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Festo CiA 402 Manual

For motor controller
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CiA 402 for motor controller
CMMS-AS/CMMD-AS/CMMS-ST
Description
Device profile
CiA 402
for motor controller
– CMMS-AS-...-G2
– CMMD-AS-...
– CMMS-ST-...-G2
via fieldbus:
– CANopen
8040109
1404NH
[8034536]

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Summary of Contents for Festo CiA 402

  • Page 1 CiA 402 for motor controller CMMS-AS/CMMD-AS/CMMS-ST Description Device profile CiA 402 for motor controller – CMMS-AS-...-G2 – CMMD-AS-... – CMMS-ST-...-G2 via fieldbus: – CANopen 8040109 1404NH [8034536]...
  • 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-C-CO-EN – 1404NH –...

  • Page 3: Table Of Contents

    CMMS-AS/CMMD-AS/CMMS-ST Table of Contents – CMMS-AS/CMMD-AS/CMMS-ST – CiA 402 Fieldbus interface ............
  • Page 4 ......... Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 5 ..........Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 6 CMMS-AS/CMMD-AS/CMMS-ST Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 7 CMMS-AS/CMMD-AS/CMMS-ST Instructions on this documentation This documentation describes the device profile CiA 402 (DS 402) and provides information on CiA 301 for the motor controller corresponding to the section “Information on the version” via the fieldbus in- terface: – CANopen – interface [X4] integrated in the motor controller.
  • Page 8 – Description of the interface: CiA 402 CMMD-AS – CAN bus (CANopen, DriveBus) CMMS-ST – Control and parameterisation via the device profile CiA 402 (DS 402). Software Help Help for the CMMS-AS CMMS-AS – User interface and functions in the plug-in...

  • Page 9: Fieldbus Interface

    Fieldbus interface Fieldbus interface Control and parameterisation via CiA 402 is supported by the CMMS-AS/CMMD-AS/CMMS-ST via the fieldbus interface corresponding to Tab. 1.1. The CANopen interface is integrated in the motor control- ler. The fieldbus is configured with the DIL switches [S1].

  • Page 10: Canopen

    The CANopen implementation of the motor controller is based on the following standards: CiA Draft Standard 301, Version 4.02, 13. February 2002 CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 11: Canopen Interface

    If cabling is improperly done, malfunctions can occur on the CAN bus during operation. These can cause the motor controller to shut off with an error for safety reasons. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 12: Cabling Instructions

    Area Network protocol specification, version 2.0 from Robert Bosch GmbH, 1991. Feature Value Wire pairs – Core cross section 0.22 Screening – Loop resistance [Ω/m] Surge impedance [Ω] 100 … 120 Tab. 2.3 Technical data, CAN bus cable Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 13: Configuration Of Canopen Participants (Via Dil Switch)

    FCT should be carried out first without connection to the CANopen bus. Instructions on commissioning with the Festo Configuration Tool can be found in the Help for the device-specific FCT plug-in.

  • Page 14: Overview Of Dil Switches [S1.1

    The bit/transmission rate can be configured via the DIL switches [S1.9/S1.10]. Fieldbus Bit/transmission rate DIL switch S1.10 S1.9 CANopen (CAN bus) 125 KBit/s (125 kBaud) 250 KBit/s (250 kBaud) 500 KBit/s (500 kBaud) 1 MBit/s (1000 kBaud) Tab. 2.5 Configure data rate Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 15: Can Interface Activation

    In order for a fieldbus master to exchange position, speed and acceleration data in physical units (e.g. mm, mm/s, mm/s ) with the motor controller, it must be parameterised via the factor group Section 4.2. Parameterisation can be carried out via FCT or the fieldbus. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 16: Configuration Canopen Master

    The EDS file is included on the CD-ROM supplied with the motor controller. You will find the most current version under www.festo.com/sp EDS files Description CMMS-AS_CAN.eds Motor controller CMMS-AS-... with protocol “CiA 402” CMMD-AS_CAN.eds Motor controller CMMD-AS-... with protocol “CiA 402” CMMS-ST_CAN.eds Motor controller CMMS-ST-... with protocol “CiA 402” Tab. 2.8 EDS files for CiA 402 with CANopen Festo –...

  • Page 17: Canopen Access Procedure

    As a rule, the motor controller is parametrised via SDOs and controlled via PDOs. In addition, other types of messages (so-called communication objects), which are sent either by the motor controller or the higher-level controller, are defined for special application cases: Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 18: Sdo Access

    The design of the commands or answers depends on the data type of the object to be read or written, since either 1, 2 or 4 data bytes must be sent or received. The following data types are supported: Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 19: Sdo Sequences For Reading And Writing

    43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU Answer: Identifier for 32 bit Identifier 8 bit 16 bit 32 bit Command identifier Response identifier Error detection – – Tab. 3.3 SDO – command/response identifier Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 20 Return data: 12345678 Data: 12345678 Command Answer Note The acknowledgement from the motor controller must always be waited for! Only when the motor controller has acknowledged the request may additional requests be sent. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 21: Sdo Error Messages

    2) “Status” should be understood generally here: It may be a problem of the incorrect operating mode or a technology module that is not available or the like. 3) This error is returned, for example, when another bus system controls the motor controller or the parameter access is not permitted. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 22: Simulation Of Sdo Access

    1) In case of error, the response is built up the same for all 3 write commands (8, 16, 32 bit). The commands are entered as characters without any blanks. Note Never use these test commands in applications! Access only serves test purposes and is not appropriate for real-time-capable commu- nication. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 23: Pdo Message

    In the example below, the actual position value is transmitted in the data bytes 0 … 3 of the PDO and the actual speed value in the bytes 4 … 7. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 24: Description Of The Objects

    This object specifies how many objects should be mapped into the transmitted corresponding PDO. The following limitations must be observed: (number_of_mapped_objects) A maximum of 4 objects can be mapped per PDO. A PDO may have a maximum of 8 data bytes. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 25 The overall length of all objects is not relevant at this time. 3. The number of objects to be transmitted is set to a value between 1 … 4. The length of all these objects must now not exceed 64 bits. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 26 PDO has changed. Since this function is manufacturer-specific, all bits of the masks are set as default value. Tab. 3.5 Description of the Objects The use of all other values is not permitted. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 27 = C0000187 Activating by deletion of bit 31: cob_id_used_by_pdo = 40000187 Note that parametrisation of the PDOs may generally only be changed when the network status (NMT) is not operational ( Chapter 3.3.3). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 28: Objects For Pdo Parametrisation

    Default Value Sub-Index Description inhibit_time_tpdo1 Data Type UINT16 Access PDO Mapping Units 100 μs (i.e. 10 = 1 ms) Value Range – Default Value Index 1A00 Name transmit_pdo_mapping_tpdo1 Object Code RECORD No. of Elements Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 29 Description second_mapped_object_tpdo1 Data Type UINT32 Access PDO Mapping Units – Value Range – Default Value Table Sub-Index third_mapped_object_tpdo1 Description Data Type UINT32 Access PDO Mapping Units – Value Range – Default Value Table Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 30 (100 μs) UINT16 0000 1A01 number of mapped objects UINT8 1A01 first mapped object UINT32 60410010 1A01 second mapped object UINT32 60610008 1A01 third mapped object UINT32 00000000 1A01 fourth mapped object UINT32 00000000 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 31 UINT8 1601 number of mapped objects UINT8 1601 first mapped object UINT32 60400010 1601 second mapped object UINT32 60600008 1601 third mapped object UINT32 00000000 1601 fourth mapped object UINT32 00000000 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 32: Activation Of Pdos

    The identifier on which the motor controller receives the SYNC message is set permanently to 080 . The identifier can be read via the object cob_id_sync. Index 1005 cob_id_sync Name Object Code Data Type UINT32 Access PDO Mapping Units Value Range 80000080 , 00000080 Default Value 00000080 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 33: Emergency Message

    Error acknowledgment An error acknowledgment is attempted, and all causes are eliminated. (successful) An EMERGENCY telegram with the error code 0000 is sent. Tab. 3.6 Possible status transitions Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 34: Structure Of The Emergency Message

    The error type defined in the CiA 301 can be read via the object error_register. Sub-Index Description error_register Data Type UINT8 Access PDO Mapping Units – Value Range 0 … FF Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 35 Value Range – Default Value – Sub-Index Description standard_error_field_1 Access PDO Mapping Units – Value Range – Default Value – Sub-Index Description standard_error_field_2 Access PDO Mapping Units – Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 36: Network Management (Nmt Service)

    The motor controllers do not acknow- ledge the NMT commands. Successful implementation of the reset can only be determined indirectly (e.g. through the switch-on message after a reset). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 37 Changes in statuses can be triggered via the CS byte in the NMT message. These are largely ori- ented on the target status. Initialisation Reset Application Reset communication Pre-Operational (7F Stopped (04 Operational (05 Fig. 3.2 Status diagram Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 38 Pre-Operational Communication via SDOs possible; PDOs not active – (no sending/evaluating). Operational Communication via SDOs possible. All PDOs active (sending/evaluating). Stopped No communication except for heartbeating. – – Tab. 3.9 NMT-State Machine Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 39: Boot-Up (Boot-Up Protocol)

    The Boot-up message is structured almost identically to the Heartbeat message ( Section 3.6.7). In the Boot-up message a 0 is sent instead of the NMT status. Identifier: 700 + node ID (example node ID 1) Boot-up message identifier Data length Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 40: Start Remote Node

    The NMT-master uses the NMT-service Enter Pre-Operational to change the NMT-status of the selected NMT-participant. If processed successfully, the new NMT status is pre-operational. Structure of the Enter Pre-Operational message Identifier: 000 Command specifier Node ID Data length Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 41: Reset Node

    The Heartbeat telegram is transmitted with the identifier 700 + node ID. It contains only 1 byte of user data, the NMT status of the motor controller ( Chapter 3.6, Network Management (NMT Service)). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 42: Nodeguarding (Error Control Protocol)

    (drive) and master. In contrast to the Heartbeat protocol, master and slave monitor each other: The master queries the drive cyclically about its NMT status. In every response of the motor controller, Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 43 From this time on, the remote requests must arrive before ex- piration of the set monitoring time. The toggle bit is reset through the NMT command Reset Communication. It is therefore not set in the first response of the motor controller. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 44 Object 100D : life_time_factor Recommendation: Write the life_time_factor with 1 to specify the guard_time directly. 100D Index life_time_factor Name Object Code Data Type UINT8 Access PDO Mapping Units – Value Range 0.255 Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 45: Table Of Identifiers

    3.2 ms. Note: Since all NMTs are received in a common CAN Message Buffer, it must be ensured that several NMT messages with the identifier 000h are not sent within 3.2 ms. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 46: Setting Parameters

    This copying process is only possible when the output stage is switched off Information on loading and saving parameter sets with a memory card and FCT plug-in can be found in the description Functions and commissioning, GDCP-CMMS/D-FW-..Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 47 – The application parameter set is saved in the flash memory in a non-volatile manner. – The application parameter set is loaded into the current parameter set. Index 1011 Name restore_parameters Object Code ARRAY No. of Elements Data Type UINT32 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 48 (some of which require a reset to become effective) remain unchanged. Object 1010 : store_parameters 1010 Index Name store_parameters Object Code ARRAY No. of Elements Data Type UINT32 Sub-Index Description save_all_parameters Access PDO Mapping Units – Value Range 65766173 (“save”) Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 49: Conversion Factors (Factor Group)

    All parameters are stored in the motor controller in its internal units and only converted with the help of the factor group when being written in or read out. Recommendation: Set the factor group first during parameterisation and do not change it during the parameterisation process. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 50 (65536 increments equal 1 revolution). It consists of numerator and denominator. Motor with gear unit Axis x in positioning unit (e.g. “degrees”) x in positioning unit (e.g. “mm”) Motor Gear units Fig. 4.3 Calculating the position units Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 51 (if applicable). The feed constant is then displayed in the desired positioning units (column 2). Finally all values can be entered into the for- mula and the fraction can be calculated: Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 52 ). Feed constant of the drive * 10 (points after the decimal) 3) Revolutions at the drive per revolutions at the drive-out (R per R 4) Insert values into equation. Tab. 4.5 Examples of calculating the position factor Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 53 Ratio between revolutions at the drive-out (R ) and movement in position_units (e.g. 1 R = 360 degrees) Tab. 4.6 Speed factor parameters The calculation of the velocity_encoder_factor uses the following equation: gear_ratio * time_factor_v numerator velocity_encoder_factor divisor feed_constant Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 54 ). Feed constant of the drive * 10 (points after the decimal) 3) Time factor_v: Desired time unit per internal time unit 4) Gear factor: R per R 5) Insert values into equation. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 55 Default Value Calculation of the acceleration_factor is also made up of two parts: A conversion factor from internal units of length into position_units, and a conversion factor from internal time units squared into the Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 56 256 min * s 1 DP 122880 ² num: 8192 1/10 min * s 256 s div: 6315 ² 631, 5 631, 5 10 s 10s 2 60 * 256 256 * s Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 57 In most applications, it makes sense to set the velocity_polarity_flag and the position_polarity_flag to the same value. Setting of the polarity_flag influences only parameters when reading and writing. Parameters already present in the motor controller are not changed. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 58 The object is present, however it is only effective with the device profile FHPP. 6091 Index gear_ratio Name Object Code RECORD No. of Elements Sub-Index Description motor_revolutions Data Type UINT32 Access PDO Mapping Units – Value Range 1 … FFFFFFF Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 59 Data Type UINT32 Access PDO Mapping Units – Value Range 1 … FFFFFFF Default Value Sub-Index Description shaft_revolutions Data Type UINT32 Access PDO Mapping Units – Value Range 1 … FFFFFFF Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 60: Output Stage Parameter

    (enable_logic) must be set to two. For safety reasons, this takes place automatically with activation of CANopen (also after a reset of the motor controller). Index 6510 Name drive_data Object Code RECORD No. of Elements Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 61 If the temperature specified in the object max_power_stage_temperature is exceeded, the out- put stage shuts off and an error message is output. Sub-Index Description max_power_stage_temperature Data Type INT16 Access PDO Mapping Units °C Value Range Default Value Device-dependent Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 62: Current Regulator And Motor Adjustment

    0 … nominal_current (motor controller nominal current, see technical data) Default Value 1499 If the object 6075 (motor_rated_current) is written over with a new value, the object 6073 (max_current) must always be parametrised again. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 63 The number of poles then equals twice the number of pole pairs. Index 604D Name pole_number Object Code Data Type UINT8 Access PDO Mapping Units – Value Range 2 … 254 Default Value see table Value Meaning CMMS-ST CMMS-AS CMMD-AS Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 64 In the phase sequence (phase_order), twisting between motor cable and angle encoder cable are taken into account. It can be taken from the parameterisation software. Sub-Index Description phase_order Data Type INT16 Access PDO Mapping Units – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 65 Amplification of the current regulator must be multiplied by 256. With an amplification of 1.5 in the “Current Regulator” menu of the parametrisation software, the value 384 = 180 must be written in the object torque_control_gain. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 66: Velocity Control

    Caution Incorrect setting of the speed regulator parameters can result in strong vibrations and destroy parts of the system! Description of the objects Index Object Name Type Attr. 60F9 RECORD velocity_control_parameters Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 67 UINT16 Access PDO Mapping Units μs Value Range 1 … 32000 Default Value 8000 Sub-Index Description velocity_control_filter_time Data Type UINT16 Access PDO Mapping Units μs Value Range 1 … 32000 Default Value 1600 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 68: Position Controller (Position Control Function)

    Fig. 4.7 below shows how the window function is defined for the “following error” message. The tolerance range (following_error_window) is defined symmetrically around the setpoint position reference value (position_demand_value) If the drive leaves this window and does not return to the Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 69 – the related bit 10 (target_reached) is set in the statusword. Position_window (6067 Position_window (6067 Position_window (6067 Position_window (6067 Position_window_time (6068 Position_window_time (6068 Statusword, bit 10 (6041 Statusword, bit 10 (6041 Fig. 4.8 Position reached – functional overview Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 70 607D software_position_limit INT32 6.3 Positioning operating mode 607E polarity UINT8 4.2 Conversion factors 6093 position_factor UINT32 4.2 Conversion factors 6094 ARRAY velocity_encoder_factor UINT32 4.2 Conversion factors 6096 ARRAY acceleration_factor UINT32 4.2 Conversion factors Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 71 Index 60FB position_control_parameter_set Name Object Code RECORD No. of Elements Sub-Index Description position_control_gain Data Type UINT16 Access PDO Mapping Units 256 = “1” Value Range 0 … 64*256 (16384) Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 72 The current position setpoint value can be read out via this object. The curve generator feeds this into the position controller. 6062 Index Name position_demand_value Object Code No. of Elements INT32 Access PDO Mapping Units position units Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 73 – The drive is blocked – The positioning speed is too high – The acceleration values are too large – The object following_error_window has too small a value – The position controller is not correctly parametrised Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 74 The current following error can be read out via this object. This object is specified in user-defined incre- ments. Index 60F4 Name following_error_actual_value Object Code Data Type INT32 Access PDO Mapping Units position units Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 75 If the actual position of the drive is located within the positioning window (position_window) for as long as defined in this object, the related bit 10 target_reached is set in the statusword. Index 6068 position_window_time Name Object Code Data Type UINT16 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 76: Setpoint Value Limitation

    10 V is specified, in mA. 2415 Index Name current_limitation Object Code RECORD No. of Elements Sub-Index Description limit_current_input_channel Data Type UINT8 Access PDO Mapping Units – Value Range 0 … 4 Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 77: Digital Inputs And Outputs

    Name Type Attr. 60FD digital_inputs UINT32 60FE ARRAY digital_outputs UINT32 Object 60FD : digital_inputs The digital inputs can be read via the object 60FDh: Index 60FD Name digital_inputs Object Code Data Type UINT32 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 78 UINT32 Sub-Index Description digital_outputs Access PDO Mapping Units – Value Range – Default Value Value Meaning 00000001 Brake; read-only 00010000 Ready to operate; read-only 17 … 19 00020000 DOUT1 … DOUT3 … 00080000 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 79: Limit Switches

    For normally closed limit switches, a “0” must be entered in this object, whereas a “1” must be entered when normally open contacts are used. Index 6510 Name drive_data Object Code RECORD No. of Elements Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 80: Sampling Of Positions

    The sampled positions can be read via the objects sample_position_rising_edge and sample_posi- tion_falling_edge. Which edge is used can be specified with the parameterisation software and application data - flying measurement. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 81 Data Type INT32 Access PDO Mapping Units position units Value Range – Default Value – Sub-Index Description sample_position_falling_edge Data Type INT32 Access PDO Mapping Units position units Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 82: Device Information

    CANopen-network. For this purpose, the manufacturer code (vendor_id), a unique product code (product_code), the revision number of the CANopen implementation (revision_number) and the serial number of the device (serial_number) can be read out. Index 1018 identity_object Name Object Code RECORD No. of Elements Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 83 PDO Mapping Units MMMMSSSS (M: main version, S: sub version) Value Range – Default Value Sub-Index serial_number Description Data Type UINT32 Access PDO Mapping Units NNNNNNNN: Sequence number Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 84 This is the last two digits of the firmware version. Sub-Index Description km_release Data Type UINT32 Access PDO Mapping Units – Value Range MMMMSSSSh (M: main version, S: sub version) Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 85: Error Management

    This number is the bit number of the internal error bit (range of values 1 ... 64, Appendix A). Sub-Index Description error_number Data Type UINT8 Access PDO Mapping Units – Value Range 1 … 64 Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 86: Compatibility Settings

    In order to remain compatible with earlier CANopen implementations (e.g. also in other device families) and still be able to execute changes and corrections compared to CiA 402 and CiA 301, the object compatibility_control was introduced. In the default parameter set, this object delivers 0, that is, com- patibility with earlier versions.
  • Page 87 0080 device_control Default, fixed = 1. If this bit is set, bit 4 of the statusword (voltage_enabled) is output in accordance with CiA 402 v2.0. In addition, the status FAULT_REACTION_ACTIVE is distinguishable from the FAULT status ( Chapter 5). 0100 reserved The bit is reserved.

  • Page 88: Device Control

    Status diagram The statuses and status transitions together form the status diagram, (State Machine) that is, the overview of all conditions and the transitions possible from there. Tab. 5.1 Terms for motor controller regulation Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 89: Status Diagram Of The Motor Controller (State Machine)

    “Fault” area. The most important statuses of the motor controller are shown in the diagram. After it is switched on, the motor controller initialises itself and then reaches the status SWITCH_ON_DISABLED. In this status, Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 90 Disable Voltage = x x 0 x Motor rotates freely. Error eliminated + Fault Reset Bit 7 = Fault Reset = Acknowledge the error. command Tab. 5.2 Most important status transitions of the motor controller Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 91 . For the status transition 2, the set bit 3 is not relevant. 1) The Host must wait until the status in the statusword can be read back. This is explained in detail below. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 92 SWITCH_ON_DISABLED takes place instead of the status transition 3. This is the case, for example, if one of the digital inputs DIN4 (output stage enable, X1.21/X1.1.21/X1.2.21) or Rel (driver supply relay control, X3.2/X3.1.2/X3.2.2) are not supplied with 24 V (“STO”). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 93 Output stage is blocked. Error handling is ended Internal transition Motor rotates freely. Error eliminated + Fault Reset Bit 7 = Acknowledge error (with Fault Reset command rising edge). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 94: Controlword (Controlword)

    The function of bits 4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the motor controller, which is explained after this chapter. 6040 Index Name controlword Object Code Data Type UINT16 Access PDO Mapping Units – Value Range – Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 95 Only when the re- quested status can also be read in the statusword, may a further command be written via the controlword. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 96 (position_demand_value) of the position controller. reset_fault In the transition from 0 to 1, the motor controller tries to acknowledge the errors. This is only successful if the cause of the error has been resolved. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 97: Read-Out Of The Motor Controller Status

    Just as various status transitions can be triggered via the combination of several bits of the control- word, the status of the motor controller can be read out via the combination of various bits of the statusword. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 98 The example assumes that no further bits are set in the controlword (for the transitions, only the bits 0 … 3 are important). 1) To identify the statuses, bits that are not set must also be evaluated (see table). For that reason, the statusword must be masked correspondingly. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 99: Status Words (Statuswords)

    0800 internal_limit_active 1000 set_point_acknowledge/speed_0/homing_attained/ip_mode_active 2000 following_error/homing_error 4000 reserved 8000 Drive referenced Tab. 5.7 Bit allocation in the status word All bits of the statusword are unbuffered. They represent the current device status. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 100 This bit shows that the output stage of the motor controller can be enabled via the CAN network. It is set when the controller enable logic is set via the object enable_logic for CAN. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 101 In the Interpolated Position Mode: This bit shows that interpolation is active and the interpolation data records are being evaluated. It is set when requested by the bit enable_ip_mode in the controlword ( Chapter 6.4). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 102 : manufacturer_status_register Through the object manufacturer_status_register, the current status of the controller can be read. Sub-Index manufacturer_status_register Description Data Type UINT32 Access PDO Mapping Units – Value Range 0 … FFFFFFFF Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 103 0 = Normal / 1 = Emergency stop without position sensor active (option) 0 = Normal / 1 = MOTID mode 1 = Write permission available 1 = Technology module equipped 1 = MMC plugged 1 = Safe halt equipped Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 104: Operating Modes

    The object modes_of_operation sets the operating mode of the motor controller. Index 6060 Name modes_of_operation Object Code Data Type INT8 Access PDO Mapping Units – Value Range 1, 2, 3, 4, 6, 7 Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 105 Index 6061 Name modes_of_operation_display Object Code Data Type INT8 Access PDO Mapping Units – Value Range -1, -11, -12, -13, -14, -15, 1, 2, 3, 4, 6, 7 Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 106: Operating Mode Homing (Homing Mode)

    Fig. 6.1 Homing The user can determine the speed, acceleration and type of homing. With the object home_offset, the zero position of the drive can be displaced to any position desired. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 107: Description Of The Objects

    5.1.5 Status words (statuswords) Object 607C : home_offset The object home_offset establishes the shift of the zero position compared to the determined refer- ence position. Home Zero Position Position home_offset Fig. 6.2 Home Offset Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 108 – The type of evaluation of the zero pulse by the angle encoder used 6098 Index Name homing_method Object Code Data Type INT8 Access PDO Mapping Units – Value Range -18, -17, -2, -1, 1, 2, 7, 17, 18, 33, 34, 35 Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 109 No. of Elements Data Type UINT32 Sub-Index speed_during_search_for_switch Description Access PDO Mapping Units speed units Value Range – Default Value Sub-Index speed_during_search_for_zero Description Access PDO Mapping Units speed units Value Range – Default Value Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 110: Homing Processes

    FCT in % of the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 111 This is represented in the graph by the rising edge. The drive then moves back slowly and searches for the precise position of the limit switch. The zero position refers to the first zero pulse of the angle encoder in the negative direction from the limit switch. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 112 When using method 33, the direction of homing is negative. The zero position refers to the first zero pulse from the angle encoder in the direction of search. Index pulse Fig. 6.11 Homing in a negative direction to the zero pulse Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 113: Control Of Homing

    Description of the bits in the controlword Bit 13 Bit 12 Meaning Homing is not yet complete Homing performed successfully Homing not performed successfully prohibited status Tab. 6.2 Description of the bits in the status word Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 114: Positioning Mode (Profile Position Mode)

    All input variables of the curve generator are converted with the variables of the factor group Chap. 4.2) into the internal units of the controller. The internal variables are marked here with an asterisk and are normally not needed by the user. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 115: Description Of The Objects

    Default Value Object 6081 : profile_velocity The object profile_velocity specifies the speed that is normally reached at the end of the acceleration ramp during positioning. The object profile_velocity is specified in speed units. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 116 The object profile_acceleration specifies the acceleration that is used to accelerate to the speed set- point value. It is specified in user-defined acceleration units (acceleration units) ( Chapter 4.2, Conversion factors (Factor Group)). Index 6083 profile_acceleration Name Object Code Data Type UINT32 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 117 Chapter 5). The object quick_stop_deceleration is specified in the same unit as the object profile_deceleration. Index 6085 Name quick_stop_deceleration Object Code Data Type UINT32 Access PDO Mapping Units acceleration units Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 118: Functional Description

    These bits are in a question- answer relationship to each other. This makes it possible to prepare a positioning task while another is still running. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 119 5. Only when the motor controller can accept a new positioning job 6 does it signal this through a “0” in the set_point_acknowledge bit. Before this, no new positioning may be started by the host 7. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 120 If, besides the bit new_set_point, the bit change_set_immediately is also set to “1” in the controlword, the host instructs the motor controller to start the new positioning task immediately. In this case, a positioning task already in process is interrupted. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 121: Synchronous Position Specification (Interpolated Position Mode)

    Internal setpoint value of the position Specification of the position setpoint controller in a 400 μs position controller Support points (in the interpolation cycle) cycle Fig. 6.18 Positioning task polynomial interpolation between two data values Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 122: Description Of The Objects

    “3rd order polynomial interpolation” is available. Index 60C0 Name interpolation_submode_select Object Code Data Type INT16 Access PDO Mapping Units – Value Range Default Value Value Interpolation type Manufacturer-specific: 3rd order polynomial interpolation Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 123 Therefore, if the interpolation interval is to be revised via the CAN bus, the parameter set must be saved ( Chapter 4.1) and a reset performed Chapter 5), so that the new synchronisation interval becomes effective. The synchron- isation interval must be maintained exactly. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 124 = -4: 10, 20 … 90, 100 Default Value Sub-Index Description ip_time_index Data Type INT8 Access PDO Mapping Units – Value Range -3, -4 Default Value Value ip_time_units is specified in seconds (ms) seconds (0.1 ms) Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 125 Data Type UINT32 Access PDO Mapping Units – Value Range 0 … max_buffer_size Default Value Sub-Index Description buffer_organisation Data Type UINT8 Access PDO Mapping Units – Value Range Default Value Value Meaning FIFO Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 126: Functional Description

    Before the motor controller is switched to the interpolated position mode, the interpolation interval (interpolation_time_period) must be set, i.e. the time between two SYNC telegrams. The interpolation type (interpolation_submode_select) is fixed. In addition, access to the position buffer must be en- abled via the object buffer_clear. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 127 The data records are evaluated only when the motor controller acknowledges this via the status bit ip_mode_selected in the statusword. In detail, therefore, the following assignment and procedure result: Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 128 If an ongoing interpolation (ip_mode_active set) is interrupted by a controller error, the drive first acts as specified for the respective error (e.g. removal of the controller enable and change to the status SWICTH_ON_DISABLED). Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 129: Speed Adjustment Operating Mode (Profile Velocity Mode)

    – Limitation of the torque setpoint value (torque_demand_value) – Monitoring of the actual speed (velocity_actual_value) with the window function/threshold The significance of the following parameters is described in the Positioning chapter (Profile Position Mode): Profile_acceleration, profile_deceleration, quick_stop. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 130: Profile_Acceleration

    Controller velocity_control_parameter_set (60F9 velocity_actual_value (606C Window status_word (6041 Comparator velocity = 0 SPDC_SPDC_N_TARGET_WIN_SPEED (0x00FA) status_word (6041 velocity_actual_value (606C Window velocity_reached Comparator SPDC_SPDC_N_TARGET_WIN_SPEED (0x00FA) Fig. 6.20 Structure of the speed-regulated operation (profile velocity mode) Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 131: Position_Actual_Value

    6069 Index Name velocity_sensor_actual_value Object Code Data Type INT32 Access PDO Mapping Units Angle difference in increments per second (65536 increments = 1 R) Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 132 The speed setpoint value is limited to this value. Index 6080 Name max_motor_speed Object Code Data Type UINT16 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 133: Speed Ramps

    The controller not only permits specification of different values for braking deceleration and acceleration, but also differentiation between positive and negative speed. The following illustration depicts this behaviour: Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 134 Object 2090 : velocity_ramps Index 2090 Name velocity_ramps Object Code RECORD No. of Elements Sub-Index Description velocity_acceleration_pos Data Type INT32 Access PDO Mapping Units – Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 135 Description velocity_acceleration_neg Data Type INT32 Access PDO Mapping Units – Value Range – Default Value – Sub-Index Description velocity_deceleration_neg Data Type INT32 Access PDO Mapping Units – Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 136: Torque Regulation Operating Mode (Profile Torque Mode)

    The operating modes positioning mode (Profile Position Mode) and speed regulator (Profile Velocity Mode) need the torque controller to work. That is why it is always necessary to set its parameters. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 137: Description Of The Objects

    This value represents the motor's maximum permissible torque. It is specified in thousandths of the nominal torque (object 6076 ). If, for example, a two-fold overloading of the motor is briefly permissible, the value 2000 is entered here. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 138 This object specifies the nominal torque of the motor. This can be taken from the motor's rating plate. It is entered in the unit 0.001 Nm. Index 6076 Name motor_rated_torque Object Code Data Type UINT32 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 139 By means of this object, the motor's actual current can be read out in thousandths of the nominal cur- rent (object 6075 Index 6078 Name current_actual_value Object Code Data Type INT16 Access PDO Mapping Units motor_rated_current/1000 Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 140 The intermediate circuit voltage of the controller can be read via this object. The voltage is specified in the unit millivolts. Index 6079 Name dc_link_circuit_voltage Object Code Data Type UINT32 Access PDO Mapping Units Value Range – Default Value – Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 141: A Diagnostic Messages

    A.2. 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. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...

  • Page 142: A.2 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-C-CO-EN – 1404NH – English...
  • Page 143 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-C-CO-EN – 1404NH – English...
  • Page 144 • 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-C-CO-EN – 1404NH – English...
  • Page 145 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-C-CO-EN – 1404NH – English...
  • Page 146 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-C-CO-EN – 1404NH – English...
  • Page 147 The controller performs offset compensation of the current measurement. Tolerances that are too large result in an error. Action If the error occurs repeatedly, the hardware is defective. • Send motor controller to the manufacturer. Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 148 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-C-CO-EN – 1404NH – English...
  • Page 149 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-C-CO-EN – 1404NH – English...
  • Page 150 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-C-CO-EN – 1404NH – English...
  • Page 151 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-C-CO-EN – 1404NH – English...
  • Page 152 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-C-CO-EN – 1404NH – English...
  • Page 153 • 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-C-CO-EN – 1404NH – English...
  • Page 154 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-C-CO-EN – 1404NH – English...

  • Page 155: A.3 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-C-CO-EN – 1404NH – English...
  • Page 156 43-0 Negative limit switch error configurable 43-1 Positive limit switch error configurable 43-9 Error in limit switch configurable 8681h 42-1 Positioning: Error in pre-computation configurable 8A81h 11-1 Homing error PS off Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 157 ..... . . – Position Factor ..... . . Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 158 ..... . . Maximum motor speed ....Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 159 ......– Object 6063h ......Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 160 ..... . . – Object 6510h_AAh ....Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 161 ....fourth mapped object ....Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 162 ....– Target speed ......Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 163 Time constant of the current regulator ..velocity_ramps ......Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 164 ......Version number of the firmware ... Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English...
  • Page 166 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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