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Festo VTEM Manual

Motion terminal
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VTEM
Motion Terminal
Manual
8154334
2021-05f
[8154336]

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  • Page 1 VTEM Motion Terminal Manual 8154334 2021-05f [8154336]...
  • Page 2 Translation of the original instructions CANopen , CC-LINK , GOOGLE CHROME , DeviceNet , EtherCAT , EtherNet/IP , Ethernet POWER- ® ® ® ® ® ® LINK , FIREFOX , INTERNET EXPLORER , MICROSOFT EDGE , MODBUS , PI PROFIBUS PROFINET ®...

  • Page 3: Table Of Contents

    Sequence of teach-in run ......... . . 79 Festo — VTEM — 2021-05f...
  • Page 4 Licences ..............104 Festo — VTEM — 2021-05f...

  • Page 5: About This Document

    The product version can be identified from the product labelling or with the help of appropriate software from Festo. Appropriate software for determining the product version can be found in the Festo Support Portal è www.festo.com/sp. Information on using the software can be found in the integrated Help function.

  • Page 6: Product Labelling

    Motion Terminal (è 1, 4). Scanning the Data Matrix Code with an appropriate device opens the Festo Support Portal with information appropriate for the product. Alternatively, the Product Key (11-digit alphanumeric code on the product labelling) can be entered in the search field of the Support Portal.

  • Page 7: Safety

    – Bring the system into the exhausted state è App control (app control): "Exhaust". – Disconnect the compressed air supply and, if applicable, the vacuum supply. Festo — VTEM — 2021-05f...

  • Page 8: Intended Use

    Function General The Motion Terminal VTEM provides a range of pneumatic open-loop and closed-loop control functions that are executed in the form of Motion apps (MA). Parameters and setpoint values for executing a Motion App can be specified. The Motion App converts these specifications into control commands at the corresponding valve.
  • Page 9 The terminal CPX and the CPX module CTMM-S1-C can be parameterised with the operator unit (CPX-MMI), the Festo Maintenance Tool (CPX-FMT) software or the higher-level system. Further information on the parameterisation of the CPX system and its modules can be found in the CPX terminal manual è...
  • Page 10 Active monitoring has the following effect: – Error message at the CPX field bus nodes – Malfunction message in the VTEM diagnostic memory Both types of monitoring can also be activated for the entire CPX terminal. For details, see the manual of the CPX terminal è 1.1 Applicable documents.
  • Page 11 (1) of less than 3 bar. Active monitoring has the following effect: – Error message at the CPX field bus nodes – Malfunction message in the VTEM diagnostic memory Allocation Bit 0 Monitoring negative pressure Bit 1 …...

  • Page 12: Display Components

    0. The number (address) of a valve is given by the slot on which it is mounted. 3.1.2 Display components For behaviour of display components and diagnostics options see è 3.8.1 LED display components. Festo — VTEM — 2021-05f...
  • Page 13 Parameterisation mode (via CPX bus node or WebConfig interface) (yello System Failure Communication errors (red) Power System Monitoring the operating voltage supply U EL/SEN (green Tab. 5: CPX-specific LEDs Meaning Ethernet Link/ Ethernet connection/data traffic (green Traffic Tab. 6: Ethernet-specific LED Festo — VTEM — 2021-05f...
  • Page 14 (blue) Operation/Update Tab. 7: LED display on valve 3.1.2.3 Input modules LED display for input status (green, only digital input modules CTMM-S1-D-...) LED display for module error (red) Fig. 11: LED displays of input modules Festo — VTEM — 2021-05f...

  • Page 15: Control Elements

    Details on earthing are included in the manual of the CPX terminal è 1.1 Applicable documents. Functional earth connection Fig. 12: Functional earth connection right Functional earth connection (left-hand end plate CPX terminal) Fig. 13: Functional earth connection left Festo — VTEM — 2021-05f...
  • Page 16 For additional information è Guidelines and standards for security in information technology, e. g. IEC 62443, ISO/IEC 27001. Input modules CTMM-...-D-... CTMM-...-A-... +24 V U +24 V U 0 V U Input Input 0 V U n. c. Tab. 9: Input modules Festo — VTEM — 2021-05f...
  • Page 17 Ports (1) and (3) on the manifold rail should be selected for flow-intensive applications. For further improvement an independent, parallel circuitry for both the supply and exhaust ports should be selected. More information can be found in the support portal è www.festo.com/sp. The product can be operated with internal or external pilot air.

  • Page 18: Definition Of The Direction Of Movement/Position Of The Drive

    è Tab. 2 Product version. The device is updated to a new firmware version with the Festo Field Device Tool (FFT) (see Quick Guide for the Motion Terminal VTEM è 1.1 Applicable documents). The device will subsequently func- tion in accordance with the factory settings.

  • Page 19: Manual Override

    • Subnet address: 255.255.0.0 • Password for activating edit mode: vtem The password can be changed via the WebConfig interface. Operation of the WebConfig interface is described in the “Motion Terminal VTEM, WebConfig interface” Quick Guide è www.festo.com/sp. 3.3.1 Manual override To enable testing of the functionality of a connected drive, the WebConfig interface has a "manual...
  • Page 20 Position 1 Position 2 Position 1 Position 2 analogue digital analogue digital Position 1 and 2 analogue digital analogue analogue Position 1 analogue digital digital digital Position 2 analogue digital digital analogue – Festo — VTEM — 2021-05f...

  • Page 21: Motion Apps

    The restrictions relating to the number of licences only apply when running a Motion App simultaneously on multiple valves. Information on adding to your available licences can be found in the Festo catalogue è www.festo.com/sp. Festo — VTEM — 2021-05f...

  • Page 22: Parameter

    A parameter can be defined in the range of 0 … 100 mm in 0.01 mm steps. A value in the range 0 … 10000 is transferred for this purpose. One increment (digit) therefore corresponds to 0.01 mm. Festo — VTEM — 2021-05f...
  • Page 23 Sensor input for flow measurement at (4) Tab. 12: Overview of system parameters Tube length at (2) Value range Value digit Digit range 0 … 20000 mm 1 mm 0 … 20000 × 1 mm Tab. 13: Tube length at (2) Festo — VTEM — 2021-05f...
  • Page 24 Tab. 17: Internal diameter for Festo tubing Drive type The Festo drives supported by the Motion Terminal are shown in a list. The list contains a value for the “drive type” parameter for every drive. The default value must be replaced with the value of the connected drive type before using a corresponding Motion App.
  • Page 25 Mounting position of drive Value range Mounting position Value digit Digit range –180° … +180° 0.01° –18000 … 18000 × 0.01° +90° 1 ± ° 0 ° 0 –90° Tab. 23: Mounting position of drive Festo — VTEM — 2021-05f...
  • Page 26 Value range [20 … 27] or [40 … 47] and [50 … 57] or [80 … 87] and [90 … 97] 1) dependent on valve and linkage Tab. 26: Sensor input for end position detection, retracted Festo — VTEM — 2021-05f...
  • Page 27 [20 … 27] or [40 … 47] and [50 … 57] or [80 … 87] and [90 … 97] 1) dependent on valve and linkage 2) Value = –1, if flow measurement is not used Tab. 32: Sensor input for flow measurement at (4) Festo — VTEM — 2021-05f...
  • Page 28 Final speed in the case of contact in the retracting direction Final speed in the extension direction in the case of contact maximum pressure rise at (2) maximum pressure rise at (4) Medium pressure level maximum leakage for "Good" status Festo — VTEM — 2021-05f...
  • Page 29 The ID of the parameters for the individual inputs is calculated from the number of the input (0 … 7), multiplied by a factor of 30 and then added to the number of the parameter type. Festo — VTEM — 2021-05f...
  • Page 30 The sensor parameters are not a component of parameter sets, because they are independent of the valves. For user-defined sensors, the sensor signal is interpreted according to the configured properties è 3.4.3.5 Parameters for describing user-defined position sensors, è 3.4.3.6 Parameters for describing user-defined flow sensors. Festo — VTEM — 2021-05f...
  • Page 31 è 3.5.4 Transfer mode. A flow sensor type defined in this way is available for all analogue input module ports on the Motion Terminal. Festo — VTEM — 2021-05f...
  • Page 32 è 6.2 List of supported drives. Parameter Value range Value digit Digit range Design 1 = single-acting piston rod cylinder 2 = double-acting piston rod cylinder 3 = rodless cylinder (linear drive) Festo — VTEM — 2021-05f...
  • Page 33 0 … 3276.7 mm 0.1 mm 0 … 32767 × 0.1 mm position cushioning at the extended drive end 1) Only required for cylinder with piston rod Tab. 37: Parameters for the description of user-defined drives Festo — VTEM — 2021-05f...
  • Page 34 Parameter set 1 is automatically selected when the Motion Terminal is started. Changing the param- eter set is described in section è 4.6 Changing an active parameter set. Structure of a parameter set The following example is intended to illustrate the structure of a parameter set. Festo — VTEM — 2021-05f...

  • Page 35: Setpoint And Actual Values

    This calibration can take up to 60 seconds and will be performed automatically prior to execution of the Motion App. The calibration can be viewed as a return value in the process data è Tab. 51 Information on invalid output data. Festo — VTEM — 2021-05f...

  • Page 36: Communication Between Plc And Motion Terminal

    “16 bit signed integer” (signed int16). 3.5.2 Structure of the process data when operating a Motion App Description of the process data when operating a Motion App (è 3.5.3 Running a Motion App). Festo — VTEM — 2021-05f...
  • Page 37 5 … 2 (PDO). Teach-in run Teach-in of the relevant characteristics of the connected system for execution of particular Motion apps. End Motion App Ending the Motion App currently running on the valve. Festo — VTEM — 2021-05f...
  • Page 38 Tab. 44: Detailed view of the "Status" section of the input data (PDI) Operating mode of the valve (valve mode) The valve mode that is currently active is returned using bits 5 … 0 in byte 0 (PDI). Festo — VTEM — 2021-05f...
  • Page 39 The information described here is valid during operation of all Motion Apps. Additional information specific to the Motion App that is transferred in the Motion App (app state) is included in the manuals for the Motion Apps. Festo — VTEM — 2021-05f...

  • Page 40: Running A Motion App

    – Valve type (app option): 2 x 3/3 (PDO byte 1 => 15 – Degree of opening (2) (setpoint value 1): +50% (PDO byte 2+3 =>5000 – Degree of opening (4) (setpoint value 2): +40% (PDO byte 4+5 =>4000 Festo — VTEM — 2021-05f...
  • Page 41 Motion App is then ended. The value in the section "valve state" of the input data (PDI) changes to "01 " (configurable). Another Motion App can now be started, or a switch to transfer mode can be made (è 3.5.4 Transfer mode). Festo — VTEM — 2021-05f...
  • Page 42 Access blocked due to active save process. no license for this app No licence available for the requested Motion App. all licences in use No free licence available for the requested Motion App. Festo — VTEM — 2021-05f...

  • Page 43: Transfer Mode

    – Command è Tab. 41 Detailed view of the "Command" section of the output data (PDO) – Parameter è Tab. 57 Detailed view of the "Parameters" section of the output data (PDO) – Value è Tab. 59 Meaning of the indices per addressed target and channel Festo — VTEM — 2021-05f...
  • Page 44 Parameterisation in parameter set read/write parameter set 5 Parameterisation in parameter set read/write terminal settings Settings of the entire Motion Ter- read/write minal valve settings Valve settings read/write input module settings Parameterisation of the input mod- read/write ules Festo — VTEM — 2021-05f...
  • Page 45 Valve on slots 0 … 7 Byte 5 Byte 4 Byte 3 Byte 2 Byte 1 Byte 0 Value Parameter Command Tab. 56: Structure of the output data (PDO) The following table is a detailed view of the "Parameters" section. Festo — VTEM — 2021-05f...
  • Page 46 101 … 108 100 + number of the user-defined drive for which parameters are to be transferred Hardware information Software information Licence information Pressures Temperatures Booster strokes (degree of opening) Festo — VTEM — 2021-05f...
  • Page 47 è Tab. 36 Parameters for describing user-defined flow sensors 101 … 108 1 … 15 ID of the parameter for the description of a user-defined drive è Tab. 37 Parameters for the description of user- defined drives Festo — VTEM — 2021-05f...
  • Page 48 "channel", "transfer control", "addressed target" and "index" to the output data is returned to the corresponding positions in the input data. The "valve state" section shows the information described in section (è 3.5.2.2 Structure of the input data (PDI)). Festo — VTEM — 2021-05f...
  • Page 49 Hardware ID of the interlinking board Hardware revision valve 0 Hardware revision valve 1 Hardware revision valve 2 Hardware revision valve 3 Hardware revision valve 4 Hardware revision valve 5 Hardware revision valve 6 Hardware revision valve 7 Festo — VTEM — 2021-05f...
  • Page 50 Firmware version valve 2, minor number Firmware version valve 2, patch number Bootloader version valve 2, major number Bootloader version valve 2, minor number Bootloader version valve 2, patch number Firmware version valve 3, major number Festo — VTEM — 2021-05f...
  • Page 51 Firmware version valve 7, patch number Bootloader version valve 7, major number Bootloader version valve 7, minor number Bootloader version valve 7, patch number Firmware version input module 1, major number Firmware version input module 1, minor number Festo — VTEM — 2021-05f...
  • Page 52 Value digit Supply pressure at port (1) (absolute) 0.001 bar Supply pressure at port (1) (relative) 0.001 bar Exhaust air pressure at port (3) (absolute) 0.001 bar Exhaust air pressure at port (3) (relative) 0.001 bar Festo — VTEM — 2021-05f...
  • Page 53 0.001 bar Pressure at valve 6, working air port (4) (relative) 0.001 bar Pressure at valve 7, working air port (2) (absolute) 0.001 bar Pressure at valve 7, working air port (2) (relative) 0.001 bar Festo — VTEM — 2021-05f...
  • Page 54 0.1 °C Temperature at valve 6, working air port (4) 0.1 °C Temperature at valve 7, working air port (2) 0.1 °C Temperature at valve 7, working air port (4) 0.1 °C Tab. 67: Temperatures Festo — VTEM — 2021-05f...
  • Page 55 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Pressurisation 0.01% Exhaust 0.01% Festo — VTEM — 2021-05f...
  • Page 56 4 (High Byte, signed) 10 rpm 0.1 rpm 0.1 rpm 2 (Low Byte, signed) 10 rpm 4 (High Byte, signed) 10 rpm 0.1 rpm 0.1 rpm 2 (Low Byte, signed) 10 rpm 4 (High Byte, signed) 10 rpm Festo — VTEM — 2021-05f...
  • Page 57 Raw value from proximity switch at input module 1, port 4 Interpreted value from proximity switch at input module 1, port 4 Raw value from proximity switch at input module 1, port 5 Interpreted value from proximity switch at input module 1, port 5 Festo — VTEM — 2021-05f...
  • Page 58 Raw value from position sensor at input module 1, port 2 0.001 mA Interpreted value from position sensor at input module 1, port 2 0.1 mm Raw value from position sensor at input module 1, port 3 0.001 mA Festo — VTEM — 2021-05f...
  • Page 59 Channel 25, addressed target 23 Index Meaning Value digit Raw value from flow sensor at input module 1, port 0 0.001 mA Interpreted value from flow sensor at input module 1, port 0 0.1 rpm Festo — VTEM — 2021-05f...
  • Page 60 0.1 rpm Raw value from flow sensor at input module 2, port 7 0.001 mA Interpreted value from position sensor at input module 2, port 7 0.1 rpm Tab. 72: Flow rates at the external sensor Festo — VTEM — 2021-05f...
  • Page 61 Example of input data with incorrect value in section "index" PDI byte 1 PDI byte 0 Command transfer control channel = 0 valve state valve mode = 63 (transfer mode) PDI byte 3 PDI byte 2 Parameter Festo — VTEM — 2021-05f...
  • Page 62 Status of save process The status of the save process is shown in the "value" section (value) of the input data (PDI). Value saving progress Significance/remedy saving in progress Save process active. saving successful Save process is completed. Festo — VTEM — 2021-05f...
  • Page 63 Value saving progress Significance/remedy saving not possible Save process cannot be executed. – Repeat the process. – If the problem persists, contact Festo Support. saving failed Save process failed. – Repeat the process. – If the problem persists, contact Festo Support.

  • Page 64: Motion App #01: Directional Control Valve Functions

    Motion App #01: Directional control valve functions ID of the Motion App Name of the Motion App Pictogram of the Motion app Directional control valve func- tions Tab. 78: Motion App #01: Directional control valve functions Festo — VTEM — 2021-05f...

  • Page 65: Function Description

    (optional). The value for the parameter is calculated from the position of the input module (valve slot), multiplied by a factor of 10 and then added to the number of the input on this input module (0 … 7). Festo — VTEM — 2021-05f...

  • Page 66: Application Parameters Used

    3.6.4 Application parameters used Operating mode The parameter enables the definition of the valve behaviour in relation to internal air consumption and compatibility for a fast change between Motion Apps. Possible operating modes: – Controlled: Festo — VTEM — 2021-05f...

  • Page 67: Default Values

    The switching status at the air ports (2) and (4) of the valve is controlled using bits 7 … 6 in byte 0 (PDO) and is dependent on the valve type defined. Possible switching statuses: Festo — VTEM — 2021-05f...
  • Page 68 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 84: Valve type 4/3 G Festo — VTEM — 2021-05f...
  • Page 69 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 85: Valve type 4/3 B Festo — VTEM — 2021-05f...
  • Page 70 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 86: Valve type 4/3 E Festo — VTEM — 2021-05f...
  • Page 71 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 87: Valve type 2 × 3/2 O Festo — VTEM — 2021-05f...
  • Page 72 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 88: Valve type 2 × 3/2 G Festo — VTEM — 2021-05f...
  • Page 73 1) The symbol in this column replaces the full bridge in the circuit diagram for the valve VEVM and therefore represents the function in the switched status of the valve with corresponding setpoint value (right columns). Tab. 90: Valve type 4/2 bistable Festo — VTEM — 2021-05f...
  • Page 74 (right columns). 2) This bit is ignored Tab. 92: Valve type 4/2 mono 3.6.5.3 Setpoint value 1 and 2 (setpoint value 1, setpoint value 2) The Motion App does not use any setpoint value specifications. Festo — VTEM — 2021-05f...

  • Page 75: Return Values

    – – Error – – 1) If the problem persists, contact Festo Support. Tab. 94: Switching position at the air ports Warnings Warnings in the diagnostic memory of the valve are shown via bit 7 in byte 1 (PDI). Value Description There are no warnings from the active Motion App.

  • Page 76: Teach-In Run

    In addition, the application parameter “Motion App to be taught in” (255) must be parameterised to the ID of the Motion App for which the teach-in run is to be executed (è 3.4.3.2 Application parameters). Festo — VTEM — 2021-05f...

  • Page 77: Default Values

    3.7.2.2 Controlling the manual teach-in run The movement of the drive for manual determination of the teach-in data is controlled using bytes 3 … 2 (PDO). Function Switching Replacement symbol Value status dec. Blocked Advancing Festo — VTEM — 2021-05f...

  • Page 78: Return Values

    Check tubing and sensors (check tubes and sensors) Selection of control strategy (choose control) Adaptation of trajectory parameters (tune trajectory) Determine reference value (determine reference value) Identification (identification) already operational, identification still in progress (already operable, further identification ongoing) Festo — VTEM — 2021-05f...

  • Page 79: Sequence Of Teach-In Run

    Therefore, following the change to the system, application and/or tuning parameters in a parameter set, a new teach-in run must be executed for the Motion App affected by the changes. Festo — VTEM — 2021-05f...

  • Page 80: Diagnostics Options

    è 3.8.3 Diagnostics mode (Motion Terminal) CPX diagnostics, the Motion Terminal pro- channel in transfer vides information on errors and warnings. mode This information can be accessed via the transfer mode diagnostics channel. Tab. 101: Diagnostics options Festo — VTEM — 2021-05f...

  • Page 81: Led Display Components

    Voltage is present. No error. – lights Voltage is present but outside the Rectify short circuit/overload. tolerance range. flashes No voltage present. Check connection of the power supply. Tab. 104: LED display PS (Power System) Festo — VTEM — 2021-05f...
  • Page 82 Meaning Measure Valve faults Check error log è 3.8.3 Diagnostics channel in transfer mode. Load voltage supply U is not Check connection of the power red light applied. supply U Error-free operation – blue light Festo — VTEM — 2021-05f...
  • Page 83 Digital input module Meaning Measure LED P(red) No error – Short circuit/overload in sensor Rectify short circuit/overload. supply. Module error Switch on operating supply voltage lights off and back on. Tab. 109: LED display module error, digital Festo — VTEM — 2021-05f...

  • Page 84: Diagnostic Interface

    Depending on the structure of the CPX terminal, the channel numbers shown above must be added to the number of the I/O channels that can be assigned to additional modules in the CPX terminal. Festo — VTEM — 2021-05f...

  • Page 85: Diagnostics Channel In Transfer Mode

    The value transferred when the diagnostic memory is read is presented in bytes 5 … 4 (PDI) in transfer mode and is made up of the following: PDI byte 5 PDI byte 4 Classifica- Malfunction subcode Malfunction code tion Tab. 112: Structure of the malfunction message Festo — VTEM — 2021-05f...
  • Page 86 A list of malfunction codes with a description of the possible cause and appropriate remedial meas- ures can be found in the application note "Malfunction Code VTEM" (è 1.1 Applicable documents). Malfunction subcodes that can be used by the user to remedy errors are given here also.
  • Page 87 When an error occurs, the valve is brought to a stop (status of the valve (valve state) = 3 (failure)). If the cause of the error is no longer present, the valve status changes to "not ready" (valve state = 0 (not ready)). Festo — VTEM — 2021-05f...
  • Page 88 Starting point for the sample content of a malfunction list è Tab. 115 Example of a malfunction list. Example of output data for reading out the most recent entry in a malfunction list PDO byte 1 PDO byte 0 Command transfer control channel = 31 – valve mode = 63 (transfer mode) Festo — VTEM — 2021-05f...
  • Page 89 Example of input data with the content of the most recent entry in a malfunction list PDI byte 1 PDI byte 0 Command transfer control channel = 31 valve state valve mode = 63 (transfer mode) (failure) Festo — VTEM — 2021-05f...
  • Page 90 2. The cause of the error has been remedied: PDI byte 0, bit 7 = 0 and bit 6 = 0. Ä valve state = not ready 3. The error is acknowledged: set PDO byte 0, bit 5 … 0 "valve mode" to the value 111110 = 62 Festo — VTEM — 2021-05f...

  • Page 91: Parameterisation

    In this chapter, parameterisation refers to the transfer of system, application and tuning parameters from the higher-order controller (PLC) to the Motion Terminal VTEM. The transfer mode of the Motion Terminal is used to transfer the parameter values (è 3.5.4 Transfer mode).
  • Page 92 Tab. 119: Example of setting the system parameter "Tubing internal diameter to (2)" The values are displayed in the corresponding sections of the input data (PDI) for confirmation (è Tab. 60 Structure of the input data (PDI)). Festo — VTEM — 2021-05f...

  • Page 93: Reading Out System, Application And Tuning Parameters

    = 4 (parameter set 4) – valve mode = 63 (transfer mode) = 2 (upload) PDO byte 3 PDO byte 2 Parameter index = 121 (parameter ID 121) adressed target = 7 (Motion App #07) Festo — VTEM — 2021-05f...

  • Page 94: Setting Sensor Parameters

    = 100 (100× 0.01 s = 1 s) Tab. 121: Displaying the read out application parameter via the input data Setting sensor parameters Sensor parameters are set using the transfer mode (è 3.5.4 Transfer mode). Festo — VTEM — 2021-05f...

  • Page 95: Requirements

    = 63 (transfer mode) = 1 (download) settings) PDO byte 3 PDO byte 2 Parameter index = 211 (7 x 30 + 1) adressed target = 2 (input module on the second slot provided for this) Festo — VTEM — 2021-05f...

  • Page 96: Set Parameters For The Description Of User-Defined Drives

    After activation of the "Access to extended drive list" option, all Motion Apps can be selected and used for drives that have not been tested or approved by Festo for the Motion Terminal or a specific Motion App. The operation of Motion Apps using this option is therefore expressly outside the specification.

  • Page 97: Save Parameterisation As Persistent Data

    Save parameterisation as persistent data Saving parameterisation on the Motion Terminal controller as persistent data is described in section: (è 3.5.4.4 Saving settings as persistent data). Festo — VTEM — 2021-05f...

  • Page 98: Changing An Active Parameter Set

    Example of output data for changing the active parameter set PDO byte 1 PDO byte 0 Command transfer control channel = 15 (valve settings) – valve mode = 63 (transfer mode) = 1 (download) PDO byte 3 PDO byte 2 Parameter Festo — VTEM — 2021-05f...
  • Page 99 PDI byte 3 PDI byte 2 Parameter index = 1 (active parameter set) adressed target = 0 PDI byte 5 PDI byte 4 Value value = 4 Tab. 125: Example of input data with selected parameter set Festo — VTEM — 2021-05f...

  • Page 100: Technical Appendix

    (3) Valve terminal total leakage [l/h] 15 plus leakage of valve slots Leakage per valve slot [l/h] 3 (with valve) 1 (with blind plate) [bar] [MPa] Nominal operating pres- sure/nominal pilot pressure Festo — VTEM — 2021-05f...
  • Page 101 Contains PWIS Tab. 130: Note on materials Port patterns Air ports (2) and (4) G1/8 Pilot air (14) Valve ports (1) and (3) G3/8 Pilot exhaust air (84) Pressure compensation (L) Tab. 131: Port patterns Festo — VTEM — 2021-05f...

  • Page 102: Power Supply

    Digital input module (plus [mA] intrinsic consumption of the sensors) Functional earth (FE) Via functional earth connection of the CPX terminal and functional earth connection at the VTEM terminal strip Tab. 132: Power supply 5.1.3 Approvals Approvals CE marking in accordance with EU EMC Directive See declaration of conformity è...

  • Page 103: Supported Peripherals

    Bus node PROFINET CPX-FB36 Bus node EtherNet/IP, Modbus TCP CPX-FB37 Bus node EtherCAT CPX-FB38 Bus node EtherCAT CPX-FB39 Bus node Sercos III CPX-FB40 Bus node Ethernet POWERLINK CPX-FB45 Bus node PROFINET CoDeSys embedded controller RS232 (S1) Festo — VTEM — 2021-05f...

  • Page 104: List Of Supported Drives

    è www.festo.com/sp è VTEM è Expert knowledge This list contains all Festo drives approved for the Motion Terminal and the corresponding value that must be entered in the “drive type” system parameter (ID 20) in order to be able to operate the respective drive with a Motion App.
  • Page 105 Licences Software Licence Version Terms of the licence package mkimage 2.0+ https://www.gnu.org/licenses mtdutils https://www.gnu.org/licenses/gpl-2.0 sysroot LGPL https://www.gnu.org/licenses/lgpl-2.1 zlib Zlib – https://zlib.net/zlib_license.html Tab. 138: Licences Festo — VTEM — 2021-05f...
  • Page 106 Copyright: Festo SE & Co. KG 73734 Esslingen Ruiter Straße 82 Deutschland Phone: +49 711 347-0 Internet: © 2021 all rights reserved to Festo SE & Co. KG www.festo.com...

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