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Festo CMMP Series Manual

Canopen for motor controller
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557 344
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[723 757]

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  • Page 1 CANopen for Motor Controller CMMP… Manual CANopen CMMP… Manual 557 344 de 0708NH [723 757]...
  • Page 3 Edition ____________________________________ _______________________ en 0708NH Description ________________________________ _____________ P.BE-CMMP-CO-SW-EN Order no. __________________________________ _________________________ 557 344 (Festo AG & Co. KG, D-73726 Esslingen, 2008) Internet: http://www.festo.com Mail: service_international@festo.com The copying, distribution and utilization of this document as well as the communication of its contents to others without expressed authorization is prohibited.
  • Page 4 Index of Revisions Preparer: Festo AG & Co. KG Manual name: CANopen for Motor controller CMMP File name: File location: Serial No. Manual Revision index Date of change Creation 0708NH 24.04.2008 Trade names Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

  • Page 5: Table Of Contents

    Activation of PDOs ................40 SYNC message ..................... 40 EMERGENCY Message ..................41 5.5.1 Overview ....................41 5.5.2 Structure of the EMERGENCY Message ..........42 5.5.3 Description of the Objects ..............45 Network Management (NMT Service) ..............47 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 6 Overview ....................86 6.7.2 Description of the Objects ..............89 Nominal value limitation ..................98 6.8.1 Description of the Objects ..............98 Encoder adjustments ..................101 6.9.1 Overview .................... 101 6.9.2 Description of the Objects ..............101 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 7 The Condition Diagram of the Motor Controller (State Machine) ..135 7.1.3 Controlword (control word) ..............139 7.1.4 Read-Out of the Motor Controller Condition ........142 7.1.5 Statuswords (status words) ............... 143 7.1.6 Description of the other objects ............151 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 8 Overview .................... 184 8.5.2 Description of the Objects ..............186 Velocity ramps ....................192 Torque Regulation Operating Mode (Profile Torque Mode) ....... 195 8.7.1 Overview .................... 195 8.7.2 Description of the Objects ..............196 Index ........................201 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 9: General Information

    General information 1.1 Documentation This manual describes how the motor controller of the CMMP series can be integrated into a CANopen network environment. It describes setting of the physical parameters, activation of CANopen protocol, integration into the CAN network and communication with the motor controller.

  • Page 10: Canopen

    Fax: 09131-601092 www.can-cia.de 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 P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 11: Safety Instructions For Electrical Drives And Controllers

    Safety instructions for electrical drives and controllers 2.1 General Information Festo AG & Co.KG accepts no liability for damage due to failure to observe the warnings in these operating instructions. Please note Before start-up, read Safety instructions for electrical drives and controllers starting with page 11.

  • Page 12: Hazards Due To Incorrect Use

    2.2 Hazards due to Incorrect Use Warning DANGER! High electrical voltage and high load current! Danger of death or severe bodily injury from electric shock! Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 13: Safety Instructions

    In accordance with EN standards and VDE regulations, the motor controllers must be connected in such a way that they can be disconnected from the mains network with suitable isolation means (e.g. main switch, fuse, circuit breaker). Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 14 Warning The technical data, connection and installation requirements for the motor controller must be taken from this product manual and must absolutely be complied with. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 15: Safety Instructions For Installation And Maintenance

    Additionally secure vertical axes against falling or dropping after the motor is switched off, such as by: - mechanical locking of the vertical axis, - external brake/catch/clamping device or - adequate counterbalancing of the axis. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 16 Switched-off final stages or controller enable are not appropriate lockouts. In case of malfunction, this can result in unintended running of the drive. Warning Perform start-up with the motor running at idle to avoid mechanical damage, such as through incorrect direction of rotation. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 17: Protection Against Contact With Electrical Parts

    The VGB4 regulations must be followed! Warning Always firmly connect the earthed conductor of the electrical equipment and devices to the mains power supply. Due to the integrated net filter, leakage current is greater than 3.5 mA! Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 18 The motor controllers can remain under dangerous voltage for up to 5 minutes after they are switched off (residual condensor charge). Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 19: Protection Against Electrical Shocks Through Low-Voltage Protection (Pelv)

    Until the installed monitoring takes effect, a defective drive movement must definitely be expected, the amount of which depends on the type of control and the operating state. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 20: Protection Against Contact With Hot Parts

    Protection when Handling and Installing Handling and installation of specific parts and components in an inappropriate way can result in burns. Warning DANGER! Danger of injury from incorrect handling! Bodily injury due to squeezing, shearing, cutting, hitting! Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 21 Use lifting devices and tools properly. If required, use appropriate protective equipment (such as safety goggles, safety shoes, protective gloves). Do not stand under suspended loads. Immediately clean leaked fluids on the floor due to slipping hazards. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 22: Cabling And Plug Assignment

    CAN bus during operation. These can cause the motor controller to shut off with an error for safety reasons. end resistor No end resistor is integrated into the devices of the CMMP series. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 23: Cabling Note

    Controller Area Network protocol specification, version 2.0, from Robert Bosch GmbH, 1991 Technical data, CAN bus cable: 2 pairs of 2 twisted leads, d 0.22 mm Loop resistance < 0.2 /m Impedance 100 … 120 Screened Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 24: Activation Of Canopen

    The following profiles for communication via the CAN bus are available for selection: - CANopen protocol in accordance with DS301 with application profile DSP402 or - the positioning profile from Festo FHPP. Note that the named parameters can only be changed if the protocol is deactivated.

  • Page 25: Access Procedure

    Monitoring of the communications participants through regular messages. Every message sent on the CAN bus contains a type of address which is used to determine the bus participant for which the message is meant. This number is designated the identifier. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 26: Sdo Access

    The answer identifier, in contrast, is always the same. Read commands always start with the same identifier, and the motor controller answers differently, depending on the data type returned. All numbers are kept in hexadecimal form. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 27 Writing obj. 6093_01 Return data: 12345678 Data: 12345678 UINT32 / INT32 Command Reply: Caution 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 P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 28: Sdo Error Messages

    This error is returned, for example, when another bus system controls the motor controller or the parameter access is not permitted. "Condition" here should be understood in general: It may be a problem of the incorrect operating mode, or a technology module that is not available or the like. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 29: Simulation Of Sdo Access Via Rs232

    The commands are entered as characters without spaces. Caution Never use these test commands in applications! via RS232 only serves test purposes and is not suitable for Access real-time-capable communication. In addition, the syntax of the test commands can be changed at any time. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 30: Pdo Message

    (D4 … D7) D0 D1 D2 D3 D4 D5 D6 D7 Start position feedback value Identifier (D0 … D3) In this way, almost any desired data telegrams can be defined. The following chapters describe the settings necessary for this. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 31: Description Of The Objects

    (the overall length of all objects is not relevant at this time). 3. The number of mapped objects is set to a value between 1 ... 4. The length of all these objects must now not exceed 64 bits. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 32 Only the bits of the TPDO that are set to "1" in the mask are used to evaluate whether the PDO has changed. Since this function is manufacturer-specific, all bits of the masks are set as default value. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 33 The PDO should be sent no more than inhibit_time = every 10 ms (100 100 µs). 6.) Setting identifier parameters The PDO should be sent with identifier 187h. Write the new identifier and cob_id_used_by_pdo = 40000187h activate the PDO by deleting bit 31: Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 34: Objects For Pdo Parameter Setting

    5.3.2 Objects for PDO Parameter Setting The motor controllers of the CMMP series contain a total of 4 transmit and 4 receive PDOs. The individual objects for setting parameters for these PDOs are the same for all TPDOs and all RPDOs in each case. For that reason, only the parameter description of the first TPDO is explicitly listed.
  • Page 35 No. of Elements Sub-index Description number_of_mapped_objects_tpdo1 Data Type UINT8 Access PDO Mapping Units Value Range 0 … 4 Default Value see table Sub-index Description first_mapped_object_tpdo1 Data Type UINT32 Access PDO Mapping Units Value Range Default Value see table Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 36 Data Type UINT32 Access PDO Mapping Units Value Range Default Value see table Note that the object groups transmit_pdo_parameter_xxx and transmit_pdo_mapping_xxx can only be written when the PDO is deactivated (bit 31 set in cob_id_used_by_pdo_xxx ). Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 37 1802 inhibit time (100 µs) UINT16 0000 1A02 number of mapped objects UINT8 1A02 first mapped object UINT32 60410010 1A02 second mapped object UINT32 60640020 1A02 third mapped object UINT32 00000000 1A02 fourth mapped object UINT32 00000000 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 38 Type Acc. Default Value 2016 number of entries UINT8 2016 tpdo_3_transmit_mask_low UINT32 FFFFFFFF 2016 tpdo_3_transmit_mask_high UINT32 FFFFFFFF tpdo_4_transmit_mask Index Comment Type Acc. Default Value 2017 number of entries UINT8 2017 tpdo_4_transmit_mask_low UINT32 FFFFFFFF 2017 tpdo_4_transmit_mask_high UINT32 FFFFFFFF Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 39 COB-ID used by PDO UINT32 C0000401 1402 transmission type UINT8 1602 number of mapped objects UINT8 1602 first mapped object UINT32 60400010 1602 second mapped object UINT32 607A0020 1602 third mapped object UINT32 00000000 1602 fourth mapped object UINT32 00000000 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 40: Activation Of Pdos

    Data length The identifier, on which the motor controller receives the SYNC message, is set permanently to 080 . The identifier can be read out via the object cob_id_sync. Index 1005 Name cob_id_sync Object code Data Type UINT32 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 41: Emergency Message

    There was no error, and an error occurs. An EMERGENCY telegram is sent with the error code of the error that occurred. Error acknowledgement An error acknowledgement (see chapter 7.1.5) is attempted, but not all causes are fixed. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 42: Structure Of The Emergency Message

    E 05 4 Excess current digital I/O 2320 E 06 x Short circuit, final stage 3210 E 07 0 Excess voltage 7380 E 08 0 Angle transmitter error resolver 7382 E 08 2 Error track signals Z0 incremental encoder Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 43 E 21 1 Error 1 ammeter V 5282 E 21 2 Error 2 ammeter U 5283 E 21 3 Error 2 ammeter V 6080 E 25 0 Invalid device type 6081 E 25 1 Device type not supported Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 44 Positioning: Drive stops because rotation direction reversal not permitted 8682 E 42 2 Positioning: Prohibited rotational direction reversal after HALT 8081 E 43 0 Limit switches: Negative command value blocked 8082 E 43 1 Limit switches: Positive command value blocked Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 45: Description Of The Objects

    (see chapter 7.1: Change of State 15) must also be performed. Index 1003 Name pre_defined_error_field Object code ARRAY No. of Elements Data Type UINT32 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 46 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 Sub-index Description standard_error_field_3 Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 47: Network Management (Nmt Service)

    Reset Application Reset application * 14 Reset Application Reset application * The final target condition is pre-operational (7F ), since the transitions 15, 16 and 2 are automatically performed by the controller. Tab. 5.2: NMT state Machine Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 48 (defective parameter set). The delay can lie in the range of some seconds. The communication status must be set to operational for the controller to transmit and receive PDOs. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 49: Bootup

    The Heartbeat telegram is transmitted with the identifier 700 + node number. It contains only 1 byte of reference data, the NMT status of the regulator (see chapter 5.6, Network Management: NMT Service). Identifier:700h NMT status + node number Data length Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 50: Description Of The Objects

    12-4. Since both heartbeat and nodeguarding telegrams are sent (see chapter 5.8) with the identifier 700 + node number, both protocols cannot be active at the same time. If both protocols are activated at the same time, only the Heartbeat protocol is active. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 51: Structure Of The Nodeguarding Messages

    Master is parameterised. This time is determined in the controller from the product of guard_time (100Ch) and life_time_factor (100Dh). It is thus recommended to write 1 into life_time_factor and then specify the time in milliseconds directly via the guard_time. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 52: Objekt 100D : Life_Time_Factor

    5.9.4 Objekt 100D : life_time_factor A 1 should be entered in the life_time_factor to specify the guard_time directly. Index 100D Name life_time_factor Object code Data Type UINT8 Access PDO Mapping Units Value Range 0, 1 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 53 SDO (Host to controller) +node number SDO (Controller to host) +node number TPDO1 Standard values. Can be changed if needed. TPDO2 TPDO3 TPDO4 RPDO1 RPDO2 RPDO3 RPDO4 SYNC EMCY +node number HEARTBEAT +node number NODEGUARDING +node number BOOTUP +node number Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 54: Setting Parameters

    The current parameter set can be stored in the nonvolatile flash memory. The storage process can be triggered with a read access to the CANopen object 1010 _ 01 (save_all_parameters). When the motor controller is switched on, the application parameter set is automatically copied into the current parameter set. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 55 Before the final stage is switched on for the first time, make sure the controller really contains the parameters you want. An incorrectly parameterised controller can turn out of control and cause personal injury or property damage. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 56: Description Of The Objects

    The parameters of the CAN communication (node number, baud rate and operation mode) as well as numerous angle encoder settings (some of which require a reset to become effective) remain unchanged. Object 1010 : store_parameters Index 1010 Name store_parameters Object code ARRAY No. of Elements Data Type UINT32 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 57: Compatibility Settings

    Objects treated in this chapter Index Object Name Type Attr. 6510_F0 compatibility_control UINT16 Objekt 6510 _ F0 : compatibility_control Sub-index Description compatibility_control Data Type UINT16 Access PDO Mapping Units Value Range 0 … 1FF , see table Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 58 If this bit is set, bit 4 of the statusword (voltage_enabled) is output in accord. with DSP402 v2.0. Also, the condition FAULT_REACTION_ACTIVE can be differentiated from the condition FAULT. See chapter 7. Bit 8 reserved The bit is reserved. It must not be set. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 59: 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. For that reason, the factor group should be set before the first parameter setting and not changed during parameter setting. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 60: Description Of The Objects

    Object 6093 : position_factor The object position_factor converts all length units of the application from position_units into the internal unit increments (65536 increments equal 1 revolution). It consists of numerator and denominator. Fig. 6.3: Overview: Factor group Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 61 The position_factor must be written separately by numerator and denominator into the motor controller. It can therefore be necessary to convert the fraction into whole numbers through suitable expansion. The position_factor must not be greater than 2 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 62 1 DP 65536 Ink ° 3600 1/10 Degree 3600 3600 div:225 ° 65536 num:16384 65536 div:25 Rev., 2 DP 1/100 Rev. 65536 num:32768 131072 div:75 63.15 1 DP num:524288 65536 2621440 1/10 mm div:6315 631.5 31575 631.5 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 63 4096 min 4096 gear_ratio Gear ratio between revolutions at the drive-in (R ) and revolutions at the drive-out (R Ratio between revolutions at the drive-out (R ) and movement in feed_constant position_units (e.g. 1 R = 360°) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 64 4096 4096min 0 DP div:1 4096 4096 4096 R/min 4096min num:2048 2 DP 8192 4096min 1/100 div:75 100min 100 min 4096 4096 4096 °/s 4096min 1 DP 245760 num:1024 ° 4096min 3600 ° 1/10 div:15 3600 3600 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 65 It consists of numerator and denominator. Index 6097 Name acceleration_factor Object code ARRAY No. of Elements Data Type UINT32 Sub-index Description numerator Access PDO Mapping Units Value Range Default Value Sub-index Description divisor Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 66 (e.g. 1 R = 360°) Calculation of the acceleration_factor uses the following equation: numerator gear_ratio x time_factor_a acceleration_factor divisor feed_constant The acceleration_factor is also written into the motor controller separated by numerator and denominator, so it may have to be expanded. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 67 ° ° 3600 3600 3600 1/10 s² ° 10s² 60·256 R/min² num: 32 2 DP 1/100 div: 1125 min² 18000 100 min² 63.15 mm/s² num: 8192 1 DP 122880 div: 421 1/10 s² 6315 631.5 10s² 60·256 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 68: Final Stage Parameters

    IGBTs. The final stage contains a series of safety functions, some of which can be parameterised: Controller enable logic (software and hardware release) Excess current monitoring Excess voltage / under-voltage monitoring of the intermediate circuit Power section monitoring Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 69: Description Of The Objects

    (enable_logic) must be set to two. For safety _ 10 reasons, this takes place automatically on activation of CANopen (also after a reset of the motor controller). Index 6510 Name drive_data Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 70 A disadvantage in certain applications is that the regulating action and smooth running of the motor are a little worse at very low speeds. Write access is only possible when the final stage is switched off. To adopt the change, the parameter set must be secured and a reset performed. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 71 When the temperature specified in the object 6510 _ 32 (max_power_stage_temperature) is exceeded, the final stage shuts off and an error message is issued. Sub-index Description power_stage_temperature Data Type INT16 Access PDO Mapping Units °C Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 72 The device nominal voltage in millivolts can be read out via the object nominal_dc_link_circuit_voltage. Sub-index Description nominal_dc_link_circuit_voltage Data Type UINT32 Access PDO Mapping Units Value Range Default Value device-dependent Device type Value CMMP-AS-C2-3A 360000 CMMP-AS-C5-3A 360000 CMMP-AS-C5-11A-P3 560000 CMMP-AS-C10-11A-P3 560000 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 73 Sub-index Description max_dc_link_circuit_voltage Data Type UINT32 Access PDO Mapping Units Value Range Default Value device-dependent Device type Value CMMP-AS-C2-3A 460000 CMMP-AS-C5-3A 460000 CMMP-AS-C5-11A-P3 800000 CMMP-AS-C10-11A-P3 800000 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 74 ON, all others as OFF. When writing with 0, the error reaction WARNING is set, when writing with 1 the error reaction CONTROLLER ENABLE OFF. See also chapter 6.18, Error management. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 75 The device peak current can be read out with the object peak_current. It is simultaneously the upper limit value that can be written into the object 6073 (max_current). Sub-index Description peak_current Data Type UINT32 Access PDO Mapping Units Value Range Default Value device-dependent Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 76: Current Regulator And Motor Adjustment

    These data must be determined the first time a motor type is used with the parameteri- sation software. For the Festo motor series EMMS-AS, you will find the parameter sets on your installation CD. You will find additional parameter sets in the Internet under www.festo.com/download.

  • Page 77: Description Of The Objects

    Object code Data Type UINT32 Access PDO Mapping Units Value Range 0 … nominal_current Default Value If a new value is written in the object 6075 (motor_rated_current), the object 6073 (max_current) must also always be newly parameterised. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 78 This object is not changed through restore_default_parameters. Index 604D Name pole_number Object code Data Type UINT8 Access PDO Mapping Units Value Range 2 … 254 Default Value 4 (after INIT!) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 79 : iit_ratio_motor With the object iit_ratio_motor, the actual capacity utilization of the I t limitation can be read out in per thousands. Sub-index Description iit_ratio_motor Data Type UINT16 Access PDO Mapping Units per thousand Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 80 In the phase sequence (phase_order), distortions between motor cable and angle transmitter cable are considered. It can be taken from the parameterisation software. A zero equals "right", a one "left". Sub-index Description phase_order Data Type INT16 Access PDO Mapping Units Value Range 0, 1 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 81 This object is not changed through restore_default_parameters. Index 6410 Name motor_data Object code RECORD No. of Elements Sub-index Description encoder_offset_angle Data Type INT16 Access PDO Mapping Units … Value Range -32767 … 32767 Default Value E000 (-45°) (after INIT!) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 82 With this object, the actual motor temperature can be read out if an analogue temperature sensor is connected. Otherwise, the object is undefined. Index 6510 Name drive_data Object code RECORD No. of Elements Sub-index Description motor_temperature Data Type INT16 Access PDO Mapping Units °C Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 83 600 is entered in the object torque_control_time. Index 60F6 Name torque_control_parameters Object code RECORD No. of Elements Sub-index Description torque_control_gain Data Type UINT16 Access PDO Mapping Units 256 = “1“ Value Range 0 … 32 * 256 Default Value 3 * 256 (768) Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 84: Speed Regulator

    The velocity controller time constant is specified in the parameterisation software in milliseconds. To transfer this time constant into the velocity_control_time object, it must previously be converted into microseconds. With a specified time of 2.0 milliseconds, the corresponding value 2000 is entered in the object velocity_control_time. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 85 Sub-index Description velocity_control_time Data Type UINT16 Access PDO Mapping Units µs Value Range 1 … 32000 Default Value 2000 Sub-index Description velocity_control_filter_time Data Type UINT16 Access PDO Mapping Units µs Value Range 1 … 32000 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 86: Position Controller (Position Control Function)

    (position_demand_value). If this following error is greater than specified in the following error window (following_error_window) for a specific time period, bit 13 following_error is set in the object statusword. The permitted time period can be specified via the object following_error_time_out. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 87 This function offers the possibility of defining a position window around the target position (target_position). If the actual position of the drive is located within this range for a specific time – the position_window_time – the related bit 10 (target_reached) is set in the statusword. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 88 0 und x i +x 0 during this time, bit 10 target_reached is set in the statusword. As soon as the drive leaves the permissible range, both bit 10 and the timer are set to zero. Fig. 6.7: Position reached Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 89: Description Of The Objects

    6.3 Conversion factors 6093 position_factor UINT32 6.3 Conversion factors 6094 ARRAY velocity_encoder_factor UINT32 6.3 Conversion factors 6096 ARRAY acceleration_factor UINT32 6.3 Conversion factors 6040 controlword INT16 7.1.3 Controlword (control word) 6041 statusword UINT16 7.1.5 Statuswords (status word) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 90 The size of the position deviation up to which the positon controller will not intervene (dead area) can be defined with the object position_error_tolerance_window. This can be used for stabilisation, such as when there is play in the system. Index 60FB Name position_control_parameter_set Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 91 Units speed units Value Range 0 … 131072 min Default Value 500 min Sub-index Description position_error_tolerance_window Data Type UINT32 Access PDO Mapping Units position units Value Range 1 … 65536 (1 R) Default Value 2 (1/32768 R) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 92 The actual nominal position can be read out via this object. This is defined by the object synchronization_encoder_select (chapter 6.11). This object is specified in user- 2022 defined increments. Index 202D Name position_demand_sync_value Object code Data Type INT32 Access PDO Mapping Units position units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 93 Index 6065 Name following_error_window Object code Data Type UINT32 Access PDO Mapping Units position units Value Range Default Value 9101 (9101/65536 U = 50°) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 94 With the object position_window a symmetrical area is defined around the target position (target_position). If the actual position value (position_actual_value) lies within this area for a certain time, the target position (target_position) is considered reached. Index 6067 Name position_window Object code Data Type UINT32 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 95 The motor thus spins out without braking (unless a holding brake is present). Index 6510 Name drive_data Object code RECORD No. of Elements Sub-index Description position_error_switch_off_limit Data Type UINT32 Access PDO Mapping Units position units Value Range 0 … 2 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 96 Name position_range_limit Object code ARRAY No. of Elements Data Type INT32 Sub-index Description min_position_range_limit Access PDO Mapping Units position units Value Range Default Value Sub-index Description max_position_range_limit Access PDO Mapping Units position units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 97 The position change is kept in this case, that is, after a reset. This save operation runs in the background regardless of this object. Likewise, all parameters belonging to the encoder storage are stored with their current values. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 98: Nominal Value Limitation

    In the first case, the torque-proportional current, in mA, is limited directly; in the second case, the current that should correspond to a voltage of 10 V is specified, in mA. Index 2415 Name current_limitation Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 99 (source = analogue input) is specified via the object limit_speed. In the first case, the specified speed is limited directly; in the second case, the speed that should correspond to a voltage of 10 V is specified. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 100 PDO Mapping Units Value Range 0 … 4 Default Value Sub-index Description limit_speed Data Type INT32 Access PDO Mapping Units speed units Value Range Default Value Value Meaning No limitation AIN0 AIN1 AIN2 Field bus (selector B) Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 101: Encoder Adjustments

    The object encoder_x2a_resolution specifies how many increments are generated by the encoder per revolution or length unit. Since at the input X2A only resolvers can be connected which are always evaluated with 16 bit, 65536 is always returned here. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 102 65536 Sub-index Description encoder_x2a_numerator Data Type INT16 Access PDO Mapping Units Value Range -32768 … 32767 (except 0) Default Value Sub-index Description encoder_x2a_divisor Data Type INT16 Access PDO Mapping Units Value Range 1 … 32767 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 103 PDO Mapping Units Increments (4 * resolution) Value Range depends on the encoder used Default Value depends on the encoder used Sub-index Description encoder_x2b_numerator Data Type INT16 Access PDO Mapping Units Value Range -32768 … 32767 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 104 X10, which is mounted at the drive-out. When the X10 signal is used as command value, gear transmissions between master and slave can be implemented. Index 2025 Name encoder_x10_data_field Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 105 Data Type INT16 Access PDO Mapping Units Value Range 1 … 32767 Default Value Sub-index Description encoder_x10_counter Data Type UINT32 Access PDO Mapping Units Increments (4 * resolution) Value Range 0 … (encoder_x10_resolution -1) Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 106: Incremental Encoder Emulation

    Index 201A Name encoder_emulation_data Object code RECORD No. of Elements Sub-index Description encoder_emulation_resolution Data Type INT32 Access PDO Mapping Units Increments (4 * resolution) Value Range 4 * (1 … 8192) Default Value 4096 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 107: Command/Feedback Value Activation

    X10 can be activated as a feedback value for the position controller. In addition, signals coming in over X10 (e.g. of a second controller) can be activated as additional command values, which permits synchronisation operating types. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 108: Description Of The Objects

    Selection is possible only between the encoder input X10 and the respective commutation encoder X2A or X2B as position feedback value encoder. It is not possible to use the configuration X2A as commutation encoder and X2B as position feedback value encoder, or vice versa. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 109 Currently, only 0 can be parameterised, so the synchronous position is always switched on. Setting bit 8 makes the homing run take place without activation of the synchronous position, so master and slave can be referenced separately. Index 202F Name synchronisation_selector_data Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 110 On the other hand, the drive at high filter times may no longer be able to follow a dynamic input signal quickly enough. Index 2023 Name synchronisation_filter_time Object code Data Type UINT32 Access PDO Mapping Units µs Value Range 10 … 50000 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 111: Analogue Inputs

    6.12 Analogue inputs 6.12.1 Overview The motor controllers of the CMMP series have three analogue inputs over which, for example, command values can be specified to the motor controller. For all these analogue inputs, the following objects offer the possibility to read out the current input voltage (analog_input_voltage) and set an offset (analog_input_offset).
  • Page 112 Object code ARRAY No. of Elements Data Type INT32 Sub-index Description analog_input_offset_ch_0 Access PDO Mapping Units Value Range -10000 … 10000 Default Value Sub-index Description analog_input_offset_ch_1 Access PDO Mapping Units Value Range -10000 … 10000 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 113: Digital Inputs And Outputs

    UINT8 Object 60FD : digital_inputs The digital outputs can be triggered via the object 60FD Index 60FD Name digital_inputs Object code Data Type UINT32 Access PDO Mapping Units Value Range according to table below Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 114 ARRAY No. of Elements Data Type UINT32 Sub-index Description digital_outputs_data Access PDO Mapping Units Value Range Default Value (dependant on the condition of the brake) Sub-index Description digital_outputs_mask Access PDO Mapping Units Value Range Default Value 00000000 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 115 OFF (0) or ON (12). Index 2420 Name digital_outputs_state_mapping Object code RECORD No. of Elements Sub-index Description dig_out_state_mapp_dout_1 Data Type UINT8 Access PDO Mapping Units Value Range 0 … 16, see table Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 116 Reserved Remaining path Homing run active Comparison speed reached I²t monitoring active Drag error Low voltage intermediate circuit Locking brake vented Final stage active On (output is high) Reserved Reserved Linear motor identified Homing position valid Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 117: Limit Switch/Homing Switch

    Index 6510 Name drive_data Object code RECORD No. of Elements Sub-index Description limit_switch_polarity Data Type INT16 Access PDO Mapping Units Value Range 0, 1 Default Value Value Meaning Normally closed contact N/O contact Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 118 (homing_switch_polarity). A "0" is entered in this object for an opening homing switches, a "1" when closing contacts are used. Sub-index Description homing_switch_polarity Data Type INT16 Access PDO Mapping Units Value Range 0, 1 Default Value Value Meaning Normally closed contact N/O contact Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 119: Sampling Of Positions

    The CMMP family offers the possibility to save the position feedback value on the rising or falling edge of a digital input. This position value can then be read out, such as for calculation within a controller. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 120: Description Of The Objects

    The following object can be used to select whether, for each occurrence of a sample event, the position should be determined (continuous sampling) or whether the sampling should be blocked after a sample event until sampling is enabled again. Please note that even one bounce can dissolve both edges! Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 121 Sub-index Description sample_status_mask Data Type UINT8 Access PDO Mapping Units Value Range 0 … 1, see table Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 122 The following objects contain the sampled positions. Sub-index Description sample_position_rising_edge 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 P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 123: Brake Triggering

    6.16.2 Description of the Objects Index Object Name Type Attr. 6510 RECORD drive_data Object 6510 _ 18 : brake_delay_time With the object brake_delay_time, the brake delay time can be parameterised. Index 6510 Name drive_data Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 124: Device Information

    (revision_number) and the serial number of the device (serial_number) can be read out. Index 1018 Name identity_object Object code RECORD No. of Elements Sub-index Description vendor_id Data Type UINT32 Access PDO Mapping Units Value Range 000000E4 Default Value 000000E4 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 125 200B CMMP-AS-C10-11A-P3 Sub-index Description revision_number Data Type UINT32 Access PDO Mapping Units MMMMSSSS (M: main version, S: sub version) Value Range Default Value Sub-index Description serial_number Data Type UINT32 Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 126 With the object drive_type, the device type of the controller can be read out. This object serves compatibility with earlier versions. Sub-index Description drive_type Data Type UINT32 Access PDO Mapping Units Value Range see 1018 , product_code Default Value see 1018 , product_code Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 127 The version number of the km_release is used to differentiate between firmware status of the same product stage. Sub-index Description km_release Data Type UINT32 Access PDO Mapping Units Value Range MMMMSSSSh (M: main version, S: sub version) Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 128 _ B0 : cycletime_current_controller The cycle time in microseconds of the current controller can be read out via the object cycletime_current_controller. Sub-index Description cycletime_current_controller Data Type UINT32 Access PDO Mapping Units µs Value Range Default Value 00000068 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 129 _ B3 : cycletime_trajectory_generator The cycle time in microseconds of the positioning controller can be read out via the object cycletime_trajectory_generator. Sub-index Description cycletime_trajectory_generator Data Type UINT32 Access PDO Mapping Units µs Value Range Default Value 00000341 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 130 Offset angle / direction of rotation of Hall encoder valid Reserved Absolute position of encoder system valid Current controller parameter valid Reserved Physical units valid Velocity controller valid Position controller valid Safety parameter valid Reserved Limit switch polarity valid 16 … 31 Reserved Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 131: Error Management

    A list of all error codes can be found in the software manual "Motor Controller CMMP". 6.18.2 Description of the Objects Objects treated in this chapter Index Object Name Type Attr. 2100 RECORD error_management 2100_01 error_number UINT8 2100_02 error_reaction_code UINT8 200F last_warning_code UINT16 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 132 Units Value Range 0, 1, 3, 5, 7, 8 Default Value depend on error_number Value Meaning No action Entry in the buffer Warning on the 7-segment display Controller enable off Braking with maximum current Final stage off Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 133 Index 200F Name last_warning_code Object code Data Type UINT16 Access PDO Mapping Units Value Range Default Value Value Manual 0 … 3 000F Warning sub-number 4 … 11 0FF0 Warning main number 8000 Warning is active Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 134: Device Control

    Such a combination is designated a command. Example: Enable operation The conditions and condition transitions together form the Condition diagram (state machine) condition diagram, that is, the overview of all conditions and the transitions possible from there. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 135: The Condition Diagram Of The Motor Controller (State Machine)

    In this condition, the final stage is switched on and the motor regulated in accordance with the set operating mode. Therefore, you should always make sure beforehand that the drive is correctly parameterised and that a corresponding nominal value equals zero. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 136 3.) The transitions 2, 3 and 4 are to be carried out according to the condition diagram (Fig. 7.1). 4.) From Tab. 7.1 follows: Transition 2: controlword = 0006h New condition: READY_TO_SWITCH_ON Transition 3: controlword = 0007h New condition: SWITCHED_ON Transition 4: controlword = 000Fh New condition: OPERATION_ENABLE Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 137 Voltage to the motor is on, and the motor is regulated according to the fault reaction function. An error has occurred. No voltage is applied to the motor. FAULT The final stage is switched on. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 138 Internal transition reaction_option_code For critical errors, transition 14 occurs Final stage is blocked. 14 Error resolution is ended Internal transition Motor rotates freely Error resolved+ Acknowledge error Fault Reset Bit 7 = command Fault Reset (with rising edge) Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 139: Controlword (Control Word)

    4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the motor controller, which is explained after this chapter. Index 6040 Name controlword Object code Data Type UINT16 Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 140 Since some status changes take a certain time, all status changes triggered via the controlword must be read back via the statusword. Only when the requested status can also be read in the statusword may an additional command be written via the controlword. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 141 (position_demand_value) of the position controller. Bit 7 reset_fault In the transition from zero to one, the motor controller tries to acknowledge the existing faults. This is only successful if the cause of the error has been resolved. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 142: Read-Out Of The Motor Controller Condition

    004Fh 0040h Ready_to_Switch_On 006Fh 0021h Switched_On 006Fh 0023h OPERATION_ENABLE 006Fh 0027h QUICK_STOP_ACTIVE 006Fh 0007h Fault_Reaction_Active 004Fh 000Fh Fault 004Fh 0008h FAULT (in accordance with DS402) 1) 0 004Fh 0008h Tab. 7.4: Device status (x = not relevant) Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 143: Statuswords (Status Words)

    (see table). For that reason, the statusword must be masked accordingly. 7.1.5 Statuswords (status word) Object 6041 : statusword Index 6041 Name statusword Object code Data Type UINT16 Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 144 Applies when in the object 6510 _ F0 (compatibility_control) bit 7 is set (see chapter 6.2): This bit is set when the final stage transistors are switched on. Warning In case of a defect, the motor can still be under voltage. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 145 In the Profile Velocity Mode target_reached The bit is set when the speed (velocity_actual_value) of the drive is within the tolerance window (velocity_window, velocity_window_time). Bit 11 internal_limit_active This bit shows that the I t limitation is active. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 146 This bit is set when reference travel is interrupted - (Halt bit), both limit switches are triggered simultaneously or the limit switch search travel already performed is greater than the specified positioning space (min_position_limit, max_position_ limit). Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 147 Object code RECORD No. of Elements Sub-index Description manufacturer_statusword_1 Data Type UINT32 Access PDO Mapping Units Value Range Default Value Valency Name 00000001 is_referenced 00000002 commutation_valid 00000004 ready_for_enable 80000000 Tab. 7.6: Bit assignment in the manufacturer_statusword_1 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 148 If at least one bit is set after masking, bit 14 of the statusword is also set. The following illustration shows this as an example: Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 149 = 0x00000002 (bit 1) manufacturer_status_mask = 0x00000002 (bit 1) Bit 14 of the statusword should be set when the drive is ready for enable OR the drive is referenced. Valid commutation position is bit 2 of the manufacturer_statusword_1. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 150 This object group determines which bits of the manufacturer_statuswords are superimposed inverted in the statusword. See also chapter 7.1.5. Index 200A Name manufacturer_status_invert Object code RECORD No. of Elements Sub-index Description manufacturer_status_invert_1 Data Type UINT32 Access PDO Mapping Units Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 151: Description Of The Other Objects

    It cannot be changed. Index 605B Name shutdown_option_code Object code Data Type INT16 Access PDO Mapping Units Value Range Default Value Value Meaning Final stage is switched off, motor rotates freely Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 152 Quick Stop. The object shows the implemented behaviour of the motor controller. It cannot be changed. Index 605A Name quick_stop_option_code Object code Data Type INT16 Access PDO Mapping Units Value Range Default Value Value Meaning Brake with quickstop_deceleration Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 153 The object fault_reaction_option_code specifies how the motor controller acts in case of error (fault). Since the error reaction of the CMMP series depends on the respective error, this object cannot be parameterised and always returns 0. To change the error reaction of the individual errors, see chapter 6.18, Error management.

  • Page 154: Operating Modes

    Object 6060 : modes_of_operation 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, 3, 4, 6, 7 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 155 "user" operating mode is returned to show that the selectors have been changed. Index 6061 Name modes_of_operation_display Object code Data Type INT8 Access PDO Mapping Units Value Range see table Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 156: Operating Mode Reference Travel (Homing Mode)

    (resolver, incremental encoder, etc.) must be included with some methods. Fig. 8.1: Reference travel The user can determine the speed, acceleration and type of homing run. With the object home_offset, the zero position of the drive can be moved to any desired position. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 157: Description Of The Objects

    6098 homing_method INT8 6099 ARRAY homing_speeds UINT32 609A homing_acceleration UINT32 2045 homing_timeout UINT16 Affected objects from other chapters Index Object Name Type Chapter 6040 controlword UINT16 7.1.3 Controlword (control word) 6041 statusword UINT16 7.1.5 Statuswords (status word) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 158 When a referencing method is determined via the object homing_method, the following settings are made: the homing source (neg./pos. limit switch, the homing switch, neg./pos. stop) the direction and process of the homing run the type of evaluation of the zero pulse from the angle encoder used. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 159 Current actual position The homing_method can only be set when the reference travel is not active. Otherwise, an error message (see chapter 5.5) is returned. The process of the individual methods is described in detail in chapter 0. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 160 If bit 6 is set in the object compatibility_control (see chapter 6.2), a run to zero follows the homing run. If this bit is set and the object speed_during_search_for_switch is written, both the velocity for the switch search and the velocity for the run to zero are written. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 161 If this time is exceeded without the homing run being ended, error 11-3 is triggered. Index 2045 Name homing_timeout Object code Data Type UINT16 Access PDO Mapping Units Value Range 0 (off), 1 … 65535 Default Value 60000 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 162: Reference Travel Processes

    The zero position refers to the first zero pulse of the angle transmitter in the negative direction from the limit switch. Fig. 8.4: Reference travel to the positive limit switch with evaluation of the zero pulse Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 163 For homing runs to the homing switch, the limit switches first serve to reverse the search direction. If the opposite limit switch is then reached, an error is triggered. Fig. 8.6: Homing run to the homing switch with evaluation of the zero pulse with negative initial movement Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 164 After that, the drive moves back slowly and searches for the exact position of the limit switch. The zero position refers to the falling edge from the positive limit switch. Fig. 8.8: Reference travel to the positive limit switch Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 165 For homing runs to the homing switch, the limit switches first serve to reverse the search direction. If the opposite limit switch is then reached, an error is triggered. Fig. 8.10: Homing run to the homing switch with negative initial movement Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 166 90 %. The stop must be mechanically dimensioned so that it does not suffer damage in the parameterised maximum current. The zero position refers directly to the stop. Fig. 8.13: Reference travel to the negative stop Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 167: Control Of Reference Travel

    The cause of the error can be determined via the objects error_register and pre_defined_error_field. Bit 4 Meaning Homing run is not active Start homing Homing run is active Homing run interrupted Tab. 8.1: Description of the bits in the controlword Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 168: Positioning Operating Mode (Profile Position Mode)

    All input variables of the curve generator are converted with the variables of the factor group (see chapter 6.3) into the internal units of the regulator. The internal variables are marked here with an asterisk and are normally not needed by the user. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 169: Description Of The Objects

    (motion_profile_type) etc. must be considered thereby. The target position (target_position) is interpreted either as an absolute or relative statement (controlword, bit 6). Index 607A Name target_position Object code Data Type INT32 Access PDO Mapping Units position units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 170 For continuous positioning, a speed different from zero can be specified. The object end_velocity is specified in the same units as the object profile_velocity. Index 6082 Name end_velocity Object code Data Type UINT32 Access PDO Mapping Units speed units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 171 The object quick_stop_deceleration specifies with which brake delay the motor stops when a quick stop is carried out (see chapter 0). 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 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 172: Functional Description

    These two methods are controlled through the bits new_set_point and change_set_immediately in the object controlword and set_point_acknowledge in the object statusword. 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 P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 173 Before this, no new positioning may be started by the host (7). In Fig. 8.18, a new positioning task is only started after the previous one has been completely finished. To determine this, the host evaluates the target_reached bit in the object statusword. Fig. 8.18: Simple positioning task Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 174: Interpolated Position Mode

    - (synchronisation interval). Since the interval is normally greater than one position controller cycle, the motor controller independently interpolates the data values between two specified position values, as shown in the following diagram. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 175: Description Of The Objects

    60C0 interpolation_submode_select INT16 60C1 interpolation_data_record 60C2 interpolation_time_period 60C3 ARRAY interpolation_sync_definition UINT8 60C4 interpolation_data_configuration Affected objects from other chapters Index Object Name Type Chapter 6040 controlword INT16 7.1.3 Controlword (control word) 6041 statusword UINT16 7.1.5 Statuswords (status word) Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 176 2 (ip_data_controlword) and then subindex 1 (ip_data_position) are written, since data transfer is triggered internally with write access to ip_data_position. Index 60C1 Name interpolation_data_record Object code RECORD No. of Elements Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 177 CAN bus, the parameter set must be saved (see chapter 6.1) and a reset performed (see chapter 5.6) so that the new synchronisation interval becomes effective. The synchronisation interval must be maintained exactly. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 178 (0.1 ms) A change in the synchronisation interval is effective only after a reset. If the interpolation interval is to be changed via the CAN bus, the parameter set must be saved and a reset performed. Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 179 Object 60C3 : interpolation_sync_definition The object interpolation_sync_definition sets the type (synchronize_on_group) and number of (ip_sync_every_n_event ) of synchronisation telegrams per synchronisation interval. For the CMMP series, only the standard SYNC telegram and 1 SYNC per interval can be set. Index 60C3...
  • Page 180 Value Range Default Value Sub-index Description actual_size 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 P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 181 PDO Mapping Units Value Range Default Value Sub-index Description buffer_clear Data Type UINT8 Access PDO Mapping Units Value Range 0, 1 Default Value Value Meaning Delete buffer / access to 60C1 not permitted Access to 60C1 enabled Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 182: Functional Description

    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 P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 183 Changing the current nominal position in accordance 60C1 , ip_data_position with trajectory After the synchronous travel process is ended, deletion of the bit enable_ip_mode prevents further evaluation of position values. Then the system can switch into another operating mode, if necessary. Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 184: Rpm Regulation Operating Mode (Profile Velocity Mode)

    RPM regulation with appropriate input and output signals Limitation of the torque nominal 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 P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 185 8. Operating modes Fig. 8.22: Structure of the speed-regulated operation (profile velocity mode) Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 186: Description Of The Objects

    UINT16 8.7 Torque controller 607E polarity UINT8 6.3 Conversion factors 6083 profile_acceleration UINT32 8.3 Positioning 6084 profile_deceleration UINT32 8.3 Positioning 6085 quick_stop_deceleration UINT32 8.3 Positioning 6086 motion_profile_type INT16 8.3 Positioning 6094 ARRAY velocity_encoder_factor UINT32 6.3 Conversion factors Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 187 The current nominal speed of the velocity controller can be read with this object. It is acted upon by the nominal value of the ramp and curve generators. If the position controller is activated, its correction speed is also added. Index 606B Name velocity_demand_value Object code Data Type INT32 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 188 Value Range Default Value Objekt 606C : velocity_actual_value The actual speed value can be read via the object velocity_actual_value. Index 606C Name velocity_actual_value Object code Data Type INT32 Access PDO Mapping Units speed units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 189 Data Type INT32 Access PDO Mapping Units speed units Value Range Default Value velocity_control_filter_time (60F9h_04h) velocity_actual_value Filter internal velocity [speed units] (606Ch) value velocity_actual_value_filtered Filter [speed units] (2074h) velocity_display_filter_time (2073h) Fig. 8.23: Determintation of velocity_actual_value and velocity_actual_value_filtered Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 190 606Dh: velocity_window. The velocity must lie within the time specified here in the velocity_window so that bit 10 target_reached is set in the object statusword. Index 606E Name velocity_window_time Object code Data Type UINT16 Access PDO Mapping Units Value Range 0 … 4999 Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 191 The object max_motor_speed specifies the maximum permitted velocity for the motor in . The object is used to protect the motor and can be taken from the motor datasheet. The velocity command value is limited to this value. Index 6080 Name max_motor_speed Object code Data Type UINT16 Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 192: Velocity Ramps

    The controller makes it possible to not just specify different velocity changes for braking and acceleration, but also to differentiate between positive and negative velocity. The following illustration clarifies this behaviour: 2090_04 velocity_acceleration_neg 2090_05 velocity_deceleration_neg 2090_03 velocity_deceleration_pos 2090_02 velocity_acceleration_pos Fig. 8.24: Velocity ramps Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 193 Default Value Sub-index Description velocity_acceleration_pos Data Type INT32 Access PDO Mapping Units acceleration units Value Range Default Value 14100 min Sub-index Description velocity_deceleration_pos Data Type INT32 Access PDO Mapping Units acceleration units Value Range Default Value 14100 min Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 194 8. Operating modes Sub-index Description velocity_acceleration_neg Data Type INT32 Access PDO Mapping Units acceleration units Value Range Default Value 14100 min Sub-index Description velocity_deceleration_neg Data Type INT32 Access PDO Mapping Units acceleration units Value Range Default Value 14100 min Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 195: Torque Regulation Operating Mode (Profile Torque Mode)

    It is thus possible for this motor controller to also be used for path control, with which both the position controller and the velocity controller are displaced to an external computer. Fig. 8.25: Structure of torque-regulated operation Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 196: Description Of The Objects

    Name Type Chapter 6040 controlword INT16 7.1.3 Controlword (control word) 60F9 RECORD motor_parameters 6.5 Current regulator and motor adjustment 6075 motor_rated_current UINT32 6.5 Current regulator and motor adjustment 6073 max_current UINT16 6.5 Current regulator and motor adjustment Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 197 6075 motor_rated_current was previously written with a valid value. Index 6072 Name max_torque Object code Data Type UINT16 Access PDO Mapping Units motor_rated_torque / 1000 Value Range 1000 … 65536 Default Value 2023 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 198 Value Range Default Value Object 6077 : torque_actual_value By means of this object, the motor's actual torque can be read out in thousanths of the nominal torque (object 6076 Index 6077 Name torque_actual_value Object code Data Type INT16 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 199 The intermediate circuit voltage of the controller can be read out via this object. The voltage is specified in the unit millivolt. Index 6079 Name dc_link_circuit_voltage Object code Data Type UINT32 Access PDO Mapping Units Value Range Default Value Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 200 Currently, only the linear ramp is implemented in this contoller, so this object can only be written with the value 0. Index 6088 Name torque_profile_type Object code Data Type INT16 Access PDO Mapping Units Value Range Default Value Value Meaning Linear ramp Festo P.BE-CMMP-CO-SW-EN 0708NH...

  • Page 201: Index

    Positioning control ......129 Brake delay time ........ 124 Cycle time PDOs........34 brake_delay_time ......124 cycletime_current_controller ..... 128 buffer_clear ........181 cycletime_position_controller ... 129 buffer_organisation ......180 cycletime_trajectory_generator ..129 buffer_position ........180 cycletime_velocity_controller .... 129 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 202 ........86 encoder_emulation_resolution.. 106, 107 following_error_time_out ....94 encoder_offset_angle ......81 following_error_window ...... 93 encoder_x10_counter ......105 fourth_mapped_object ......36 encoder_x10_data_field ....104 encoder_x10_divisor ......105 encoder_x10_numerator ....105 Gain ............. 83 encoder_x10_resolution ....104 encoder_x2a_data_field ....102 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 203 ..176 Number of pin(pairs) ......78 interpolation_sync_definition .... 179 Resolver offset angle ......81 interpolation_time_period ....178 Motor peak current ......78 ip_data_controlword ......177 motor_data ........79, 81 ip_data_position ....... 177 motor_rated_current ......77 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 204 ........107 Object 1018 ......125 Object 202D ........92 Object 1401 ........39 Object 202E ........188 Object 1402 ........39 Object 202F ........109 Object 1403 ........39 Object 202F ......109 Object 1601 ........39 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 205 ........92 Object 6098 ........159 Object 6064 ........93 Object 6099 ........160 Object 6065 ........93 Object 6099 ......160 Object 6066 ........94 Object 6099 ......160 Object 6067 ........94 Object 609A ........161 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 206 ..69, 80, 95, 117, 123 Polarity motor temperature sensor ..82 Object 6510 ......69 pole_number ........78 Object 6510 ......117 Position control function ..... 86 Object 6510 ......119 Position control time constants ... 91 Object 6510 ......118 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 207 Receive_PDO_4 ........39 profile_deceleration ....... 171 Reference switch ....... 117, 119 profile_acceleration ......171 Polarity ........... 118 profile_deceleration ......171 Reference travel ......... 156 profile_velocity ........170 Acceleration ........161 Profiles new Mode Control of the ........167 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 208 Fault messages ......... 28 Not Ready to Switch On ....137 SDO message ........26 Ready to Switch On ......137 second_mapped_object ...... 36 Switch On Disabled ......137 Selection of the position feedback Switched On ........137 value..........108 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 209 ......83 velocity_threshold_time ....191 torque_control_parameters ....83 velocity_window ........ 190 torque_control_time ......84 velocity_window_time ....... 190 torque_demand_value ...... 198 vendor_id .......... 124 torque_profile_type ......200 Version number of the torque_slope ........200 customer-specific variant ....127 Festo P.BE-CMMP-CO-SW-EN 0708NH...
  • Page 210 Drive-out ........102 Resolution ........102 Counters ......... 104 Counters ......... 105 Drive ..........103 Drive ..........105 Drive-out ........103 Drive-out ........105 Resolution ........103 Resolution ........104 Drive ..........102 Zero point offset ........ 158 Festo P.BE-CMMP-CO-SW-EN 0708NH...

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