation (DOUT0)[X1.24] Common error (DOUT3)[X1.13] Speed = 60 ms 2.5 ms Fig. 5.13 Timing diagram: Interruption of the mains supply Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
= 0…6553 ms (FCT: Dependent on the 2.5 ms parameterised switch-off delay (brake L 50…500 ms control, brake timing)) Fig. 5.14 Timing diagram: Switching off the motor controller via output stage enable (DIN4) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Quick stop delay and Quick control, brake timing)) stop monitoring time of the speed actual 5 ms L 50…500 ms value) 5 ms Fig. 5.15 Timing diagram: Switching off the motor controller via controller enable (DIN5) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
• Make sure that the motor controller is only controlled by one control interface (mas- ter control). When the motor controller is switched on, the control interface that was last configured via the Festo Configuration Tool (FCT) is activated by default (default setting: Digital inputs/outputs).
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CI commands CI commands Festo Configuration Tool (FCT) RS232 Device control 1) Note the information regarding interface: RS232 page 236 and RS485 page 240. Fig. 5.16 Overview: Master control over the motor controller Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Output stage enable (DIN4)[X1.21] Controller enable (DIN5)[X1.9] Stop (DIN13)[X1.15] Control via DIN Festo Configuration Tool (FCT), Device control “FCT” active “Enable” active Parameterise Control Fig. 5.17 Timing diagram: FCT master control over the motor controller Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Speed setpoint value value Position Speed regu- Current control Output stage controller lator (Torque) – – – Actual current value Motor Actual speed value Actual position value Motor encoder Fig. 6.1 Overview: Position control Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the Festo Configuration Tool (FCT), the individual record/record linking mode can be parameterised via the parameters “positioning record list/positioning record profiles” and the homing mode can be parameterised via the “homing”...
The controller-internal positioning controller retains the positioning parameters for each additional direct application if a new parameterisation process has not been executed via the active fieldbus. The positioning parameters can be parameterised via fieldbus or the Festo Configura- tion Tool (FCT).
2) The limit switches are set by default to N/C contact (configuration over FCT) 3) Only required for applications with limited positioning range or homing methods with limit switch. Fig. 6.4 Connection: Required digital inputs/outputs with fieldbus control Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) The value and the unit is set in the cyclic data of the control system. Tab. 6.2 Parameters: Position, acceleration, deceleration, velocity, base value of velocity and smoothing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(360°). For positioning records that do not have a whole number (integer) as the result, the motor controller rounds up to the next whole number. – Take into consideration the deviation of the rounded position values when paramet- erising the position page 114. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Position selection/ internal control PROFIBUS DP Positioning positioning EXT1 DeviceNet record: control 1…63 Inputs X1.1 Digital inputs Bit 0…5 X1.2 Fig. 6.5 Overview: Activating the individual record mode via fieldbus and digital inputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Common error (DOUT3) Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.6 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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[X1.20] [X1.7] [X1.19] [X1.1.16] [X1.1.3] [X1.1.8] [X1.1.20] [X1.1.7] [X1.1.19] [X1.2.16] [X1.2.3] [X1.2.8] [X1.2.20] [X1.2.7] [X1.2.19] … … … … Tab. 6.3 Overview: Activating the positioning record via digital inputs (record selection bit 0...5) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
= … ms (FCT: Dependent on the parameters 2.5 ms “Message window” and “Damping time” in 5 ms the message “Destination reached”) Fig. 6.7 Timing diagram: Start individual record via start positioning signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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“Message window” and “Damping time” in 2.5 ms the message “Destination reached”) = … ms (FCT: Dependent on the parameter “Stop input” in the stop decelerations) Fig. 6.8 Timing diagram: Cancelling the individual record via the stop signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Position Profiles Position Profiles Number 1…7 Velocity Acceleration Deceleration Smooth 126/129 Start Delay Final Velocity Start Condition Ignore Delay Interrupt Tab. 6.4 Overview: Positioning record table, positioning record list and positioning record profiles Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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– The positioning record in the individual record is selected via the record selection of the control interface. Profile Selection of a positioning record profile “0...7” (table “Positioning record profiles”). Tab. 6.5 Parameters: Positioning record number and profile Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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RN = Relative positioning related to the current setpoint position END Command The individual record is ended upon reaching the position. Tab. 6.6 Parameters: Position, acceleration, deceleration, velocity, mode, command (END) and smoothing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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“RA” (related to the current actual position) is carried out page 128. FCT position sets activation “MEM/FCT” Type of positioning FCT position sets activation Absolute positioning “A” Relative positioning “RA” Relative positioning “RN” Tab. 6.7 FCT-Verfahrsatz-Ansteuerung „MEM/FCT“ Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= Absolute positioning related to a fixed zero RN = Relative positioning related to the current point (e.g. project zero point) setpoint position RA = Relative positioning related to the current actual position Fig. 6.9 Timing diagram: Parameters: Mode “A/RA/RN” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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) and the position are reached in the shortest amount of time. Diagram: Filter time t as a function of smoothing Smoothing [%] Filter time t [ms] Fig. 6.10 Diagram: Filter time t as a function of smoothing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= 25 ms Filter time t = 50 ms a– a– a– a– = Acceleration 1) Movement with reduced acceleration 2) Movement with reduced deceleration a– = Deceleration = Velocity Fig. 6.11 Timing diagram: Smoothing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The diagram shows the deceleration for point-to-point positioning as a function of the “Start delay” parameter. a– Start Acceleration Velocity a– Deceleration Pos Position Parameter Description Start Delay Setpoint value for the time delay until the current positioning record is started. Tab. 6.9 Parameter: Start delay Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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1) The max. value is limited by the setpoint value specification of the “axis” parameter. Tab. 6.10 Parameter: Final velocity Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Other start signals do not have any effect when executing the cur- rent positioning record. The current positioning record moves to parameterised position 1. After reaching the position the next posi- tioning record can be started. Tab. 6.11 Parameter: Start condition “Ignore” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The current positioning record moves to parameterised position 1. The next positioning record then starts. The positioning record that was last activated with the start signal is moved. Tab. 6.12 Parameter: Start condition “Delay” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(actual posi- tion value, actual speed value) (e.g. if the new position cannot be approached with the parameterised delay due to the current travel speed). Tab. 6.13 Parameter: Start condition “Interrupt” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1…63 control Record Position control selection/ positioning record: 1…7 Inputs Bit 0…2 Sequence X1.1 control: Digital inputs X1.2 NEXT1/2 Fig. 6.12 Overview: Activating the record linking mode via fieldbus and digital inputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.13 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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1) In the record linking mode, the digital inputs (DIN3/DIN10/DIN11) are used for the digital input signals “Halt record sequence/ NEXT1/NEXT2”. Tab. 6.14 Overview: Activating the positioning record via digital inputs (record selection bit 0...2) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
2.5 ms “Message window” and “Damping time” in 5 ms the message “Destination reached”) L 16 ms 2.5 ms Fig. 6.14 Timing diagram: Starting the record sequence via the start record sequence signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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“Message window” and “Damping time” in = … ms (FCT: Dependent on the deceleration the message “Destination reached”) ramp) Fig. 6.15 Timing diagram: Interrupting the record sequence via the halt record sequence signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= … ms (FCT: Dependent on the parameters 2.5 ms “Message window” and “Damping time” in 2.5 ms the message “Destination reached”) Fig. 6.16 Timing diagram: Cancelling the record sequence via the stop signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= … ms (FCT: Dependent on the parameters 2.5 ms “Message window” and “Damping time” in 2.5 ms the message “Destination reached”) Fig. 6.17 Timing diagram: Cancelling the record sequence via mode bit 1 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
4) Record continuation is effected via the NEXT... signal 5) Record continuation is effected via the NEXT... signal and Motion Complete signal Tab. 6.15 Overview: Positioning record table, positioning record list and positioning record profiles Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The record sequence is terminated with the “END” command. Destination Selection of the subsequent positioning record in the record sequence. – All positioning record numbers can be used as the destination. Tab. 6.16 Parameters: Positioning record number, command and destination Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Continuation takes place when the controller-internal Motion Complete signal = high (position reached). END = End of record linking (record sequence): The record sequence is ended upon reaching the position. Tab. 6.17 Parameter: Command “MC (Motion Complete)/END” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(e.g. mechanical stop) at any position. Time Setpoint value for the time until the continuation is executed. The parameter is activated via the positioning record profile parameter “Command: STS”. Tab. 6.18 Parameter: Command “STS” (rest) and time Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Time Setpoint value for the time until the continuation is executed. The parameter is activated via the positioning record profile parameter “Command: TIM”. Tab. 6.19 Parameter: Command “TIM” and time Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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NFI = Continuation with falling edge (NEXT…): The current positioning record is interrupted with the falling edge (NEXT1/2), and the next positioning record in the record sequence is started immediately. Tab. 6.21 Parameter: Command “NFI” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Continuation takes place when the controller-internal signal “Motion Complete = high” and a rising edge is detected at the digital input (NEXT1/2). The signals can occur in any sequence. Tab. 6.22 Parameter: Command “NRS” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Continuation takes place when the controller-internal signal “Motion Complete = high” and a falling edge is detected at the digital input (NEXT1/2). The signals can occur in any sequence. Tab. 6.23 Parameter: Command “NFS” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Setpoint value for the final velocity at which the position is travelled through and subsequently continued. 1) The max. value is limited by the setpoint value specification of the “axis” parameter. Tab. 6.24 Parameter: Command “Final velocity” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
(preset by the controller) Internal setpoint value of the position Specification of the position setpoint values controller in a 400 μs position controller Support points (in the interpolation cycle) cycle Fig. 6.18 Interpolated positioning mode Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.20 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The controller-internal positioning controller calculates the homing curve from these parameters and transfers the position setpoint values cyclically to the position control. The homing parameters can be parameterised via fieldbus or the Festo Config- uration Tool (FCT).
Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.22 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(DIN0) [X1.16] [X1.3] [X1.8] [X1.20] [X1.7] [X1.19] [X1.1.16] [X1.1.3] [X1.1.8] [X1.1.20] [X1.1.7] [X1.1.19] [X1.2.16] [X1.2.3] [X1.2.8] [X1.2.20] [X1.2.7] [X1.2.19] Tab. 6.25 Overview: Activating the positioning record via digital inputs (record selection bit 0...5) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
= … ms (FCT: Dependent on the parameters “Message window” and “Damping time” in the message “Destination reached”) Fig. 6.23 Timing diagram: Starting homing to the limit switch via the start positioning signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= … ms (FCT: Dependent on the deceleration ramp) = … ms (FCT: Dependent on the parameters “Message window” and “Damping time” in the message “Destination reached”) Fig. 6.24 Timing diagram: Homing to stop Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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2.5 ms Travel curve with “Negative limit switch” = … ms (FCT: Dependent on the parameter homing methods “Stop input” in the stop decelerations) Fig. 6.25 Timing diagram: Cancelling homing via stop signal Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= … ms (dependent on the configuration Travel curve with “Negative limit switch” “error function” in the error management and homing methods the corresponding parameter in the stop deceleration) Fig. 6.26 Timing diagram: Cancelling homing through an error Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
166. – Block page 167. – Block with zero pulse page 168. – Zero pulse page 169. Direction For homing, the following search directions can be configured: – Positive direction – Negative direction Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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(DIN4)[X1.21] = 24 V DC. “Fieldbus” control interface: – Homing is started automatically with each enable (control data) when the output stage enable (DIN4)[X1.21] and the controller enable (DIN5)[X1.9] = 24 V DC. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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By selecting this option the offset data is transferred from the zero point synchronisation (dimension reference system and motor en- coder) and stored permanently in the multi-turn absolute encoder page 170. Tab. 6.26 Configure and parameterise homing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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2. If an axis zero point is parameterised and the FCT option “Travel to axis zero point after homing” is activated: Travel with “Run” speed to the axis zero point. Tab. 6.27 Overview: Current position Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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FCT option “Travel to axis zero point after homing” is activated: Travel with “Run” speed to the axis zero point. 1) If the limit switch is active, continue at 2nd point. Tab. 6.28 Overview: Homing to limit switch Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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1) Motors have shaft encoder with zero pulse as standard. 2) If the limit switch is active, continue at 2nd point. Tab. 6.29 Overview: Homing to limit switch and zero pulse signal (N/#N) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Travel with “Run” speed to the axis zero point. 1) Limit switches are ignored during travel to the stop. 2) The stop is detected after the current has risen. Tab. 6.30 Overview: Homing to stop Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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1) Motors have shaft encoder with zero pulse as standard. 2) Limit switches are ignored during travel to the stop. 3) The stop is detected after the current has risen. Tab. 6.31 Overview: Homing to stop and zero pulse signal (N/#N) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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FCT option “Travel to axis zero point after homing” is activated: Travel with “Run” speed to the axis zero point. 1) Motors have shaft encoder with zero pulse as standard. Tab. 6.32 Overview: Homing to zero pulse signal (N/#N) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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If the power supply is interrupted, the offset data is not lost. When the power supply is switched on, drives with a multi-turn absolute encoder are always homed to the absolute encoder zero point stored in the motor encoder. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
(CANopen/PROFIBUS DP/DeviceNet), the digital inputs (mode 1 page 49) or the parameter inter- face (RS232, Festo Configuration Tool (FCT)). Through the direct application of the fieldbus, the digital inputs “Jog+ (DIN10)/Jog– (DIN11)” or the Festo Configuration Tool (FCT) “Jog<</Jog>>”, the controller- internal positioning control receives the travel direction for the jog mode.
The jog mode can be manually controlled via the interfaces “Jog<< (–)/Jog>> (+)” in the FCT window “Pro- ject output” in the online tab “Manual move”. Manual Move >>: Jog in positive direction <<: Jog in negative direction Fig. 6.28 Manual jog via Festo Configuration Tool (FCT) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.29 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
5 ms = … ms (FCT: Dependent on the jog 5 ms deceleration ramp) = … ms (FCT: Dependent on the crawl duration page 176) Fig. 6.30 Timing diagram: Jog travel via jog+/jog– Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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= … ms (FCT: Dependent on the jog 5 ms deceleration ramp) = … ms (FCT: Dependent on the crawl duration page 176) Fig. 6.31 Timing diagram: Jog travel with simultaneous activation of jog+/jog– Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Software end position: If the drive is referenced, the drive automatically stops when it reaches a software end position. The software end position is not passed (deceler- ation path is taken into account). Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Positioning record PROFIBUS DP parameter “Position” EXT1 DeviceNet Record selection/ Positioning record: 1…63 Inputs Digital inputs Bit 0…5 X1.1 X1.2 Teach Fig. 6.32 Overview: Activating the teach mode via fieldbus and digital inputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.33 Connection: Digital inputs/outputs Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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[X1.20] [X1.7] [X1.19] [X1.1.16] [X1.1.3] [X1.1.8] [X1.1.20] [X1.1.7] [X1.1.19] [X1.2.16] [X1.2.3] [X1.2.8] [X1.2.20] [X1.2.7] [X1.2.19] … … … … Tab. 6.34 Overview: Activating the positioning record via digital inputs (record selection bit 0...5) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Record selection bit 5 Jog– Jog– (operating mode-dependent) (DIN11)[X1.16] Acknowledge teach (DOUT2)[X1.25] Store actual position 2.5 ms 2.5 ms = … ms (FCT: Dependent on the debounce time) Fig. 6.34 Timing diagram: Teaching Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Debounce time of the DINs after teaching (Time To Ignore DINs After Teach) Ignore time Setpoint value for the duration after the falling flank “Teach (DIN8)” until the digital inputs “Jog+ (DIN10)” and “Jog– (DIN11)” are evaluated again. Tab. 6.35 Parameterise teach mode Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the speed mode, the motor controller receives the speed setpoint value via the control interface (fieldbus/analogue input/Festo Configuration Tool (FCT)). The regulator cascade (speed and current regulator) processes the deviation between the “speed setpoint value” and the “actual speed value”...
7.1.2 Function: Speed mode In the speed mode, the higher-order controller or the Festo Configuration Tool (FCT) controls the speed of movement of the drive. The motor controller can be controlled via the active fieldbus (CANopen/ PROFIBUS DP/DeviceNet/RS485), the analogue input or the Festo Configuration Tool (FCT). Through the direct application (fieldbus/FCT) or the analogue setpoint value (analogue input), the speed adjust- ment receives the speed setpoint value.
Common error (DOUT3) Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 7.3 Connection: Analogue and digital inputs/outputs...
Deceleration: Setpoint value for deceleration to the speed setpoint value. Positive/negative direction 1) The parameter can only be parameterised in the Festo Configuration Tool (FCT) with activation of the control interface “Analogue input”. Tab. 7.1 Parameterise speed mode Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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– Rotative axis: -10 V = -750 rpm, + 10 V = 1250 rpm. Safe Zero: If the parameter “Safe Zero” is used, the control range of the rotational speed/speed characteristic curve is reduced by the range “Safe Zero”. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
In the force/torque mode, the motor controller receives the force/torque setpoint value (current set- point value) via the control interface (fieldbus/analogue input/Festo Configuration Tool (FCT)). The current regulator processes the deviation between the “current setpoint value” and the “actual current value”...
7.2.2 Function: Force/torque mode In the force/torque mode, the higher-order controller or the Festo Configuration Tool (FCT) controls the force/torque movement of the drive. The motor controller can be controlled via the active fieldbus (CANopen/PROFIBUS DP/DeviceNet/RS485), the analogue input or the Festo Configuration Tool (FCT).
Common error (DOUT3) Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 7.7 Connection: Analogue and digital inputs/outputs...
“0 V” should be parameterised as a Safe Zero to ensure the stability of the external control circuit. 1) The parameter can only be parameterised in the Festo Configuration Tool (FCT) with activation of the control interface “Analogue input”.
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– Linear/rotative axis: -10 V = -75 %, + 10 V = 125 % of the motor nominal current. Safe Zero: If the parameter “Safe Zero” is used, the control range of the torque/force characteristic curve is reduced by the range “Safe Zero”. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The incremental signals “A/#A/B/#B/N/#N” from the synchronisation inter- face [X10/X10.1/X10.2] can either be used as an encoder input for synchronisation or as an encoder output for encoder emulation (default setting). During synchronisation, all other operating modes are on hold. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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- A/#A/B/#B/N/#N X10.1 - CLK/#CLK/DIR/#DIR X10.2 - CW/#CW/CCW/#CCW 1) Motor controller with implemented encoder output and incremental signal “A/#A/B/#B/N/#N”. 2) Differential signals in accordance with RS422 Fig. 8.1 Overview: Activating synchronisation via encoder signals Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) Pin “4” and “9” are connected internally. 2) The limit switches are set by default to N/C contact (configuration over FCT) 3) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 8.2 Connection: Digital inputs/outputs and synchronisation input (5 V)
Common error (DOUT3) Load “DIN/DOUT” (GND 24 V) 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 8.3 Connection: Digital inputs/outputs (24 V)
= … ms (dependent on the master 5 ms deceleration ramp) = … ms (dependent on the master 1) Activation of the “synchronisation” operating mode (mode 3) acceleration ramp) Fig. 8.4 Timing diagram: Starting synchronisation Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
With this option, malfunctions due to faulty evaluation of the A/#A/B/#B signals can be suppressed. Reversal of Rotation The evaluation of the phase displacement of the signals “A/#A” and Direction “B/#B” is rotated 180°. Tab. 8.1 Configure/parameterise synchronisation Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
1) Pin “4” and “9” are connected internally. Fig. 9.2 Connection: Encoder output, 5 V 9.1.3 Configure/parameterise encoder emulation The following settings can be configured and parameterised in the Festo Configuration Tool (FCT): Settings Description Encoder Data Number of Increments Value, number of increments per revolution (360°).
Motor encoder Sample input (DIN9) Load “DIN/DOUT” (GND 24 V) 1) The connection [X5] can either be used for the Festo Configuration Tool (FCT) or for the fieldbus “RS485”. Fig. 9.4 Connection: Digital input Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Value for the height of the “Offset” voltage shift to the load (AGND)[X1.14] Fig. 9.7/Fig. 9.8. Numeric Overflow Function for overflow limitation of the analogue output signal Limitation Fig. 9.8. Tab. 9.2 Configure/parameterise analogue monitor Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The diagram shows the course of the analogue monitor signal with offset adjustment and active numer- ic overflow limitation. [mm/S] –300 –200 –100 –400 Offset = 4 V DC Numeric overflow limitation active Fig. 9.8 Analogue monitor with offset adjustment and numeric overflow limitation Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
(360°). For positioning records that do not have a whole number (integer) as the result, the motor controller rounds up to the next whole number. – Take into consideration the deviation of the rounded position values when paramet- erising the position page 114. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Configure endless positioning in the Festo Configuration Tool (FCT) To be able to use the “Endless positioning” function, the following settings must be taken into account in configuration of the linear axis/axis of rotation in the Festo Configuration Tool (FCT). 1. Mark either the option field “Rotative Festo axis”, “Linear...
“speed”. and “band width”. If the drive reaches the parameterised resonance speed range during oper- ation, this range will be skipped. Speeds that have been parameterised as a resonance speed cannot be run constantly. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
– Monitoring of the following error – Detection of initialisation errors – Detection of check-sum errors during parameter transmission – Detection of communication errors – Monitoring of the processor (watchdog) – Monitoring of homing Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The motor controller can record and monitor the motor temperature through the monitoring of the connection [X6]. motor temperat- The reaction to the error “Over-temperature error (motor)” can be parametrised in error management. Tab. 10.1 Protective functions of the motor Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
(frequency) the individual phases of the motor are energised differently. This can result in the permissible temperature being exceeded in the energised phases. – Avoid low speeds if the drive is to be operated at the load limit. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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2) The message has been configured as a warning by way of example. 3) The message has been configured as an error by way of example. Fig. 10.1 Timing diagram: I t monitoring Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
The following operating modes and error/warning messages are displayed over the seven-segments display. Display Function Bootloader messages Start programme (bootloader) active Flashing – Firmware file is being read from the memory card point Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Number: Two-position main index (x x), single-position subindex (y). Example: - 1 7 0 - appendix A. 1) Several characters are displayed one after the other. Tab. 10.3 Operating mode and error display of the seven-segments display Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Diagnostic events that are parameterised as warnings are displayed for approx. 5 seconds and do not need to be acknowledged. 10.3.1 Diagnostic messages The errors/warnings and their causes and remedies are described in the diagnostic messages appendix A. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
– After installing the new or repaired motor controller, load the device data from the Festo Configuration Tool (FCT) to the motor controller (Download) or load the para- meter file (.DCO) from the memory card to the motor controller (FCT: SD >> Control- ler).
Under section A.3, you will find the error codes in accordance with CiA301/402 and the error bit num- bers with assignment to the error numbers of the diagnostic messages. Under section A.4, you will find the PROFIBUS diagnostic bits with assignment to the error numbers of the diagnostic messages. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Cause Motor overloaded, temperature too high. – Motor too hot. – Sensor defective? Action • Check parameters (current regulator, current limits). If the error persists when the sensor is bypassed: Device defective. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Error in the plausibility check of the driver supply (safe torque off ) Action • Separate device from the entire peripheral equipment and check whether the error is still present after reset. If so, an internal defect is present Repair by the manufacturer. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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• Check whether encoder signals are faulty? • Test with another encoder. • Check angle encoder cable. For operation with long motor cables: • Observe notes on EMC-compliant installation! Additional anti- interference measures required from 15 m cable length. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Errors can occur if the CAN control malfunctions or is deliberately requested by the controller of the bus-off status. Action • Re-start CAN controller. • Check CAN configuration in the controller. • Check wiring. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Reaction 16-2 6187 h Initialization fault PS off Cause Error in initialising the default parameters. Action • In case of repetition, load firmware again. If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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The controller performs offset compensation of the current meas- urement. Tolerances that are too large result in an error. Measure If the error occurs repeatedly, the hardware is defective. • Send motor controller to the manufacturer. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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29-1 SD initialization error 7681h configurable Cause – Error during initialization. – Communication not possible. Action • Plug card back in. • Check card (file format FAT 16). • If necessary, format card. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Repair by the manufacturer. 32-8 3285h Power supply failure during controller enable PS off Cause Interruption/power failure while the controller enable was active. Action • Check mains voltage/power supply. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Unknown command found during record continuation. Action • Check parameterisation. 41-9 6192h Error in path program jump destination configurable Cause Jump to a positioning record outside the permitted range. Action • Check parameterisation. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Positive hardware limit switch reached. Action • Check parameterisation, wiring and limit switches. 43-9 8612h Error in limit switch configurable Cause Both hardware limit switches are active simultaneously. Action • Check parameterisation, wiring and limit switches. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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7584h DeviceNet general error PS off Cause The 24 V bus voltage is missing. Action • In addition to the motor controller, the DeviceNet interface must also be connected to 24 V DC. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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• Check that the network is connected correctly and does not malfunction. 65-1 7582h DeviceNet communication error configurable Cause I/O connection timeout. No I/O message received within the expected time. Action • Please contact Technical Support. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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Measures and description of the error response as with error 76-0. Error group 79 RS232 error Code Message Reaction 79-0 7510h RS232 communication error configurable Cause Overrun when receiving RS232 commands. Action • Check wiring. • Check of the transmitted data. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
PS off 64-5 DeviceNet communication error PS off 64-6 DeviceNet communication error PS off 65-0 DeviceNet general error configurable 65-1 DeviceNet communication error configurable E220 “PROFIBUS assembly” 22-0 Error in PROFIBUS initialisation PS off Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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E051 “24 V - Internal supply” 05-1 Error in 24 V supply PS off E251 “Hardware error” 25-1 Incorrect firmware PS off E210 “Offset current 21-0 Error, offset current measurement PS off metering” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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E086 “SINCOS-RS485 08-6 Angle encoder communication error PS off communication” E088 “SINCOS track signals” 08-8 Internal angle encoder error PS off E080 “Encoder supply” 08-0 Encoder supply error PS off Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Please note that, immediately after a reset, the motor controller independently issues a bootup mes- sage via the serial interface. A reception program on the controller must either process or reject these received characters. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
“RS232” and “RS485” to the motor controller. – For communication with the interface “RS232”, only use a cable that corresponds to the pin allocation “interface RS232”. For additional information “Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-… Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
32 bit write: =XXXXYY:WWWWWWWW Brief description Significance XXXX Command index Command sub-index WWWW Data Tab. B.4 Command syntax RS232 For additional information on CAN objects description “device profile CiA 402, simulation of SDO access”, GDCP-CMMS/D-C-CO-… Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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) Positioning is started via a rising edge at bit 4. The following settings are accepted thereby. g) Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is taken over (0), or whether the ongoing positioning should be cancelled (1). Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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9. Homing is started via a rising edge at bit 4. – Command: =604000:001F 10.After homing has been ended, the status of the motor controller must be reset. – Command: =604000:000F bring controller into “Ready” state. Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
“RS232” and “RS485” simultaneously accessing the motor controller. – For communication with the “control interface RS485”, use a cable that corresponds to the pin allocation “control interface RS485”. For additional information “Mounting and installation” description, GDCP-CMMS-AS-G2-HW-…/GDCP-CMMD-AS-HW-…/GDCP-CMMS-ST-G2-HW-… Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
RS485 serial interface Configure RS485 interface in the Festo Configuration Tool (FCT) 1. Mark the “Application data” button in the project tree. 2. Press the “Operating mode selection” button in the work space. 3. Select “RS485” as control interface. (Acknowledge the change with “OK”)
Profile position mode, page 237. If required, the node number is simply written in front of the command. The node number is set via the DIL switches. Command: XT07:=607A00:000A0000 Target position 10 revolutions send to node 7 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
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