Festo CMMS-AS-G2 Series Description
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Festo CMMS-AS-G2 Series Description

Motor controller
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Motor controller
CMMS-AS-...-G2
Description
Functions
Firmware design:
from 1.4.0.2.6
8026161
1310NH

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Summary of Contents for Festo CMMS-AS-G2 Series

  • Page 1 Motor controller CMMS-AS-...-G2 Description Functions Firmware design: from 1.4.0.2.6 8026161 1310NH...
  • Page 2 Essential or useful accessories. Information on environmentally sound usage. Text designations: • Activities that may be carried out in any order. 1. Activities that should be carried out in the order stated. – General lists. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 3: Table Of Contents

    ..........3.4.2 Required digital inputs/outputs with a fieldbus activation ....Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 4 ..........5.6.1 Behaviour of the motor controller when the mains supply is interrupted ..Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 5 ..... 6.7.5 Homing mode/configure and parameterise homing ..... . Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 6 ......6.8.3 Activate jog operation via Festo Configuration Tool (FCT) ....
  • Page 7 ........... . . Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 8 ....Configure RS485 interface in the Festo Configuration Tool (FCT) ....
  • Page 9 Before using a newer firmware version, check whether a newer version of the FCT plug- in or user documentation is available for it Support portal: http://www.festo.com/sp. Service Please consult your regional Festo contact if you have any technical problems. Rating plate CMMS-AS-…-G2 Significance Type designation CMMS-AS-…-G2...

  • Page 10: Cmms-As

    CMMS-AS-...-G2 Type codes CMMS – – – – Interfaces CMMS Motor controller, standard Motor technology AC synchronous Nominal cur- rent Input voltage 230 V AC Generation 2nd generation Fig. 1 Type codes Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 11 Description of the DeviceNet interface of the motor controller. P.BE-CMMS-FHPP-DN-SW-... Help on the FCT plug-in CMMS-AS User interface and functions of the CMMS-AS plug-in for the Festo Configuration Tool. www.festo.com/sp Tab. 2 Documentation on the motor controller CMMS-AS-...-G2 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 12: Safety And Requirements For Product Use

    • Perform a risk assessment in accordance with the EC Machinery Directive. • Based on this risk assessment, design the safety system for the entire machine, taking into account all integrated components. This also includes the electric drives. Bypassing of safety equipment is impermissible. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 13: Intended Use

    – as an installed device in a control cabinet. In the event of damage caused by unauthorised manipulation or other than intended use, the guarantee is invalidated and the manufacturer is not liable for damages. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 14: Requirements For Product Use

    The motor controller carries the CE mark, standards and test values Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1. The product-relevant EU directives can be found in the declaration of conformity. Certificates and the declaration of conformity for this product www.festo.com/sp Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 15: Interfaces

    Flying measurement Analogue input Analogue monitor Motor Endless positioning Safety switching device STO “Safe Torque Off ” Safety function Data interfaces PC/notebook RS232 Parameter Firmware Memory card Fig. 2.1 Overview: control section interfaces Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 16: Overview: Power Section Interfaces

    Interfaces 2.1.2 Overview: power section interfaces CMMS-AS-...-G2 Power section Supply voltage Load component: 230 V AC Braking resistor External braking resistor Motor Motor Fig. 2.2 Overview: power section interfaces Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 17: Control Interfaces - Operating Modes - Functions

    1) Encoder input 5) CANopen device profile CiA 402 2) HTL signal (high transistor logic) with a max. high level = 24 V 6) Festo handling and positioning profile (FHPP) 3) Analogue input signal: ±10 V/analogue output signal: +10 V 7) CAN-Interpreter 4) TTL signal (transistor-transistor logic) with a max.

  • Page 18: Positioning Mode

    89 Direct application Record selection (positioning record 0) Jog operation page 104 Direct application Digital inputs Teach mode page 111 Direct application Record selection (positioning record 1…63) Tab. 2.1 Overview: positioning mode Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 19: Speed Mode And Force/Torque Mode

    115 Direct mode Direct application Analogue setpoint value Analogue input Force/torque mode (current control) page 120 Direct mode Direct application Analogue setpoint value Analogue input Tab. 2.2 Overview: speed mode and force/torque mode Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 20: Synchronisation

    CI = CAN-Interpreter (CiA 402, SDO) Synchronisation Synchronisation (position control) page 125 Incremental signal (A/#A/B/#B/N/#N) Incremental inputs Pulse/direction signal (CLK/DIR) Incremental inputs Digital inputs Forward/reverse signal (CW/CCW) Incremental inputs Digital inputs Tab. 2.3 Overview: synchronisation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 21: Encoder Emulation, Flying Measurement, Analogue Monitor And Endless Positioning

    Incremental outputs Flying measurement page 133 Digital input Analogue monitor (AMON0) [0…10 V] page 135 Analogue output Endless positioning page 138 Tab. 2.4 Overview: encoder emulation, flying measurement, analogue monitor and endless positioning Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 22: Control Interfaces

    1) Multiple assignment of DIN9: This digital input is used as a sample input with flying measurement. 2) Multiple assignment of DIN12: This digital input can be used as an analogue input (AIN0) in speed mode or force/torque mode. Tab. 3.1 Overview of the operating mode/mode selection Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 23 3) Multiple assignment of DIN12/DIN13: These digital inputs can be used as analogue inputs (AIN0/#AIN0) in speed mode or force/torque mode. 4) Default setting, freely configurable in the Festo Configuration Tool (FCT). Tab. 3.2 Overview: digital I/O modules dependent on the operating mode/mode...
  • Page 24 2) Position synchronous (DOUT2)[X1.25] Individual record, mode 0 Jog/teach, mode 1 Record linking, mode 2 Synchronisation, mode 3 5 ms Fig. 3.1 Timing diagram: shifting of the operating mode via mode bit 0/1 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 25: Digital Inputs (Din0

    Selection of operating mode/mode Mode bit 0 Signal for selecting the operating mode (mode). High (DIN12)[X1.2] active Mode bit 1 Signal for selecting the operating mode (mode). High (DIN9)[X1.11] active Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 26 NEXT2 NRI/NFI”: Configur- (DIN11)[X1.16] Continuation is executed immediately with the edge. able – Positioning record parameter (FCT) “Command: NRS/NFS”: Continuation is executed with the edge and the output signal “Motion complete = high”. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 27 – With the falling edge, the current actual position is temporarily stored in the selected positioning record. The taught positions are not permanently stored until there is a falling edge of the controller enable signal (DIN5)[X1.9]. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 28 The higher-order controller can interrogate the last stored actual position via the active fieldbus. Tab. 3.3 Function overview: digital inputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 29: Digital Outputs (Dout0

    The signal is high as long as the actual position is within High the parametrised message window (message “Target active reached”) related to the current setpoint position of the positioning curve controller-internal positioning controller. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 30 Permanent signal The signal is permanently low (O V DC). The signal is permanently high (24 V DC). High Tab. 3.4 Function overview: digital outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 31 = … ms (FCT: dependent on the parameter Rotational axis = … R “Damping time” in the message “Target (FCT: dependent on the parameter “Message reached”) window” in the message “Target reached”) Fig. 3.2 Timing diagram: motion complete signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 32: Analogue Inputs/Outputs [X1]

    Tab. 3.6 Function overview: analogue inputs 3.2.2 Analogue output (AMON0) Function Description Analogue monitor The monitor output provides a configurable monitor signal (0…10 V) (AMON0)[X1.17] with reference to the analogue load “AGND”. Tab. 3.7 Function overview: analogue output Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 33: Encoder Inputs/Outputs [X1/X10]

    Tab. 3.8 Overview: encoder signals and control interfaces 3.3.2 Encoder output (encoder emulation) The motor controller CMMS-AS-...-G2 at the connection [X10] has an encoder output. The incremental signals (A/#A/B/#B/N/#N) are generated in the encoder emulation. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 34: Incremental Signal (A/#A/B/#B/N/#N)

    Incremental signal: #A 90° Incremental signal: B Incremental signal: #B One revolution Zero pulse signal: N Zero pulse signal: #N Fig. 3.3 Timing diagram: incremental signal for direction of rotation to the right (basic setting) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 35: Pulse/Direction Signals (Clk/#Clk/Dir/#Dir)

    Timing diagram: pulse/direction signals Pulse period Pulse signal: CLK Pulse signal: #CLK Direction of rotation “positive” Direction of rotation “negative” Direction signal: DIR Direction signal: #DIR Rotor position Fig. 3.4 Timing diagram: pulse/direction signals Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 36: Forward/Reverse Signals (Cw/#Cw/Ccw/#Ccw)

    Timing diagram: forward/reverse signals Direction of rotation “positive” Forward signal: CW Forward signal: #CW Direction of rotation “negative” Pulse period Reverse signal: CCW Reverse signal: #CCW Rotor position Fig. 3.5 Timing diagram: forward/reverse signals Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 37: Fieldbuses [X4/X5/Ext]

    Only one fieldbus may be used for activation of the motor controller. The Festo Profile for Handling and Positioning (FHPP) and the CANopen device profile CiA 402 have been implemented as the device profile (communication protocol) in the motor controller.

  • Page 38: Required Digital Inputs/Outputs With A Fieldbus Activation

    1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Only required for applications with limited positioning range or homing methods with limit switch. Fig. 3.6 Connection: required digital inputs/outputs with a fieldbus activation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 39: Device Profiles For Fieldbuses

    Communication can take place optionally over SDOs (service data objects) and/or PDOs (process data objects). Up to 2 PDOs are available for each sending direction (transmit/receive). Additional information can be found in the documentation CiA 402 manual P.BE-CMMS-FHPP-CO-SW-… Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 40: Dimension Reference System

    Offset “project zero point (PZ)” Offset “target/actual position (TP/AP)” Offset “SW end position negative (SEN)” Offset “SW end position positive (SEP)” Effective stroke Working stroke Tab. 4.1 Dimension reference system for linear drives Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 41: Dimension Reference System For Rotative Drives

    Optional: offset “SW end position positive (SLP)” Effective positioning range Working positioning range 1) In the motor controller function “Endless positioning”, no limit switch can be parametrised. Tab. 4.2 Dimension reference system for rotative drives Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 42: Calculation Rules For The Dimension Reference System

    Before the start, a check is made whether the target positions of the positioning records lie between the software end positions. If a target position lies outside this range, the positioning record is not executed and the reaction parametrised in the FCT-error management “400…403” is carried out. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 43: Commissioning And In Operation

    Position (Position controller) Record selection/ Positioning control Synchronisation positioning record Interpolated positioning mode Single position operation Record linking operation Direct mode Homing mode Jog mode Teach mode Fig. 5.1 Flow diagram: motor controller Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 44: Flow Diagram: Motor Controller Regulation

    1) Positioning mode includes the following operating modes: “direct mode, individual record mode, record chaining mode, interpolated positioning mode, homing mode, jog operation and teach operation”. Fig. 5.2 Flow diagram: motor controller regulation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 45: Data Interfaces (Parameter/Firmware)

    – CANopen data Save/execute management – DeviceNet – DriveBus GSD file: Save/execute Download – PROFIBUS DP Function element file: – CodeSys Save/execute – Step 7 – RSLogix 5000 Fig. 5.3 Overview: data interfaces (parameter/firmware) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 46: Festo Configuration Tool (Fct)

    The FCT is installed on your PC with an installation program: 1. Close all programs. 2. Insert the “Festo Configuration Tool” CD in your CD-ROM drive. If Auto-Run is activated on your sys- tem, the installation starts automatically and you can skip steps 3 and 4.

  • Page 47: Starting The Fct

    • Click in the FCT user interface in a parameter/configuration field. When the F1 key is pressed, the Static Help is displayed for the parameter/configuration field. • Activate the Static Help [menu bar][Help] [Content of installed plug-ins][Festo][CMMS-AS] in the FCT user interface. The Static Help is displayed when the field “CMMS-AS” is clicked on.

  • Page 48: Download/Synchronise Fct Project/Firmware /Parameter Data

    [M1] FCT project data Upload (FCT) Controller >> PC/Notebook Synchronisation (FCT) PC/Notebook << >> Controller Parameter file (xxx.DCO) Upload Controller >> SD (FCT) Tab. 5.2 Backup of the motor controller parameter data Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 49: Memory Card

    Characteristic Description Supported card type (version 1 and 2) Supported file system FAT16 (max. 2 GB) 1) Recommended are industry-suitable memory cards from the Festo accessories programme. Tab. 5.3 Characteristics of the memory card 5.3.7 Parameter/firmware files Files Example Type...

  • Page 50: Download Firmware File (Xxx.s) (Memory Card >> Motor Controller)

    Errors are detected or triggered through the bootloader (7-segments display: illuminated decimal point “.”). Recommendation: Only one firmware file should be stored on the memory card. In the case of several firmware files, the newest one is always loaded! Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 51: Download Parameter File (Xxx.dco) (Memory Card >> Motor Controller)

    Download parameter file (xxx.DCO) (Memory card >> Motor controller) With the Festo Configuration Tool (FCT), a parameter file can be loaded from the memory card (down- load) or stored on the memory card (upload). In the download, the latest parameter file is always searched for.

  • Page 52: Master Control Over The Motor Controller

    When the motor controller is switched on, the “digital I/O module” control interface is activated as standard. For the Festo Configuration Tool (FCT) to be able to control the connected motor controller, the follow- ing conditions must be met: – Digital input “Output stage enable (DIN4)[X1.21]” = 24 V DC.

  • Page 53: Fct Master Control Over The Motor Controller

    Device control “FCT” active “Enable” active Parameterise Control 1) Enable via the digital inputs has a higher priority than the FCT enable Fig. 5.7 Timing diagram: FCT master control over the motor controller Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 54: Switching The Motor Controller On And Off

    Common error (DOUT3) Load “DIN/DOUT” (GND 24 V) The connection diagram shows the switch positions in operation. 1) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 5.8 Connection: Digital inputs/outputs for operating status Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 55 (brake control, 2.5 ms brake timing)) 10 ms (dependent on the operating mode and the status of the drive) Fig. 5.9 Timing diagram: switch-on sequence via Power ON Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 56: Behaviour Of The Motor Controller During Switch-Off

    Quick-stop delay and brake timing)) Quick-stop monitoring time of the speed 5 ms L 50…500 ms actual value) 5 ms Fig. 5.10 Timing diagram: switch off motor controller via controller enable signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 57 (brake control, L 50…500 ms brake timing)) Fig. 5.11 Timing diagram: switch off motor controller via output stage enable signal The holding brake is not suitable for braking the motor or moving masses. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 58: Interruption Of The Mains Supply

    (DOUT3)[X1.13] Speed 1) Only if declared speed = setpoint speed. = 60 ms 2.5 ms 2.5 ms = … ms (FCT: dependent on the acceleration ramp) Fig. 5.12 Timing diagram: interrupt mains supply Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 59 Commissioning and in operation The holding brake is not suitable for braking the motor or moving masses. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 60: Fieldbus Configuration (Via Dip Switches)

    + 16 (switch position) (OFF) (ON) (ON) (ON) (OFF) (OFF) (ON) 1) The addresses “0…2” in Profibus DP are assigned to defined interfaces (e.g.: higher-order controller, etc.). Tab. 5.5 Configure address of the fieldbus/MAC-ID Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 61: Configure Data Rate

    The DIP switch [S1.11] may only be used for activating the CAN interface. The fieldbus activation is dependent on the following points: Fieldbus Interface module DIP switch (mounted) S1.11 CANopen – DriveBus – PROFIBUS DP CAMC-PB DeviceNet CAMC-DN RS485 – Tab. 5.7 Configure fieldbus interface Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 62: Configure Terminating Resistor

    OFF: terminating resistor not active. PROFIBUS DP In the PROFIBUS DP, the terminating resistor is integrated into the “CAMC-PB” interface module. DeviceNet Terminating resistor can be connected externally, RS485 if needed. Tab. 5.8 Configure terminating resistor Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 63: Positioning Mode

    The regulator cascade (posi- tion, speed and current regulator) processes the deviation “setpoint value” and “actual value” and thus controls the following output stage. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 64: Record Selection, Positioning Record And Positioning Record Profile

    (0…7) is assigned via the “Profile” parameter. From the parameters, the controller-internal posi- tioning controller calculates the positioning curve for the individual record or record sequence. The positioning records and positioning record profiles can be parametrised via fieldbus or Festo Con- figuration Tool (FCT).

  • Page 65: Actuate Record Selection/Positioning Record Via Fieldbus Or Digital Inputs

    1…63 PROFIBUS DP DeviceNet Digital inputs (DIN) Positioning Positioning Positioning Positioning record 1…63 record 1…7 record 0 record 1…63 (Mode 0) (Mode 2) (Mode 0) (Mode 1) Tab. 6.1 Overview: Actuate positioning records Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 66 7 Positioning record 8 … Positioning record 15 Positioning record 16 … Positioning record 32 … Positioning record 63 Tab. 6.2 Overview: Record selection bit 0...5/actuate positioning records 1...63 via digital inputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 67: Parameterise Positioning Record

    Positioning mode 6.2.3 Parameterise positioning record The following settings can be parametrised in the Festo Configuration Tool (FCT): Parameters Description Positioning record: Mode Positioning types: = Absolute positioning related to a fixed zero point (axes/project zero point) (default) RA = Relative positioning related to the current actual position...
  • Page 68 Continuation of sequence control via NEXT1/2 signal. This parameter is activated via the positioning parameter (FCT) “Command: NRI/NFI/NRS/NFS”. With the configured input (NEXT1/2), continuation can be controlled in the sequence control. Tab. 6.3 Overview: positioning record parameters Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 69: Parameterise Positioning Record Profiles

    Positioning mode 6.2.4 Parameterise positioning record profiles The following settings can be parametrised in the Festo Configuration Tool (FCT): Parameters Description Position record profiles: Speed Setpoint value for positioning speed. Acceleration Setpoint value for acceleration. Deceleration Setpoint value for deceleration.
  • Page 70 RN = Mode A: Relative positioning related to the fixed zero point (e.g. project zero point) last setpoint position RA = Mode A: Relative positioning related to the current actual position Fig. 6.3 Timing diagram: parameter: Start condition “Interrupt” Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 71 = 50 ms (= 2 t = 100 % a– a– = parametrised acceleration = parametrised travel speed = parametrised deceleration Fig. 6.4 Timing diagram: Smoothing with an acceleration/time delay t = 25 ms Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 72 Overview: smoothing/filter time Smoothing 20 % 40 % 60 % 80 % 100 % Filter time 0 ms 10 ms 20 ms 30 ms 40 ms 50 ms Tab. 6.6 Overview: smoothing/filter time Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 73: Direct Mode

    The controller-internal positioning controller uses the positioning parameters for each additional direct application if no new parameterisation has been ex- ecuted. The positioning parameters can be parametrised via fieldbus or Festo Configuration Tool (FCT). 6.3.2 Activating direct mode via fieldbus CMMS-AS-...-G2...

  • Page 74: Connection: Digital Inputs/Outputs

    1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Only required for applications with limited positioning range or homing methods with limit switch. Fig. 6.6 Connection: Required digital inputs/outputs with a fieldbus activation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 75: Parameterise Direct Mode

    Positioning mode 6.3.4 Parameterise direct mode The following settings can be parametrised in the Festo Configuration Tool (FCT): Parameters Description Positioning mode: Base value of speed Base value for the “Speed” setpoint value The “Speed” setpoint value is calculated by multiplying “Base value”...

  • Page 76: Single Position Operation

    Each individual record is started with its own start command/ signal. The positioning records and positioning record profiles can be parametrised via fieldbus or Festo Configuration Tool (FCT).

  • Page 77: Connection: Digital Inputs/Outputs

    Load “DIN/DOUT” (GND 24 V) The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.8 Connection: digital inputs/outputs...

  • Page 78: Timing Diagram: Start/Cancel Individual Record

    = … ms (FCT: dependent on the parameters 2.5 ms “Message window” and “Damping time” in 5 ms the message “Target reached”) Fig. 6.9 Timing diagram: Start individual record via Start positioning signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 79: Parameterise Individual Record Operation

    “Stop input” in the stop decelerations) Fig. 6.10 Timing diagram: cancel individual record via stop signal 6.4.5 Parameterise individual record operation The following settings can be parametrised in the Festo Configuration Tool (FCT): Positioning record parameter page 67, chap. 6.2.3 Positioning record profile parameter page 69, chap.

  • Page 80: Record Linking Operation

    The process of record sequence can be controlled through continuation (sequence control). The positioning records/positioning record profiles and record continuation can be parametrised via fieldbus or Festo Configuration Tool (FCT). The positioning record “0” is reserved exclusively for homing in the reference mode.

  • Page 81: Connection: Digital Inputs/Outputs

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.12 Connection: digital inputs/outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 82: Timing Diagram: Start/Interrupt/Cancel Record Sequence

    = … ms (FCT: dependent on the parameters 2.5 ms “Message window” and “Damping time” in 5 ms the message “Target reached”) L 16 ms Fig. 6.13 Timing diagram: start record sequence via start positioning sequence signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 83 = … ms (FCT: dependent on the parameters = … ms (FCT: dependent on the deceleration “Message window” and “Damping time” in ramp) the message “Target reached”) Fig. 6.14 Timing diagram: interrupt record sequence via halt positioning sequence signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 84 L 16 ms = … ms (FCT: dependent on the parameters 2.5 ms “Message window” and “Damping time” in the message “Target reached”) Fig. 6.15 Timing diagram: cancel individual record via stop signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 85 L 16 ms = … ms (FCT: dependent on the parameters 2.5 ms “Message window” and “Damping time” in the message “Target reached”) Fig. 6.16 Timing diagram: cancel record sequence via mode bit 1 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 86: Parameterise Record Linking Operation

    Positioning mode 6.5.5 Parameterise record linking operation The following settings can be parametrised in the Festo Configuration Tool (FCT): Positioning record parameter page 67, chap. 6.2.3 Positioning record profile parameter page 69, chap. 6.2.4 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 87: Interpolated Positioning Mode

    Cycle time “position control” (0.4 ms) Fig. 6.17 Interpolation of position setpoint values 6.6.2 Activate interpolated positioning mode via fieldbus CMMS-AS-...-G2 Control section Fieldbus CANopen Interpolator Position control DriveBus Fig. 6.18 Overview: Activate interpolated positioning mode via fieldbus Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 88: Connection: Digital Inputs/Outputs

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.19 Connection: digital inputs/outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 89: Homing Mode/Homing

    – Homing method (at current position, limit switch, stop and/or zero impulse) – Axis zero point (factory setting = project zero point) – System of measurement units (You can find additional information in the “Festo Configuration Tool (FCT), CMMS-AS-PlugIn” help on the CD-ROM CMMS-AS_de.pdf )

  • Page 90: Connection: Digital Inputs/Outputs

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.21 Connection: digital inputs/outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 91: Timing Diagram: Cancel Homing To Limit Switch/Stop

    2.5 ms = … ms (FCT: dependent on the parameters “Message window” and “Damping time” in the message “Target reached”) Fig. 6.22 Timing diagram: start homing to limit switch via start positioning signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 92 = … ms (FCT: dependent on the deceleration ramp) = … ms (FCT: dependent on the parameters “Message window” and “Damping time” in the message “Target reached”) Fig. 6.23 Timing diagram: homing to stop Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 93 2.5 ms Travel curve with “Negative limit switch” = … ms (FCT: dependent on the parameter homing methods “Stop input” in the stop decelerations) Fig. 6.24 Timing diagram: cancel homing via stop signal Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 94 Travel curve with “Negative limit switch” “error function” in the error management and homing methods the corresponding parameter in the stop deceleration) Fig. 6.25 Timing diagram: cancel homing through error message (e.g. following error, …) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 95: Homing Mode/Configure And Parameterise Homing

    Positioning mode 6.7.5 Homing mode/configure and parameterise homing The following settings can be configured and parametrised in the Festo Configuration Tool (FCT): – Detect limit switch: Parameterise the deceleration sufficiently high so that the drive does not overrun the limit switch too far during the “Search” run.
  • Page 96 If this option is activated, homing is started automatically with each positive edge of the controller enable signal (DIN5) or each enable via the fieldbus. Options Save zero point shift Page 103 Tab. 6.8 Configure and parameterise homing Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 97 Note: Through shifting of the reference system, travel to the limit switch or fixed stop is possible. For that reason this method is mostly used for axes of rotation. Tab. 6.9 Overview: current position Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 98 FCT option “Travel to axis zero point after homing” is activated: travel with “Run” speed to the axis zero point. 1) If the limit switch is active, continue at 2nd point. Tab. 6.10 Overview: homing to limit switch Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 99 1) Motors have shaft encoder with zero pulse as standard. 2) If the limit switch is active, continue at 2nd point. Tab. 6.11 Overview: homing to limit switch and zero pulse signal (N/#N) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 100 “Run” speed to the axis zero point. 1) Limit switches are ignored during travel to the stop. 2) The stop is detected after the current has risen. Tab. 6.12 Overview: homing to stop Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 101 1) Motors have shaft encoder with zero pulse as standard. 2) Limit switches are ignored during travel to the stop. 3) The stop is detected after the current has risen. Tab. 6.13 Overview: homing to stop and zero pulse signal (N/#N) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 102 FCT option “Travel to axis zero point after homing” is activated: travel with “Run” speed to the axis zero point. 1) Motors have shaft encoder with zero pulse as standard. Tab. 6.14 Overview: homing to zero pulse signal (N/#N) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 103 The absolute reference of the offset data is stored only temporarily and is lost with each inter- ruption of the supply voltage. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 104: Cmms-As

    PROFIBUS DP/DeviceNet), the digital inputs (mode 1 page 22) or the parameter interface (RS232, Festo Configuration Tool (FCT)). Through the direct application of the fieldbus, the digital inputs “Jog+ (DIN10)/Jog– (DIN11)” or the Festo Configuration Tool (FCT) “Jog<</Jog>>”, the controller-internal posi- tioning control receives the travel direction for jog operation.

  • Page 105: Activate Jog Operation Via Festo Configuration Tool (Fct)

    Jog operation can be manually controlled via the interfaces “Jog<< (–)” and “Jog>> (+)” in the FCT window “Project output” in the online tab “Manual travel”. Jog in negative direction Jog in positive direction Fig. 6.27 Activate jog operation via Festo Configuration Tool (FCT) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 106: Connection: Digital Inputs/Outputs

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.28 Connection: digital inputs/outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 107: Timing Diagram: Creep-Speed Travel/Jog Travel/Jog+/Jog

    Crawl speed (crawl travel parameter) and crawl speed v1) Max. speed (jog parameter) Jog deceleration time (dependent on the parametrised deceleration a2 and max. speed v2) Fig. 6.29 Timing diagram: crawl/jog travel Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 108 = … ms (FCT: dependent on the jog 5 ms deceleration ramp) = … ms (FCT: dependent on the crawl duration and jog acceleration ramp) Fig. 6.30 Timing diagram: jog travel via jog+/jog– Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 109 = … ms (FCT: dependent on the jog 5 ms deceleration ramp) = … ms (FCT: dependent on the crawl duration and jog acceleration ramp) Fig. 6.31 Timing diagram: jog travel with simultaneous activation of jog+/jog– Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 110: Parameterise Jog Mode

    Positioning mode 6.8.6 Parameterise jog mode The following settings can be parametrised in the Festo Configuration Tool (FCT): Software end position: If the drive is referenced, the drive automatically stops when it reaches a software end position. The software end position is not passed (deceler- ation path is taken into account).

  • Page 111: Teach Mode

    CANopen Direct application Memory: Positioning record PROFIBUS DP parameter “Position” DeviceNet Record selection/ Positioning record: 1…63 Inputs Digital inputs Bit 0…5 Teach Fig. 6.32 Overview: activate teach mode via fieldbus and digital inputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 112: Connection: Digital Inputs/Outputs

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 6.33 Connection: digital inputs/outputs Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 113: Timing Diagram: Teach

    = … ms (FCT: dependent on the debounce = … ms (FCT: dependent on the crawl time) duration and jog acceleration ramp) 2.5 ms = … ms (FCT: dependent on the jog deceleration ramp) Fig. 6.34 Timing diagram: teach Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 114: Parameterise Teach Mode

    Positioning mode 6.9.5 Parameterise teach mode The following settings can be parametrised in the Festo Configuration Tool (FCT): Settings Description Debounce time of the DINs after teaching Debounce time Setpoint value for the duration after the falling flank “Teach (DIN8)”...

  • Page 115: Speed Mode And Force/Torque Mode

    (speed and current regulator) processes the deviation “speed setpoint value” and “speed actual value” and thus controls the following output stage. The speed setpoint value ramp can option- ally be activated. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 116: Function: Speed Mode

    (analogue input), the speed adjustment receives the speed setpoint value. Optionally, the speed setpoint value ramp can be activated in the Festo Configuration Tool (FCT) to para- meterise the acceleration and deceleration ramps for the positive/negative direction.

  • Page 117: Connection: Analogue And Digital I/O Modules

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration via FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 7.3 Connection: analogue and digital I/O modules...

  • Page 118: Parameterise Speed Mode

    Speed mode and force/torque mode 7.1.5 Parameterise speed mode The following settings can be parametrised in the Festo Configuration Tool (FCT): Settings Description Analogue input Scaling Value for scaling (linear axis: mm/s or rotative axis: rpm) of the analogue setpoint value (±10 V) in a speed setpoint value.
  • Page 119 The offset zero point of the rotational speed/speed characteristic curve is asymmetric to the reference zero point. Safe Zero: If the parameter “Safe Zero” is used, the control range of the rotational speed/speed characteristic curve is reduced by the range “Safe Zero”. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 120: Force/Torque Mode

    All specifications on forces/torques refer to the motor nominal torque or the motor nom- inal current. Since force/torque are proportional to the motor current, only the current regulator is activated in this operating case. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 121: Function: Force/Torque Mode

    Activate force/torque mode via fieldbus/analogue input CMMS-AS-...-G2 Fieldbuses Control section CANopen Direct application Current regulation PROFIBUS DP DeviceNet RS485 Input Analogue input Analogue setpoint value Fig. 7.6 Overview: activate force/torque mode via fieldbus or analogue input Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 122: Connection: Analogue And Digital I/O Modules

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration via FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 7.7 Connection: analogue and digital I/O modules...

  • Page 123: Parameterise Force/Torque Mode

    Speed mode and force/torque mode 7.2.5 Parameterise force/torque mode The following settings can be parametrised in the Festo Configuration Tool (FCT): Settings Description Analogue input Scaling Value for scaling (%) of the analogue setpoint value (±10 V) in a cur- rent setpoint value (motor nominal torque).
  • Page 124 The offset zero point of the torque/force characteristic curve is asymmetric to the refer- ence zero point. Safe Zero: If the parameter “Safe Zero” is used, the control range of the torque/force characteristic curve is reduced by the range “Safe Zero”. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 125: Synchronisation

    RS422) [5 V, TTL] Incremental signal A/#A/B/#B/N/#N Pulse/direction signal CLK/#CLK/DIR/#DIR CLK/DIR Forward/reverse signal CW/#CW/CCW/#CCW CW/CCW Tab. 8.1 Overview: control interfaces/encoder signals in synchronisation operation During synchronisation, all other operating modes are on hold. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 126: Activate Synchronisation Via Encoder Signal

    Encoder signals: 5 V - A/#A/B/#B/N/#N - CLK/#CLK/DIR/#DIR - CW/#CW/CCW/#CCW 1) In the motor controller CMM..., only the encoder output “Incremental signals: A/#A/B/#B/N/#N” is implemented. Fig. 8.1 Overview: activate synchronisation via encoder signals Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 127: Connection: Digital I/O Modules, Encoder Input, 5 V

    1) Pin “4” and “9” are connected internally. 2) The limit switches are set by default to N/C contact (configuration over FCT) 3) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 8.2 Connection: digital I/O modules, encoder input, 5 V...

  • Page 128: Connection: Digital I/O Modules, Encoder Input, 24 V

    The connection diagram shows the switch positions in operation. 1) The limit switches are set by default to N/C contact (configuration over FCT) 2) Default setting, freely configurable in the Festo Configuration Tool (FCT). Fig. 8.3 Connection: digital I/O modules, encoder input, 24 V...

  • Page 129: Timing Diagram: Start Synchronisation Via Start Sync Signal

    (DOUT3)[X1.13] Speed “Master” Speed “Slave” 5 ms = … ms (dependent on the master 5 ms deceleration ramp) = … ms (dependent on the master acceleration ramp) Fig. 8.4 Timing diagram: start synchronisation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 130: Configure/Parameterise Synchronisation

    Synchronisation 8.1.6 Configure/parameterise synchronisation The following settings can be configured and parametrised in the Festo Configuration Tool (FCT): Settings Description Signal shape Signal shape Select encoder signal: – A/#A/B/#B/N/#N: incremental signals with zero pulse – CLK/DIR: pulse/direction signal – CW/CCW: forward/reverse signal...

  • Page 131: Cmms-As

    Output encoder emulation through encoder output Slave Master Controllers CMMS-AS-...-G2 Encoder emulation Motor controller CMM... Control section (master operation) Encoder input Encoder signal: 5 V Encoder output - A/#A/B/#B/N/#N Fig. 9.1 Overview: output encoder emulation via encoder signals Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 132: Connection: Encoder Output, 5 V

    Connection: encoder output, 5 V 9.1.4 Configure/parameterise encoder emulation The following settings can be configured and parametrised in the Festo Configuration Tool (FCT): To avoid rounding errors, the number of lines per revolution should contain the factor 2 (1, 2, 4, 8, ... 2048).

  • Page 133: Flying Measurement

    – DIN9: This digital input is used in the positioning mode as mode bit 1. CMMS-AS-...-G2 Control section Fieldbus CANopen Sample storage “Actual position” PROFIBUS DP DeviceNet RS485 Flying measurement Inputs Sample input Shaft encoder motor Actual position Fig. 9.3 Control flying measurement via digital input Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 134: Connection: Digital Input

    Festo Configuration Tool (FCT) Motor shaft encoder, EnDat 2.2 Sampling input (DIN9) Load “DIN/DOUT” (GND 24 V) 1) The connection [X5] can only be used for an interface (RS232 or RS485). Fig. 9.4 Connection: digital input Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 135: Analogue Monitor

    – Current – …. Fig. 9.5 Overview: output analogue monitor through digital output 9.3.3 Connection: analogue output CMMS-AS-...-G2 Analogue monitor (AMON) Analogue load “Analogue monitor” (AGND) Screening (SGND) Fig. 9.6 Connection: analogue output Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 136: Configure/Parameterise Analogue Monitor

    Motor controller functions 9.3.4 Configure/parameterise analogue monitor The following settings can be configured/parametrised in the Festo Configuration Tool (FCT): Settings Description Analogue output Analogue monitor The following signals can be output as analogue monitor signal: – Speed setpoint value – Speed actual value (raw) –...
  • Page 137 Analogue monitor with offset adjustment and numeric overflow limitation [mm/S] –300 –200 –100 –400 Offset = 4 V DC Numeric overflow limitation active Fig. 9.8 Analogue monitor with offset adjustment and numeric overflow limitation Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 138: Endless Positioning

    That is, the position counter jumps from +32767 revolutions to -32768 revolutions, for example. To be able to use the “Endless positioning” function, the following settings must be taken into account in configuration of the linear axis/axis of rotation in the Festo Con- figuration Tool (FCT).

  • Page 139: Relative Positioning Records

    This can result in deviations with endless positioning. Example: rotary indexing table 4 positions. (90°) 65536:4= 16384 ----> Integer 6 positions. (60°) 65536:6= 10922.666 ----> The controller positions at 10923 (60.0018°). Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 140: Service

    10.1.3 Monitoring of interruption and failure of the mains supply Monitoring of interruption and failure for mains supply takes effect if the mains voltage is interrupted > 60 ms. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 141: Overvoltage And Undervoltage Monitoring For The Intermediate Circuit

    As the power dissipation occurring in the power electronics and motor grows with the square of the flowing current, the squared current value is assumed as the dimension of the power loss. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 142: Operating Mode And Error Messages

    – Searching travel to the primary destination (limit switch or stop) – Crawl to the reference point – Travel to the axis zero point Two-channel safety function requested (DIN4 [X1.21] and Rel [X3.2]) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 143: Acknowledgement Of Error Messages

    Diagnostic events which are parametrised as warnings are automatically acknowledged if the cause is no longer present. 10.2.4 Diagnostic messages The errors/warnings and their causes and remedies are described in the diagnostic messages Appendix A. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 144: A Diagnostic Messages

    FCT, the standard values defined in the FCT or the configured reactions apply. A complete list of the diagnostic messages corresponding to the firmware statuses at the time of print- ing of this document can be found in section A.2 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 145: Diagnostic Messages With Instructions For Fault Clearance

    Configurable Cause Motor overloaded, temperature too high. – Motor too hot. – Sensor defective? Measure • Check parameters (current regulator, current limits). If the error persists when the sensor is bypassed: device defective. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 146 Reaction 06-0 2320h Over-current of the intermediate circuit/output stage PS off Cause – Motor defective. – Short circuit in the cable. – Output stage defective. Measure • Check motor, cable and motor controller. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 147 Possible causes: – Excess rotational speed. – Angle encoder defective. Measure If the error occurs repeatedly, the encoder is defective. Replace encoder including encoder cable. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 148 • Re-start CAN controller. • Check CAN configuration in the controller. • Check wiring: cable specification adhered to, broken cable, maximum cable length exceeded, correct terminating resistors, cable screening earthed, all signals terminated? Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 149 The software has taken an unexpected status. For example, unknown status in the FHPP state machine. Measure • In case of repetition, load firmware again. If the error occurs repeatedly, the hardware is defective. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 150 If the error occurs repeatedly, the hardware is defective. • Send motor controller to the manufacturer. Error group 22 PROFIBUS Code Message Reaction 22-0 Error in PROFIBUS initialisation 7500h PS off Cause Fieldbus interface defective. Measure • Please contact Technical Support. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 151 29-1 SD initialization error 7681h Configurable Cause – Error during initialization. – Communication not possible. Measure • Plug card back in. • Check card (file format FAT 16). • If necessary, format card. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 152 Repair by the manufac- turer. 32-8 3285h Power supply failure during controller enable PS off Cause Interruption/power failure while the controller enable was active. Measure • Check mains voltage/power supply. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 153 Unknown command found during record continuation. Measure • Check parameterisation. 41-9 6192h Error in path program jump destination Configurable Cause Jump to a positioning record outside the permitted range. Measure • Check parameterisation. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 154 Positive hardware limit switch reached. Measure • Check parameterisation, wiring and limit switches. 43-9 8612h Error in limit switch Configurable Cause Both hardware limit switches are active simultaneously. Measure • Check parameterisation, wiring and limit switches. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 155 7584h DeviceNet general error PS off Cause The 24 V bus voltage is missing. Measure • In addition to the motor controller, the DeviceNet interface must also be connected to 24 V DC. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 156 • Check that the network is connected correctly and does not malfunction. 65-1 7582h DeviceNet communication error Configurable Cause I/O connection timeout. No I/O message received within the expected time. Measure • Please contact Technical Support. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 157 Not every change is permissible. Error group 79 RS232 error Code Message Reaction 79-0 7510h RS232 communication error Configurable Cause Overrun when receiving RS232 commands. Measure • Check wiring. • Check of the transmitted data. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 158: Error Codes Via Cia 301/402

    DeviceNet communication error PS off 64-3 DeviceNet communication error PS off 64-4 DeviceNet communication error PS off 64-5 DeviceNet communication error PS off 64-6 DeviceNet communication error PS off 65-1 DeviceNet communication error Configurable Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 159 Target position lies behind the positive software limit switch Configurable 43-0 Negative limit switch error Configurable 43-1 Positive limit switch error Configurable 43-9 Fault in limit switch Configurable 8681h 42-1 Positioning: error in pre-computation Configurable 8A81h 11-1 Homing error PS off Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 160: Profibus Diagnostics

    Following error monitoring Configurable E424 Enforce homing run 42-4 Message, homing required Configurable E43x limit switches 43-0 Negative limit switch error Configurable 43-1 Positive limit switch error Configurable 43-9 Fault in limit switch Configurable Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 161 Configurable (motor) E040 Overtemperature 04-0 Over-/undertemperature of Configurable power stage power electronics E086 SINCOS-RS485 08-6 Angle encoder communication PS off communication fault E088 SINCOS track signals 08-8 Internal angle encoder error PS off Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 162: B Serial Interface Rs232 (Diagnostics/Parameterisation Interface)

    Please note that, immediately after a reset, the motor controller independently issues a bootup mes- sage via the serial interface. A reception program on the controller must either process or reject these received characters. Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 163: Connection [X5]: Pin Allocation Of The Interface Rs232

    Setting the transmission rate for serial BAUD9600 communication BAUD19200 BAUD38400 BAUD57600 BAUD115200 Unknown command ERROR! MMMM: main version: 16 Bit (hexadecimal format) SSSS: subversion: 16 Bit (hexadecimal format) Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 164: Control Motor Controller Via Can-Interpreter (Ci)

    – Command: =604000:000F Command “Enable operation” 2. Activation of the “profile position mode” The positioning mode is activated via the CAN control word (COB 6060_00 mode of operation). – Command: =606000:01 profile position mode Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 165 2. The controller enable logic can be changed via the CAN control word (COB 6010_10). Since the simulation of the CAN interface can be completely taken over via the RS232 interface, the enable logic can also be converted to DINs + CAN. – Command: =651010:0002 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 166 9. Homing is started via a rising edge at bit 4. – Command: =604000:001F 10.After homing has been ended, the status of the motor controller must be reset. – Command: =604000:000F bring controller into “Ready” state Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 167: C Serial Interface Rs485 (Control Interface)

    Tab. C.1 Master data of the interface RS485 C.1.2 Factory setting of the interface RS485 Parameter Significance Baud rate 9.6 kbps Data bits Parity None Stop bits Tab. C.2 Factory setting of the interface RS485 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 168: Connection [X5]: Pin Allocation Of The Interface Rs485

    Positive transmission and reception signal Ground Load, reference potential “transmission/reception signal” – Unused – Unused – Unused B (RxD–/TxD–) – Receive-/Transmit Data Negative transmission and reception signal Tab. C.3 Pin allocation of RS485 interface Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...

  • Page 169: Configure Rs485 Interface In The Festo Configuration Tool (Fct)

    Serial interface RS485 Configure RS485 interface in the Festo Configuration Tool (FCT) 1. Mark the “Application data” button in the project tree. 2. Press the “Operating mode selection” button in the work space. 3. Select “RS485” as control interface. (Acknowledge the change with “OK”)

  • Page 170: Commands/Syntax Of The Rs485 Interface

    Profile position mode, page 164. If required, the node number is simply written in front of the command. The node number is set via the DIP switches. Command: XT07:=607A00:000A0000 Target position 10 revolutions send to node 7 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 171 ....Forward/reverse signal (CW/#CW/CCW/#CCW) ....Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 172 ......SD memory card ......Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English...
  • Page 174 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 e-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica- tion of its contents to others without express authorization is Internet: prohibited.

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