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Festo CPX-CM-HPP Electronic Manual

Cpx terminal, fhpp interface.
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CPX Terminal
Manual
Electronics
FHPP interface
Type
CPX−CM−HPP
Manual
568 684
en 0910NH
[745 482]

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Summary of Contents for Festo CPX-CM-HPP

  • Page 1 CPX Terminal Manual Electronics FHPP interface Type CPX−CM−HPP Manual 568 684 en 0910NH [745 482]...
  • Page 3 ....... . . 568 684 © (Festo AG & Co. KG, D 73726 Esslingen, Germany, 2009) Internet: http://www.festo.com E−Mail:...
  • Page 4 ControlNet International Ltd. and the Open DeviceNet Vendor Association. Inc. (ODVA) ® CC−Link is a registered trade mark of Mitsubishi Electric Corp. ® Interbus is a registered trademark of Phoenix Contact GmbH & Co. KG, Blomberg, Germany Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 5: Table Of Contents

    ........2−8 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 6 ..........4−13 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 7 ............B−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 8 Contents and general instructions Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 9: Intended Use

    Contents and general instructions Intended use The CPX−CM−HPP module documented in this description is intended exclusively for use in Festo CPX terminals for installation in a machine or an automation technology system. The CPX−CM−HPP, in combination with a controller, permits independent control of up to four drives via CAN bus.

  • Page 10: Target Group

    This description is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service agent if you have any technical problems. VIII Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 11: Important User Instructions

    This means that failure to observe this instruction may result in damage to property. The following pictogram marks passages in the text which describe activities with electrostatically sensitive components. Electrostatically sensitive components may be damaged if they are not handled correctly. Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 12 Accessories: Information on necessary or sensible accessories for the Festo product. Environment: Information on environment−friendly use of Festo products. Text markings The bullet indicates activities which may be carried out in · any order. 1. Figures denote activities which must be carried out in the numerical order specified.

  • Page 13: Safety Instructions

    Make sure that no persons are in the sphere of influence · of the drives or any other connected actuators. Do not switch on the compressed air supply until the · system is correctly installed and parameterised. Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 14 Do not disconnect, open or cap pressurised lines. · The lines must always be vented before removal · (release compressed air). Use appropriate protective equipment · (for instance safety goggles, safety shoes, etc.). Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 15: Instructions On This Description

    Additional information on the CPX−CM−HPP can be found in the following documentation. Document Contents Brief description of the Information on mounting and CPX−CM−HPP, installation of the CPX−CM−HPP. P.BE−K−CPX−CM−HPP Tab. 0/1: Overview of additional documentation on the CPX−CM−HPP XIII Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 16 CPX fieldbus node" Instructions for the assembly, installation, P.BE−CPX−FB... commissioning and diagnostics of the corresponding fieldbus node Tab. 0/2: Extract from the overview of additional documentation on the CPX terminal Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 17: Glossary

    CPX terminal Complete system comprising CPX modules. Functional earth FHPP Festo Handling and Positioning Profile Fieldbus node Provides the connection to specific fieldbuses. Transmits control signals to the connected modules and monitors their functioning (as a CPX module: CPX fieldbus node).
  • Page 18 Contents and general instructions Term/abbreviation Significance Digital output Output byte Parameter Parameters which must be set so that the system can be operated. Record status byte Tab. 0/3: Terms and abbreviations Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 19: System Summary

    System summary Chapter 1 1−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 20: Functions

    Connection and display components ....... 1−10 1−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 21: The Cpx−Cm−Hpp

    CPX fieldbus node or through the CPX−FEC or CPX−CEC−... controller integrated into the CPX terminal. The CPX−CM−HPP merely passes on the I/O data. The Festo data profile FHPP is used for communication. 1.1.2 Functions The CPX −CM−HPP takes over the following functions: Transfer of control and status data between the controller and the connected motor controllers.

  • Page 22: Supported Motor Controllers

    1. System summary Supported motor controllers The CPX−CM−HPP supports the following motor controllers: Motor controller Comment CMMS−AS CMMS−ST CMMP−AS Motor unit MTR−DCI SFC−DC SFC−LAC Tab. 1/4: Supported motor controllers (Status December 2009) 1−4 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 23: Control Possibilities

    Control through a front−end controller in the CPX terminal Communication with the controller takes place over the Festo data profile FHPP (32−byte input and output data, 8 bytes per axis). Detailed information on the Festo data profile FHPP is provided in the P.BE−CMM−FHPP−SW−...
  • Page 24 (Status December 2009) Observe the following when using the CPX−CM−HPP: When using two CPX−CM−HPP in one CPX terminal, you must deactivate the diagnostic byte. The CAN bus setting node ID: Default 1 cannot be changed. 1−6 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 25 Fig. 1/1: Autonomous automation solution with CPX terminal, CPX−FEC/CPX−CEC−... and CPX−CM−HPP In this configuration, the sequence control of the CPX terminal is taken over by the CPX−FEC/CPX−CEC−. Communication takes place over the Festo data profile FHPP. 1−7 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 26: Control Of The Cpx Terminal Through A Higher−Order Controller

    Fig. 1/2: Design of CPX terminal with higher−order controller In this configuration, the sequence control of the CPX terminal is taken over by a higher−level controller. Communication takes place over the Festo data profile FHPP. 1−8 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 27 Fig. 1/3: Design of autonomous automation solution with communication with a higher−level controller In this configuration, the sequence control of the CPX terminal is taken over by the CPX−FEC. Communication takes place over the Festo data profile FHPP. 1−9 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 28: Connection And Display Components

    Fig. 1/4: Connection and display components on the CPX−CM−HPP position (e.g. code letters for parameters or status type) Point for separation and 3 position (e.g. value, step or status information) Fig. 1/5: Display/7−segment display 1−10 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 29: Fitting And Installation

    Fitting and installation Chapter 2 2−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 30 ........2−8 2−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 31: General Installation Instructions

    They will help you avoid damage to the electronics. Information about mounting the CPX terminal can be found in the CPX system description (P.BE−CPX−SYS−...). Information on mounting the components of the positioning system can be found in the related components documentation. 2−3 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 32: Dismantling And Mounting

    Fig. 2/1: Dismantling/mounting of the CPX−CM−HPP 2.2.1 Dismantling Dismantle the CPX−CM−HPP as follows: 1. Loosen the 4 screws of the CPX−CM−HPP. 2. Pull the CPX−CM−HPP carefully and without tilting away from the contact rails of the interlinking block. 2−4 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 33: Mounting

    3. Set the screws so that the self−cutting threads can be used. 4. Tighten the screws by hand in diagonally opposite sequence. Tightening torque 0.9 ... 1.1 Nm 2−5 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 34: Axis Connection (Can Bus Interface)

    When using a connecting cable with open end, e.g. NEBC−M9W5−K−5−N−LE3. Tab. 2/6: Pin allocation of the CAN bus interface The CPX−CM−HPP does not provide power supply to the connected CAN bus stations via the CAN bus interface. 2−6 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 35: Connecting The Can Bus

    A CAN bus plug is available as an accessory (è www.festo.com/catalogue) to connect the motor controller. If the Festo CAN bus plug is used, a cable diameter of 5 ... 8 or 7 ... 10 mm is permitted. Note...

  • Page 36: Terminating Resistor

    DIP switches. If the drive does not have an integrated terminating resistor, it must be manually connected between the signals CAN−H (High) and CAN−L (Low). 2−8 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 37: Commissioning

    Commissioning Chapter 3 3−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 38 ............3−28 3−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 39: Commissioning

    Information about commissioning the CPX terminal can be found in the CPX system description (P.BE−CPX−SYS−...). Information on commissioning the components of the positioning system, motor controllers, motors and axes can be found in the related components documentation. 3−3 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 40: Communication Profile Fhpp

    3. Commissioning Communication profile FHPP Festo has developed an optimised data profile, the Festo Handling and Positioning Profile (FHPP)" tailored to handling and positioning tasks. The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo.

  • Page 41: Overview Of Fhpp Data Structures

    SPOS Record Actual position Z−axis Byte 25 Byte 26 Byte 27 Byte 28 Byte 29 Byte 30 Byte 31 Byte 32 O−data CCON CPOS Record Reserved Reserved U−axis I−data SCON SPOS Record Actual position U−axis 3−5 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 42 O−data CCON CPOS CDIR Setpoint Setpoint value 2 U−axis value 1 (position, force, torque, ...) (speed) I−data SCON SPOS SDIR Actual Actual value 2 U−axis value 1 (actual position, actual force, (speed) actual torque, ...) 3−6 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 43 The functions of the individual bits of the CDIR byte can deviate from the above definition, depending on the drive. You can find the valid definition in the system description of the respective drives. 3−7 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 44 The functions of the individual bits of the SDIR byte can deviate from the above definition, depending on the drive. You can find the valid definition in the system description of the respective drives. 3−8 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 45: Communication Between Cpx−Cm−Hpp And The Motor Controllers

    Communication between CPX−CM−HPP and the motor controllers takes place over the following interface: Parameter Setting Interface CANopen Data profile FHPP Bit rate 1000 kbit/s or 1 Mbit/s CAN address 2 ... 9 Tab. 3/1: Parameter of the interface 3−9 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 46: Commissioning

    P.BE−CPX−SYS−...). 3. Switch the CPX terminal off. 4. Connect the CPX−CM−HPP with the drives via a CAN bus cable (see www.festo.com/catalogue). Make sure that the bus terminal on the drive side is activated at the last station. 5. Switch the CPX terminal on.
  • Page 47 44 at axis 1: position position position Significance E (=error) Axis 1 shows error type error" or warning" u (=warning) Axis 1 shows error 44 An overview of the error numbers can be found in chap. 4.2.3. 3−11 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 48: Parameterisation Of The Connected Motor Controllers With Fct

    PC with FCT software and the respective plug−ins for the motor controllers Serial programming cable for connecting the motor controller to the PC, with special connections, depending on the device, e.g. for motor unit MTR−DCI System descriptions of the respective equipment 3−12 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 49: Commissioning Of The Motor Controllers

    6. Save your settings in the controller (download −> save) and in the project (save) The subsequent chapters describe the specific parameters for the respective drives for operation with CPX−CM−HPP. 3−13 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 50: Specific Settings For Motor Controllers Cmms−As And Cmms−St

    Bus terminal On/off Bit rate 1000 kbit/s CAN address 2 ... 9 Tab. 3/3: Settings for motor controllers CMMS−AS and CMMS−ST You can find further information in the documentation of the motor controllers CMMS−AS and CMMS−ST. 3−14 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 51 Festo FHPP [Controller] [Fieldbus] Used activated [Factor group] [Factor group] Unit for linear axes ° for rotative axes −3 Exponent Position −3 Exponent Velocity −3 Exponent Accel. Tab. 3/4: Specific settings for CMMP−AS motor controller 3−15 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 52: Specific Settings For The Mtr−Dci Motor Unit

    Supply voltage internal With the external" option, an external supply voltage must be connected to the CAN bus plug; see system description of the motor unit MTR−DCI. Tab. 3/5: Specific settings for the MTR−DCI motor unit 3−16 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 53: Specific Settings For Sfc−Dc Motor Controller

    Data profile FHPP Supply voltage With the external" option, an external supply voltage must be connected to the CAN bus plug; see system description of the motor controller. Tab. 3/7: Specific settings for SFC−DC motor controller 3−17 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 54: Configuration Of The Cpx−Cm−Hpp

    Node ID 4828 + m * 64 + 17 Format There must be no gaps in the list. Axis type = No Axis" is the end of the list. Tab. 3/8: Function number 4828 configuration parameters 3−18 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 55 Power On. The saved configuration parameters are loaded as default parameters" during switch−on if the system parameter System starts with default parameter" is selected in the CPX fieldbus node or CPX−FEC. 3−19 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 56: Description Of Configuration Parameters

    Motor controller CMMS−AS Motor controller CMMS−ST Motor unit MTR−DCI Motor controllers SFC−DC Motor controller SFC−LAC Tab. 3/9: Axis Type configuration parameter Node ID CAN bus address of the motor controller Range of values: from 2 to 9 3−20 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 57 32 bit value represents the path (e.g. m) dependent on the set resolution −3 (e.g. 10 32 bit [ m] Only for motor unit MTR−DCI and motor controller SFC−xx: The 32−bit position value is converted into [ m] or [1/1000°]. 3−21 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 58 Conversion is not necessary when a higher−level fieldbus master and double words are used. If a Profibus control is used, attention must be paid that the bytes are correctly transferred. The bytes might be transposed. 3−22 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 59: Additional Parameters

    784 + m * 4 + 2 serial number (BCD coded). d d) 784 + m * 4 + 3 Tab. 3/11: Additional parameters 3−23 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 60: Configuration With The Mmi

    You can find the description of the possible settings in chapter 3.6.1. In the [Parameters] menu, the configuration parameters of the CPX−CM−HPP are displayed and changed. After parametrisation, carry out a restart of the CPX · terminal to accept the revised parameters. 3−24 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 61 ° No Axis · BD.AD [mm] ° CMMP−AS ________________________________________________________ _________________________________________________________ Back ° CMMS−AS Back ßà Edit · CMMS−ST ° MTR−DCI ° SFC−DC ° SFC−LAC ________________________________________________________ Back Fig. 3/2: Display configuration parameters and change with the CPX−MMI 3−25 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 62: Configuration With Cpx−Fmt

    3. Commissioning 3.6.5 Configuration with CPX−FMT The following illustrations show the configuration of the CPX−CM−HPP with CPX−FMT. Fig. 3/3: Configuration with FMT: Axis selection 3−26 Festo P.BE−CPX−CM−HPP−EN en 0910NH...
  • Page 63 3. Commissioning Fig. 3/4: Configuration with FMT: Axis type selection Fig. 3/5: Configuration with FMT: Format selection 3−27 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 64: Force

    Front end controller Higher−order controller Whether forcing is already possible after the system start can be set via the CPX terminal. Further information on forcing can be found in the CPX system description, type P.BE−CPX−SYS−... 3−28 Festo P.BE−CPX−CM−HPP−EN en 0910NH...

  • Page 65: Diagnosis And Error Treatment

    Diagnosis and error treatment Chapter 4 4−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 66 ....4−16 4.5.3 Definition of diagnostics channels ......4−19 4−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 67: Summary Of Diagnostics Options

    CPX−FEC/CPX−CEC with specific the respective diagnostic additional information. CPX modules. functions Tab. 4/1: Diagnostics options Note The available diagnostic information depends on the settings of the CPX fieldbus node or the CPX−FEC/CPX−CEC. 4−3 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 68: Diagnosis And Error Treatment

    4.2.2 Acknowledging errors You have the following options to delete the error: Acknowledge the error with CCON.Reset. Acknowledge the error with the CPX−MMI. Switch the operating voltage off and then on again. 4−4 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 69: Error Numbers

    Further instructions can be found in the descriptions of the respective motor controller. The possible error causes named in the following table do not claim to be complete. If in doubt, contact your local Festo Service. 4−5 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 70 Check neg. proximity switch · Limit switch: Negative setpoint inhibited Pos. proximity switch actuated. Check pos. proximity switch · Positioning error Following limit reached Check controller parameters · Controller parameters not correct. Correct controller parameters · 4−6 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 71 Correct setting · in the FHPP profile Standstill warning Axis is not at standstill Check controller parameters · Time out of quick stop Axis could not brake in the specified time Check controller parameters · 4−7 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 72 Contact Festo · Internal undervoltage supply Internal error of the drive Contact Festo · SD error Internal error of the drive Contact Festo · HW component error Internal error of the drive Contact Festo · 4−8 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 73 Check cable and replace if necessary · Hardware fault at the motor controller Contact Festo · Old encoder parameter set (type CMMP−AS) Internal error of the drive Contact Festo · Index pulse warning Contact Festo · 4−9 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 74 Internal error in the motor Contact Festo · t Error (motor) Internal error in the motor Contact Festo · General unassignable error Other errors Contact Festo · Tab. 4/2: Error messages of the CPX−CM−HPP 4−10 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 75: Diagnosis Via Display

    4.2.3, page 4−5. position (e.g. code letter for parameters or status type) Point for separation and 3 position (e.g. value, step or status information) Fig. 4/6: Display/7−segment display 4−11 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 76 Axis is homed (Axis is REFERENCED) Error no.: 12 Error The display first shows E" and then 12". Warning: 28 Warning The display first shows u" and then 28". Tab. 4/3: Information on the three−digit 7−segment display 4−12 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 77: Diagnosis Via Leds

    CPX terminal. PL (Power Load) load supply LED (yellow) Sequence Status Error handling Power supply failed Make sure the voltage is applied · LED is off Power supply OK LED illuminated Tab. 4/4: PL LED 4−13 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 78 Example 2: Four axes are configured, but only one reports an error. Result: The Error LED is always illuminated when the status of the defective axis is shown on the display. Tab. 4/5: ERROR LED 4−14 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 79: Diagnosis At The Cpx Terminal

    Error in analogue /function or technology module Type of error Bit 4 ... 6 = 0 Bit 7 = 1: Other error Further instructions on the structure of the status bits can be found in the CPX system manual P.BE−CPX−SYS−... 4−15 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 80: I/O Diagnostic Interface And Diagnostics Memory

    CPX terminal. Diagnostics memory data (I/O diagnostics interface) The representation of diagnostics messages of the CPX−CM−HPP in the diagnostics memory of the CPX terminal takes place as shown in Tab. 4/6. 4−16 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 81 (diagnostics event) [NB] = 0 ... 39 ; most current diagnostics event = 0 Tab. 4/6: Diagnostics memory data of the CPX−CM−HPP Instructions on diagnostics with the I/O diagnostics interface can be found in the CPX System Description. 4−17 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 82 2008 + m * 4 + 1; m = module number (0 ... 47) Description CPX error category (see chapter 4.2.3) Bits 0 ... 7 Range of values: 100 ... 109 Tab. 4/8: Module error number 4−18 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 83: Definition Of Diagnostics Channels

    The individual diagnostics channels report errors of the respective axis. The following table shows the definition of the diagnostics channels Channel number Axis Input channel Tab. 4/9: Definition of diagnosis channels 4−19 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 84 4. Diagnosis and error treatment 4−20 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 85 Technical appendix Appendix A A−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 86: A. Technical Appendix

    ........... . A−4 Device−specific information on the CPX−MMI handheld ....A−5 A−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 87: A.1 Technical Data

    80 mA Power failure buffering 10 ms Product weight (without interlinking block) approx. 140 g Dimensions W x L x H 50 mm x 107 mm x 55 mm A−3 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 88: A.2 Accessories

    A. Technical appendix Accessories Accessories for the CPX−CM−HPP can be found in our catalogue under www.festo.com/catalogue. A−4 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 89: A.3 Device−Specific Information On The Cpx−Mmi Handheld

    Diagnostics (D) Module Data (MD) ___________________________________ _____________________ Back Parameters (P) Module Data (MD) Warning Incorrect entries in the Force Mode, [Monitoring/Forcing (M)] menu can cause accidental movements and severe personal injury and material damage! A−5 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 90 O: OPM1 O: OPM 2 O: Enable CCON.B0 O: /Halt _____________________________________________________ O: /Stop CCON.B1 Back Force Mode O: /Brake CCON.B2 O: Reset CCON.B3 O: Lock CCON.B5 O: OPM1 CCON.B6 O: OPM2 CCON.B7 O: /Halt CPOS.B0 A−6 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 91 _____________________________________________________ Back Mode Exec Record (E) Jog / Ref / Teach (J) Mode The following functions are available in the [Mode] menu: Clear force settings actual module/all modules Force Mode (Sys.par.) enable / disable A−7 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 92 Record no. Start Entry in the CPX−MMI FHPP bit /Stop /Halt Clear Start CPOS.B1 State /Stop CCON.B1 Warn /Halt CPOS.B0 Fault _____________________________________________________ Back Clear CPOS.B6 SPOS.B2 Warn SCON.B2 Fault SCON.B3 A−8 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 93 1: CM−HPP :D.X ___ selected axis are displayed in the [Detail] menu. Fault X−Axis: 104−44 44− Node Guarding The description of this is found in section 4.2.3. or Heart Beat _____________________________________________________ Back Res fault A−9 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 94 First faulty module 1: CM−HPP FHPP−Gateway Fault number: 104 Module position and designation System error A Number of the CPX error group _____________________________________________________ Back Designation of the CPX error group A−10 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 95 Seconds: 57 Milliseconds: 13 Module designation _____________________________________________________ Back ßà Time stamp in the format Days:Hours:Minutes: Seconds: Milliseconds (Days:Hours:Minutes:Seconds: Milliseconds) since switch−on Note Additional information on the Handheld CPX−MMI can be found in the documentation P.BE−CPX−MMI−1−... A−11 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 96 A. Technical appendix A−12 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 97 Index Appendix B B−1 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

  • Page 98: B. Index

    ............B−1 B−2 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 99 ........2−4 B−3 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 100 ........B−4 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 101 ........B−5 Festo P.BE−CPX−CM−HPP−E N en 0910NH...
  • Page 102 B. Index B−6 Festo P.BE−CPX−CM−HPP−E N en 0910NH...

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