Page 1 Motor controller CMMS-AS/CMMS-ST/CMMD-AS Description Fuctions and commissioning Firmware-Version from 1.4.0.x.6 8040107 1404NH [8034520]...
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-CMMS/D-FW-EN – 1404NH –...
Page 3: Table Of Contents
......Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 4 ..........3.6.1 Device profile: Festo handling and positioning profile (FHPP) ....
Page 5 FCT master control over the motor controller ......Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 6 ..........6.9.2 Jog mode via Festo Configuration Tool (FCT) ......
Page 7 ......... . Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 8 ....Configure RS485 interface in the Festo Configuration Tool (FCT) ....
Page 9 Before using a newer firmware version, check whether a newer version of the FCT plug- in or documentation is available Support portal: http://www.festo.com/sp.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”...
Page 10 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...
Page 11 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...
Page 12 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...
Page 13: Safety And Requirements For Product Use
• 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...
Page 14: Intended Use
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...
Page 15: Transport And Storage Conditions
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...
Page 16: Product Overview
Motor controller CMMS-AS-C4-3A-G2 2.1.1 Control, sensor and safety function interfaces A/#A/B/#B/N/#N CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW DIN0…13 DOUT0…3 AIN0/#AIN0 AMON0 CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW DeviceNet PROFIBUS DP RS485 CANOpen DriveBus Fig. 2.1 Overview: Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 17 DeviceNet (CAMC-DN) PROFIBUS DP (CAMC-PB) Master device, RS485 interface Festo Configuration Tool (FCT) Jog/individual step Safety switching device Safety function STO (Safe Torque Off ) Tab. 2.1 Overview: Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 18: Power Supply, Motor And Motor Encoder Interfaces
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...
Page 19 (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...
Page 20: Parameter/Firmware Interfaces
Interfaces 2.1.3 Parameter/firmware interfaces Festo Configuration Tool (FCT) Framework/plug-in Firmware files Device-descriptive files EDS/GSD Function block files CodeSys/Step7/RSLogix 5000 Documentation www.festo.com/sp S1.8 Download Upload Read Write Fig. 2.3 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 21 SD (version 1 and 2) – Supported file system: FAT16 (max. 2 GB) Data transfer control Download firmware file (.S) Read parameter file (.DCO) Write parameter file (.DCO) Tab. 2.3 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 22: Led Indicators, Seven-Segment Displays And Dil Switches
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...
Page 23 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...
Page 24: Motor Controller Cmms-St-C8-7-G2
Motor controller CMMS-ST-C8-7-G2 2.2.1 Control, sensor and safety function interfaces A/#A/B/#B/N/#N CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW DIN0…13 DOUT0…3 AIN0/#AIN0 AMON0 CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW DeviceNet PROFIBUS DP RS485 CANOpen DriveBus Fig. 2.5 Overview: Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 25 DeviceNet (CAMC-DN) PROFIBUS DP (CAMC-PB) Master device, RS485 interface Festo Configuration Tool (FCT) Jog/individual step Safety switching device Safety function STO (Safe Torque Off ) Tab. 2.5 Overview: Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 26: Power Supply, Motor And Motor Encoder Interfaces
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...
Page 27 – 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).
Page 28: Parameter/Firmware Interfaces
Interfaces 2.2.3 Parameter/firmware interfaces Festo Configuration Tool (FCT) Framework/plug-in Firmware files Device-descriptive files EDS/GSD Function block files CodeSys/Step7/RSLogix 5000 Documentation www.festo.com/sp S1.8 Download Upload Read Write Fig. 2.7 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 29 SD (version 1 and 2) – Supported file system: FAT16 (max. 2 GB) Data transfer control Download firmware file (.S) Read parameter file (.DCO) Write parameter file (.DCO) Tab. 2.7 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 30: Led Indicators, Seven-Segment Displays And Dil Switches
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...
Page 31 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...
Page 32: Motor Controller Cmmd-As-C8-3A
X10.1 CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW X10.2 DIN0…13 DOUT0…3 X1.1 AIN0/#AIN0 AMON0 X1.2 CLK/#CLK/DIR/#DIR CW/#CW/CCW/#CCW EXT2 DOUT_EXT2.0…7 DOUT_EXT1.0…7 DeviceNet EXT1 PROFIBUS DP RS485 CANOpen DriveBus X3.2 X3.1 Fig. 2.9 Overview: Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 33 Digital inputs/outputs (CAMC-D-8E8A) Master device Festo Configuration Tool (FCT) Jog/individual step Safety switching device Safety function STO (Safe Torque Off ) 1) Digital inputs cannot be used. Tab. 2.9 Control, sensor and safety function interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 34: Power Supply, Motor And Motor Encoder Interfaces
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...
Page 35 (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...
Page 36: Parameter/Firmware Interfaces
Interfaces 2.3.3 Parameter/firmware interfaces Festo Configuration Tool (FCT) Framework/plug-in Firmware files Device-descriptive files EDS/GSD Function block files CodeSys/Step7/RSLogix 5000 Documentation www.festo.com/sp S1.8 Download Upload Read Write Fig. 2.11 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 37 SD (version 1 and 2) – Supported file system: FAT16 (max. 2 GB) Data transfer control Download firmware file (.S) Read parameter file (.DCO) Write parameter file (.DCO) Tab. 2.11 Overview: Parameter/firmware interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 38: Led Indicators, Seven-Segment Displays And Dil Switches
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...
Page 39 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...
Page 40: Control Interfaces - Operating Modes - Operational Functions
2) HTL signal (high transistor logic): High signal = 24 V 5) CANopen device profile CiA 402 3) Analogue input signal: ± 10 V, 6) Festo handling and positioning profile (FHPP) analogue output signal: + 10 V 7) CAN-Interpreter Fig. 2.13 Overview: Control interfaces/connections/device profiles/operating modes/operational functions Festo –...
Page 41: Positioning Mode: Direct Mode, Individual Record Mode, Record Linking Mode And Interpolated Positioning Mode
Record selection (Positioning record 1…7) Record selection (Positioning record 1…63) Interpolated positioning mode page 152 Direct application Tab. 2.13 Overview: Positioning mode “direct mode, individual record mode, record linking mode and interpolated positioning mode” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 42: Positioning Mode: Homing Mode/Jog Mode/Teach Mode
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...
Page 43: Speed Mode, Force Mode And Torque Mode
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...
Page 44: Synchronisation
– F = FHPP (Festo) Operating mode Synchronisation (position control) page 192 Incremental signals (A/#A/B/#B/N/#N) Incremental inputs Pulse/direction signals (CLK/#CLK/DIR/#DIR) Incremental inputs Digital inputs Forward/reverse signals (CW/#CW/CCW/#CCW) Incremental inputs Digital inputs Tab. 2.16 Overview: Synchronisation Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 45: Operational Functions: Encoder Emulation, Flying Measurement, Analogue Monitor And Endless Positioning
Analogue monitor (AMON0) [0…10 V] page 202 Analogue output Endless positioning page 205 Resonance filter (only for motor controller CMMS-ST-C8-7-G2) page 207 Tab. 2.17 Operational functions: Encoder emulation, flying measurement, analogue monitor and endless positioning Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 46: Control Interfaces
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...
Page 47: Motor Controller Cmms-St-C8-7-G2
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...
Page 48: Motor Controller Cmmd-As-C8-3A
1) HTL signal (high transistor logic): High signal = 24 V 2) TTL signal (transistor-transistor logic): High signal = 5 V 3) Input/output module CAMC-D-8E8A (optional) 4) Interface module CAMC-... (optional) Fig. 3.3 Overview: Digital, analogue, synchronisation and fieldbus interfaces Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 49: Digital Interfaces [X1] [X1.1/X1.2/Ext1/Ext2]
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...
Page 50: Digital Input/Output Signals As A Function Of The Operating Mode/Mode
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...
Page 51 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...
Page 52: Digital Input Signals
• 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...
Page 53 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...
Page 54 – 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...
Page 55 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...
Page 56: Digital Output Signals
“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...
Page 57: Cmms-St
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...
Page 58 210. 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...
Page 59: Message "Target Reached
= … 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...
Page 60: Message "Following Error
“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...
Page 61: Message "Speed Reached
Δv = +/– … mm/s (linear axis) = +/– … rpm (rotative axis) (FCT: Dependent on the parameter “Message window” in the message “Speed reached”) Fig. 3.7 Timing diagram: Digital output signal “Setpoint speed reached” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 62 Δv = +/– … mm/s (linear axis) or = +/– … rpm (rotative axis) (FCT: Dependent on the parameter “Message window” in the message “Speed reached”) Fig. 3.8 Timing diagram: Digital output signal “Declared speed achieved” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 63 Δv = +/– … mm/s (linear axis) or = +/– … rpm (rotative axis) (FCT: Dependent on the parameter “Message window” in the message “Speed reached”) Fig. 3.9 Timing diagram: Digital output signal “Standstill reached” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 64: Message "Remaining Distance
Δs = +/– … mm (linear axis) or = +/– … R (rotative axis) (FCT: Dependent on the parameter “Message window” in the message “Remaining distance“) Fig. 3.10 Timing diagram: Message “Remaining distance” Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 65: Analogue Interface [X1] [X1.1/X1.2]
[X1.2]/[X1.1.2/X1.1.2] – Speed mode (speed setpoint value) – Force/torque mode (torque setpoint value) Negative analogue signal (#AIN0) [X1.15]/[X1.1.15/X1.2.15] Tab. 3.6 Function overview: Analogue input signals (setpoint value signal) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 66: Analogue Output Signal (Analogue Monitor)
Analogue output signal (analogue monitor) Function Description Analogue monitor signal Configurable monitor signal 0…10 V (Reference potential: Analogue (AMON0) load “AGND”) page 203. [X1.17]/[X1.1.17/X1.2.17] Tab. 3.7 Function overview: Analogue output signal (analogue monitor) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 67: Synchronisation Interfaces [X1/X10] [X1.1/X1.2/X10.1/X10.2]
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...
Page 68: Encoder Output For Encoder Emulation (Master Interface)
[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...
Page 69: Incremental Signals (A/#A/B/#B/N/#N)
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...
Page 70: Pulse/Direction Signals (Clk/#Clk/Dir/#Dir)
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...
Page 71: Forward/Reverse Signals (Cw/#Cw/Ccw/#Ccw)
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...
Page 72: Fieldbus Interfaces [X4] [X5] [Ext/Ext1]
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.
Page 73: Required Digital Inputs/Outputs With A Fieldbus Activation
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...
Page 74: Device Profiles For Fieldbuses
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.
Page 75: Measuring System
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...
Page 76: Measuring System For Rotative Drives
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...
Page 77: Calculation Rules For The Measuring System
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...
Page 78: Commissioning
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 •...
Page 79: Installing The Fct Framework/Plug-In
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.
Page 80: Fct Help
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.
Page 81: Configuring Fieldbus/Firmware Functions Via Dil Switch
4 S1.11 5 S1.12 Fieldbus address/MAC-ID configuration Data rate configuration (CAN bus/DeviceNet) Firmware download activation from the CAN bus activation memory card Terminating resistor activation (CAN bus) Fig. 5.2 Overview: DIL switches [S1.1…12] Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 82: Fieldbus Address/Mac-Id Configuration
1) The addresses “0…2” in Profibus DP are assigned to defined interfaces (e.g.: Higher-order controller, etc.). Tab. 5.2 Fieldbus address/MAC-ID configuration Note the instructions for address/MAC-ID parameterisation of fieldbuses Description “device profile FHPP”, GDCP-CMMS/D-C-HP-... Description “device profile CiA 402”, GDCP-CMMS/D-C-CO-... Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 83: Firmware Download Activation From The Memory Card
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...
Page 84: Terminating Resistor Activation (Can Bus)
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...
Page 85: Data Interfaces (Parameter/Firmware)
– FHPP – DriveBus – CiA402 GSD file: Save/ – PROFIBUS DP execute Controller Download Function element file: Save/ – CODESYS execute – Step 7 – RSLogix 5000 Fig. 5.3 Overview: Data interfaces (parameter/firmware) Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 86: Firmware File
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 >>...
Page 87: Downloading The Firmware File (.S) (Memory Card >> Motor 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...
Page 88 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...
Page 89: Device Data (Fct)
– 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...
Page 90 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...
Page 91: Archiving/Extracting Device Data (Fct >>/<< Pc)
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).
Page 92: Parameter File (.Dco)
= 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...
Page 93: Reading/Writing/Saving The Parameter File (.Dco)
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...
Page 94: Commissioning The Motor Controller
• 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...
Page 95: Required Digital Inputs/Outputs For Operation
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 –...
Page 96: Status Diagram Of The Motor Controller
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...
Page 97: Switching On The Power Supply (Power On)
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...
Page 98 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...
Page 99: Downloading Device Data (Fct) To The Motor Controller
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.
Page 100: Enabling The Motor Controller Via Digital Inputs
(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).
Page 101 (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...
Page 102: Commutation Finding By Motor Controller Cmms-St-C8-7-G2
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).
Page 103: Checking Motor And Limit Switch Functionality
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.
Page 104: Carrying Out Homing
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.
Page 105: Behaviour Of The Motor Controller In The Event Of An Interruption Or Disconnection
• 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.
Page 106: Interruption Of The Mains Supply
(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...
Page 107: Switching Off The Motor Controller Via Output Stage Enable (Din4)
= 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...
Page 108: Switching Off The Motor Controller Via Controller Enable (Din5)
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...
Page 109: Master Control
• 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).
Page 110 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...
Page 111: Fct Master Control Over The Motor Controller
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...
Page 112: Positioning Mode
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...
Page 113: Record Selection And Positioning Records
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”...
Page 114: Record Selection (Positioning Record) - Control Interface - Operating Mode
This can result in deviations when positioning. Example: Rotary indexing table 4 positions. (90°) 65536:4= 16384 ----> Integer 6 positions. (60°) 65536:6= 10922.666 ----> The controller positions at 10923 (60.0018°). Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 115: Direct Mode
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).
Page 116: Connection: Digital Inputs/Outputs
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...
Page 117: Parameterising The Direct Mode
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...
Page 118 (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...
Page 119: Individual Record Mode
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...
Page 120: Connection: Digital Inputs/Outputs
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...
Page 121 [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...
Page 122: Timing Diagram: Start/Cancel Individual Record
= … 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...
Page 123 “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...
Page 124: Parameterising The Individual Record Mode
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...
Page 125 – 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...
Page 126 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...
Page 127 “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...
Page 128 = 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...
Page 129 ) 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...
Page 130 = 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...
Page 131 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...
Page 132 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...
Page 133 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...
Page 134 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...
Page 135 (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...
Page 136: Record Linking Mode
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...
Page 137: Connection: Digital Inputs/Outputs
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...
Page 138 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...
Page 139: Timing Diagram: Start/Interrupt/Cancel Record Sequence
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...
Page 140 “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...
Page 141 = … 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...
Page 142 = … 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...
Page 143: Parameterising The Record Linking Mode
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...
Page 144 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...
Page 145 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...
Page 146 (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...
Page 147 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...
Page 148 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...
Page 149 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...
Page 150 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...
Page 151 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...
Page 152: Interpolated Positioning Mode
(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...
Page 153: Connection: Digital Inputs/Outputs
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...
Page 154: Homing Mode/Homing
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).
Page 155: Connection: Digital Inputs/Outputs
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...
Page 156 (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...
Page 157: Timing Diagram: Cancelling Homing To Limit Switch/Stop
= … 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...
Page 158 = … 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...
Page 159 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...
Page 160 = … 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...
Page 161: Configuring And Parameterising The Homing Mode/Homing
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...
Page 162 (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...
Page 163 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...
Page 164 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...
Page 165 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...
Page 166 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...
Page 167 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...
Page 168 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...
Page 169 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...
Page 170 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...
Page 171: Jog Mode
(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.
Page 172: Jog Mode Via Festo Configuration Tool (Fct)
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...
Page 173: Connection: Digital Inputs/Outputs
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...
Page 174: Timing Diagram: Jog Travel Via Jog+/Jog
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...
Page 175 = … 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...
Page 176: Parameterise Jog Mode
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...
Page 177: Teach Mode
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...
Page 178: Connection: Digital Inputs/Outputs
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...
Page 179 [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...
Page 180: Timing Diagram: Teaching The Current Actual Position Of The Drive
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...
Page 181: Parameterising The Teach Mode
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...
Page 182: Speed Mode And Force/Torque Mode
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”...
Page 183: Function: Speed Mode
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.
Page 184: Connection: Analogue And Digital Inputs/Outputs
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...
Page 185: Parameterise Speed Mode
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...
Page 186 – 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...
Page 187: Force/Torque Mode
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”...
Page 188: Function: Force/Torque Mode
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).
Page 189: Connection: Analogue And Digital I/O Modules
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...
Page 190: Parameterise Force/Torque Mode
“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”.
Page 191 – 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...
Page 192: Synchronisation
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...
Page 193 - 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...
Page 194: Connection: Digital Inputs/Outputs (24 V) And Encoder Input (5 V)
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)
Page 195: Connection: Digital Inputs/Outputs (24 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)
Page 196: Timing Diagram: Starting Synchronisation Via Start Sync Signal
= … 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...
Page 197: Configure/Parameterise Synchronisation
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...
Page 198: Operational Functions
Master Controllers CMMS/CMMD Encoder emulation Motor controller CMM... Control section (master operation) Synchronisation input Encoder signal: 5 V Encoder output - A/#A/B/#B/N/#N X10.1 X10.2 Fig. 9.1 Overview: Output encoder emulation via encoder signals Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 199: Connection: Encoder Output (5 V)
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°).
Page 200: Flying Measurement (Sampling)
CMMS/CMMD Control section Fieldbus CANOpen Sample memory “Actual position” PROFIBUS DP EXT1 DeviceNet RS485 Flying measurement Inputs X1.1 Sample input X1.2 Motor encoder Actual position Fig. 9.3 Control flying measurement via digital input Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 201: Connection: Digital Input
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...
Page 202: Analogue Monitor
Overview: Output analogue monitor through digital output 9.3.2 Connection: Analogue output The connection diagram shows the analogue output for the analogue monitor. CMMS/CMMD X1/X1.1/X1.2 Analogue monitor (AMON) Analogue load “Analogue monitor” (AGND) Screening (SGND) Fig. 9.6 Connection: Analogue output Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 203: Configure/Parameterise Analogue Monitor
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...
Page 204 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...
Page 205: Endless Positioning
(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...
Page 206 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...
Page 207: Resonance Filter (Motor Controller Cmms-St-C8-7-G2)
“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...
Page 208: Service
– 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...
Page 209: Overload Current And Short-Circuit Monitoring Of The Motor Output
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...
Page 210: I2T Monitoring
(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...
Page 211 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...
Page 212: Operating Mode And Error Messages
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...
Page 213 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...
Page 214: Acknowledgement Of Error Messages
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...
Page 215: Dismantling And Repairs
– 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).
Page 216: A Diagnostic Messages
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...
Page 217: Diagnostic Messages With Instructions For Fault Clearance
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...
Page 218 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...
Page 219 • 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...
Page 220 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...
Page 221 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...
Page 222 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...
Page 223 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...
Page 224 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...
Page 225 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...
Page 226 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...
Page 227 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...
Page 228 • 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...
Page 229 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...
Page 230: Error Codes Via Cia 301/402
Angle encoder communication error PS off 7388h 08-8 Internal angle encoder error PS off 7500h 22-0 Error in PROFIBUS initialisation PS off 22-2 PROFIBUS communication error Configurable 7510h 79-0 RS232 communication error Configurable Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 231 Target position lies behind the positive software limit Configurable switch 43-0 Negative limit switch error Configurable 43-1 Positive limit switch error Configurable 43-9 Limit switch error Configurable 8681h 42-1 Positioning: Error in pre-computation Configurable 8A81h 11-1 Homing error PS off Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 232: Profibus Diagnostics
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...
Page 233 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...
Page 234 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...
Page 235: Serial Interface Rs232 (Diagnostics/Parameterisation Interface)
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...
Page 236: Connection [X5]: Pin Allocation Of The Rs232 Interface
“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...
Page 237: Commands/Syntax Of The Rs232 Interface
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...
Page 238 ) 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...
Page 239 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...
Page 240: C Serial Interface Rs485 (Control Interface)
“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...
Page 241: Configure Rs485 Interface In The Festo Configuration Tool (Fct)
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”)
Page 242: Commands/Syntax Of The Rs485 Interface
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...
Page 243 ....A/#A/B/#B/N/#N ..... Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 244 ......10, 11 monitoring ......Type code, 10, 11 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English...
Page 246 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 e-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica- tion of its contents to others without express authorization is Internet: prohibited.

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Festo CMMS-AS Series Description

1 Safety and Requirements for Product Use

2 Product Overview

3 Control Interfaces

4 Measuring System

5 Commissioning

6 Positioning Mode

7 Speed Mode and Force/Torque Mode

8 Synchronisation

9 Operational Functions

10 Service

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Summary of Contents for Festo CMMS-AS Series