Festo CMMS-ST Series Manual
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Festo CMMS-ST Series Manual

Canopen for motor controller
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CANopen for Motor Controller
CMMS/CMMD
Manual
CANopen
CMMS-ST
CMMS-AS
CMMD-AS
Manual
554 352
en 1012a
[757 730]

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Summary of Contents for Festo CMMS-ST Series

  • Page 1 CANopen for Motor Controller CMMS/CMMD Manual CANopen CMMS-ST CMMS-AS CMMD-AS Manual 554 352 en 1012a [757 730]...
  • Page 3 Original ________________________________________________________ de Edition ____________________________________________________en 1012a Designation____________________________________ P.BE-CMMS-CO-SW-EN Order no. ___________________________________________________554 352  (Festo AG & Co KG., D-73726 Esslingen, Germany, 2011) Internet: http://www.festo.com E-mail: service_international@festo.com The reproduction of this document and disclosure to third parties and the utilisation or communication of its contents without explicit authorization is prohibited.
  • Page 4 Index of revisions Author: Festo AG & Co. KG Name of manual: CANopen for Motor Controller CMMS/CMMD File name: File saved at: Consec. no. Description Index of revisions Date of amendment Creation 0708NH 26.07.2007 Revision 1012a 17.02.2011 Trademarks ® ®...

  • Page 5: Table Of Contents

    Description of the Objects ..............46 Network Management (NMT Service) ..............47 Nodeguarding (Error Control Protocol) ..............49 3.8.1 Overview....................49 3.8.2 Structure of the Nodeguarding Messages..........49 3.8.3 Description of the Objects ..............50 Table of Identifiers ....................51 Festo P.BE-CMMS-CO-SW-EN 1012a...
  • Page 6 Sampling of positions..................90 4.10.1 Overview....................90 4.10.2 Description of the Objects ..............90 4.11 Device Information ....................91 4.11.1 Description of the Objects ..............92 4.12 Error management....................95 4.12.1 Overview....................95 4.12.2 Description of the Objects ..............95 Festo P.BE-CMMS-CO-SW-EN 1012a...
  • Page 7 Speed adjustment operating mode (Profile Velocity Mode) ......137 6.5.1 Overview.................... 137 6.5.2 Description of the Objects ..............139 Torque regulation operating mode (Profile Torque Mode) ........ 144 6.6.1 Overview.................... 144 6.6.2 Description of the Objects ..............145 Index ........................149 Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 8: General Remarks

    Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources. Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 9: Target Group

    This manual 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 or write to the following e-mail address if you have any technical problems: service_international@festo.com Important user instructions...
  • Page 10 Pictograms Information: Recommendations, tips and references to other sources of information Accessories: information on necessary or useful accessories for the Festo product. Environment: information on environmentally friendly use of Festo products. Text designations • Bullet points indicate activities that may be carried out in any order.
  • Page 11 1. General remarks You can find the specifications on the version status as follows: Hardware version and firmware version in the Festo Configuration Tool (FCT) with active device connection under "Controller" Controller Firmware Comment CMMS-ST-... From Version 1.3.0.1.14 Standard motor controller for stepper motors CMMS-AS-...

  • Page 12: Canopen

    Fax: 09131-601092 www.can-cia.de The CANopen implementation of the motor controller is based on the following standards: [1] CiA Draft Standard 301, Version 4.02, 13. February 2002 [2] CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002 Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 13: Cabling And Plug Assignment

    If cabling is improperly done, malfunctions can occur on the CAN bus during operation. These can cause the motor controller to shut off with an error for safety reasons. Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 14: Cabling Note

    For more information on constructing interference-free CAN bus cabling, refer to the Controller Area Network protocol specification, Version 2.0 from Robert Bosch GmbH, 1991. Technical data, CAN bus cable: 2 pairs of 2 twisted leads, d ≥ 0.22 mm Loop resistance < 0.2 Ω/m Impedance 100-120 Ω Screened Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 15: Activation Of Canopen

    Node number: DIP switches ON/OFF Significance DIP switch 1 is the lowest-value bit 1011011 = 91 Baud rate: DIP switches ON/OFF Significance DIP switch 9 is the lowest-value bit 00=125 kBit/s 01=250 kBit/s (example) 10=500 kBit/s 11=1000 kBit/s Festo P.BE-CMMS-CO-SW-EN 1012a...
  • Page 16 The two axes have a separate CAN address. The address of axis 1 is set at the DIP switches. Axis 2 is always assigned the subsequent address: CAN address axis 2 = CAN address axis 1 + 1 Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 17: Access Procedure

    Are used for normal parameter setting of the motor controller. Fast exchange of process data (e.g. actual speed) Process Data Object possible. Synchronisation of multiple CAN nodes SYNC Synchronization Message Emergency Message Transmission of error messages. EMCY Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 18: Sdo Access

    UINT16 16 bit value without algebraic sign … 65535 INT16 16 bit value with algebraic sign -32768 … 32767 UINT32 32 bit value without algebraic sign … (2 INT32 32 bit value with algebraic sign … (2 Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 19: Sdo Sequences For Reading And Writing

    UINT8 / INT8 Command Answer: Reading obj. 6041_00 Writing obj. 6040_00 Return data: 1234 Data: 03E8 UINT16 / INT16 Command Answer: Reading obj. 6093_01 Writing obj. 6093_01 Return data: 12345678 Data: 12345678 UINT32 / INT32 Command Answer: Festo P.BE-CMMS-CO-SW-EN 1012a...

  • Page 20: Sdo Error Messages

    Data cannot be transmitted or stored, since the motor controller is working locally 08 00 00 22 Data cannot be transmitted or stored, since the motor controller for this is not in the correct state * 08 00 00 23 There is no object dictionary available * Festo P.BE-CMMS-CO-SW-EN 1012a...

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