Festo CMMT-ST-SW Manuals

Festo CMMT-ST-SW Manuals

Manuals and User Guides for Festo CMMT-ST-SW. We have 1 Festo CMMT-ST-SW manual available for free PDF download: Original Instructions Manual

Festo CMMT-ST-SW Original Instructions Manual

Festo CMMT-ST-SW Original Instructions Manual (616 pages)

Servo drive

Brand: Festo | Category: DC Drives | Size: 7 MB

Table of Contents

Festo — CMMT-ST-SW
2
Table of Contents
3
1 About this Document

12
- Applicable Documents
  12
- Product Version
  13
- Safety Instructions
  13
- Conventions
  13
2 CMMT-ST Plug-In

13
- CMMT-ST Getting to Know the Plug-In
  13
- Overview
  13
- Festo — CMMT-ST-SW
  14
- Interface
  15
- Overview
  15
- Contexts
  15
- Toolbar
  16
- Navigator
  19
- Working Area in the Title Bar
  19
- Display of Real-Time Values
  19
- Cross-Context Elements and Error Messages
  19
- Adorner
  19
- Pop-Up for Automatic Values Changes
  21
- Key Combinations
  21
- Basic and User Units
  22
- Automatic Data Synchronisation
  23
- Working with CMMT-ST the Plug-In
  23
- Open Plug-In
  23
- Connecting the Plug-In to the Device
  23
- Connection Control
  23
- Establishing and Disconnecting a Connection
  26
- Synchronising Device Data
  31
- Synchronising the Configuration and Parameters
  31
- Device Control (Master Control)
  34
- Initial Commissioning Assistant
  34
- Overview
  34
- Drive Configuration
  36
- Setting Application Data
  41
- Activating the Hardware Switch
  43
- Setting the Referencing
  43
- Setting the Software Limit Positions
  44
- Parameterisation
  46
- Interface
  46
- Entering Parameters
  49
- Drive Configuration
  51
- Device Settings
  56
- Fieldbus
  57
- Digital I/O
  57
- Encoder Interface
  58
- Axis 1
  59
- Motor
  59
- Gearbox
  60
- Axis
  60
- Record List
  64
- Monitoring Functions
  67
- Open Loop
  68
- Closed Loop
  68
- Auto Tuning
  72
- Assistant for Auto-Tuning
  73
- Notch Filter
  76
- Feed Forward Control
  76
- Jog Mode
  77
- Parameter List
  77
- Diagnosis
  78
- Interface
  78
- Device State
  78
- I/O State
  80
- Error Log
  81
- Error Classification
  82
- Trace Configuration
  83
- Trace Display
  86
- Auto Tuning (Evaluation)
  93
- Control
  95
- Interface
  95
- Manual Movement
  95
- Record List
  97
- Integrating a Device in a Festo Controller
  98
3 Product Configuration

101
- Controllers
  101
- Communication Interfaces
  101
- Firmware
  101
- Cia 402
  103
- Parameter Set
  104
- Master Control
  105
- Device Services
  106
- Reset Device
  107
- Controller Parameter Set Switchover
  107
- Saving Zero Point Offset
  107
- Request Reinit
  107
- Delete Parameter Set
  108
- Save Parameter Set
  108
- Cam Controller 0
  108
- Cam Controller 1
  109
- Position Capture (Touch Probe) 0
  109
- Position Capture (Touch Probe) 1
  109
- Fundamentals of Parameterisation
  109
- Depiction of the Parameters
  109
- Data Types
  110
- Depiction of the Device-Profile-Specific Objects
  111
- Measuring Units
  112
- Defined Measuring Units
  112
- Configurable Measuring Units ("User Unit")
  112
- Scaling of Internal Units for the Fieldbus ("Factor Group")
  115
- Measuring Reference System
  120
- Function
  120
- Cia 402
  125
- Drive Configuration
  125
- Motor Configuration
  125
- Function
  125
- Parameter and Diagnostic Messages for Motor Data from the User Configuration
  127
- Cia 402
  132
- Parameter and Diagnostic Messages for Motor Data from the EEPROM Memory
  133
- Cia 402
  138
- Active Motor Data Parameters
  140
- Cia 402
  145
- Brake Control
  146
- Function
  146
- Parameters and Diagnostic Messages
  149
- Cia 402
  152
- Encoder Configuration
  152
- Function
  152
- Encoder Parameters and Diagnostic Messages
  153
- Cia 402
  161
- Parameters of Digital Incremental Encoders (A, B and N Signals)
  162
- Cia 402
  164
- Parameters of Encoders with the Biss C Protocol
  164
- Cia 402
  166
- Parameters of the Actual Value Management
  166
- Cia 402
  167
- Parameters of the Direction of Rotation Manager
  168
- Cia 402
  169
- Parameters of the Commutation-Angle Detection
  169
- Cia 402
  172
- Replacement of Motors Without an Electronic Data Sheet
  172
- Gear Unit
  173
- Function
  173
- Cia 402
  177
- Digital Inputs and Outputs
  179
- Function
  179
- Cia 402
  183
- Protective Functions
  184
- I²T Monitoring of the Power Output Stage
  184
- Cia 402
  187
- I²T Monitoring of Motor
  188
- Cia 402
  190
- Temperature Monitoring of the Servo Drive
  190
- Cia 402
  192
- System Monitoring
  193
- Mains and DC Link Monitoring
  193
- Mains Voltage Monitoring
  193
- Monitoring of the DC Link Voltage
  194
- Return Energy Feed
  197
4 Motion Control

200
- Operating Modes
  200
- Finite State Machine
  200
- Operating Modes for Performing Motion Commands
  203
- Dynamic Operating Mode Switch
  204
- Cia402
  205
- Positioning Mode(PP)
  206
- Function
  206
- Cia 402
  209
- Velocity Mode (PV)
  213
- Function
  213
- Cia 402
  216
- Force/Torque Mode (PT) with or Without Holding Brake
  220
- Function
  220
- Cia 402
  222
- Cyclic Synchronised Positioning Mode (CSP)
  225
- Function
  225
- Cia 402
  229
- Cyclic Synchronised Velocity Mode (CSV)
  233
- Function
  233
- Cia 402
  236
- Cyclic Synchronised Force/Torque Mode (CST)
  239
- Function
  239
- Cia 402
  241
- Switch-On/Off Behaviour and Closed-Loop Controller Enable
  244
- Function
  244
- Cia 402
  251
- Stop
  251
- Function
  251
- Cia 402
  253
- Hold
  254
- Function
  254
- Cia 402
  255
- Homing
  255
- Function
  255
- Timing
  262
- Homing Methods
  265
- Method 37: Current Position
  266
- Method 33/34: Current Position with Zero Pulse in Negative/Positive Direction
  266
- Method 17/18 Negative/Positive Limit Switch
  267
- Method 1/2: Negative/Positive Limit Switch with Zero Pulse
  268
- Method 23/27: Positive/Negative Reference Switch
  269
- Method 7/11: Positive/Negative Reference Switch with Zero Pulse
  270
- Method -23/-27: Positive/Negative Stop/Limit Switch with Run to Reference
  271
- Method -17/-18 Negative/Positive Stop
  272
- Method -1/-2 Negative/Positive Stop with Zero Pulse
  273
- Travel to Axis Zero-Point
  274
- Cia 402
  275
- Command for Record Selection
  279
- Record Selection
  279
- Function
  279
- Record Sequencing
  288
- Function
  288
- Monitoring of Events
  293
- Function
  293
- Cia 402
  295
- Jog Mode
  296
- Function
  296
- Cia 402
  302
5 Motion Monitoring

304
- Motion Monitoring Functions
  304
- Target Window Reached
  310
- Cia 402
  313
- Following Error
  313
- Cia 402
  316
- Target Area Monitoring
  316
- Cia 402
  319
- Hardware Limit Switch Reached
  319
- Cia 402
  321
- Software Limit Position Reached
  322
- Cia 402
  325
- Standstill Monitoring
  325
- Cia 402
  328
- Stop Reached
  329
- Cia 402
  331
- Stroke Limit Reached
  331
- Cia 402
  333
- Speed Monitoring (Spinning Protection)
  334
- Cia 402
  334
- Pushback Monitoring
  335
- Cia 402
  336
- Remaining Distance Monitoring
  336
- Cia 402
  337
- Trajectory Completed
  337
- Reference Switch Activated
  338
- Function
  338
- Cia 402
  339
- Directional Lock
  339
- Function
  339
- Cia 402
  340
6 Control

341
- Cascade Controller
  341
- Function
  341
- Position Controller
  342
- Cia 402
  345
- Velocity Control
  346
- Cia 402
  349
- Current Regulator
  349
- Cia 402
  355
- Control Parameter Sets
  356
- Cia 402
  358
- Limitations
  359
- Limitation of Application
  359
- Cia 402
  362
- Control Limitation
  362
- Cia 402
  367
- Torque Limitation
  369
- Cia 402
  371
- Pilot Control (Setpoint Value Control)
  372
- Setpoint Value Connection
  372
- Inertia and Friction Compensation
  377
- Cia 402
  380
- Notch Filter
  381
- Function
  381
- Cia 402
  383
- Auto Tuning
  384
- Function
  384
- Cia 402
  390
- Test Run
  391
- Cia 402
  394
7 Technology Functions

394
- Cam Controller (Position Trigger)
  394
- Function
  394
- Cia 402
  407
- Position Detection (Touch Probe)
  408
- Function
  408
- Cia 402
  420
- Open-Loop Operation
  423
- Cia 402
  427
- Field Weakening
  427
- Cia 402
  428
8 Safety Signals

428
- Function
  428
- Cia402
  430
9 Diagnostics and Fault Clearance

430
- Diagnostics Options
  430
- Classification of Diagnostic Events
  431
- Diagnostic Status
  434
- Cia 402
  435
- Servo Drive Messages
  435
- Status of Messages
  435
- Structure of Messages
  436
- Message Directory
  438
- Error Memory
  438
- Acknowledging Messages and Errors
  438
- Diagnostic Messages with Information for Fault Clearance
  440
- Recording Measuring Data (Trace)
  498
- Cia 402
  506
- Condition Monitoring
  508
- Mileage Counter
  508
- Cia 402
  509
- Load Change Counter
  510
- Cia402
  511
- Operating Hour Counter
  511
- Cia402
  512
10 Web Server

512
- Function
  512
- Cia 402
  514
11 Ethercat

515
- General
  515
- ETG Standards
  515
- Ethercat Communication
  515
- Overview of Ethercat Communication and Synchronisation
  515
- Ethercat Bus
  518
- Ethercat Slave Controller ESC
  518
- Protocol
  518
- Ethercat Final State Machine
  520
- Sync Manager
  523
- Sync Manager Communication
  523
- Cia 402
  525
- Synchronisation
  525
- Cia 402
  529
- Distributed Clocks DC (Distributed Clocks)
  530
- Process Data Communication
  531
- PDO Mapping
  532
- Function: Rxpdo1 Mapping
  532
- Function: Txpdo1 Mapping, Axis 1
  532
- Function: Txpdo2 Mapping, Ethercat, Diagnostic History
  533
- Function: Txpdo3 Mapping, Ethercat, DC Time Stamp
  534
- Parameters and Diagnostic Messages
  535
- Cia 402
  536
- Mailbox Communication
  536
- SDO Communication
  537
- SDO Write Command (SDO Download/Download SDO)
  537
- SDO Read Command (SDO Upload/Upload SDO)
  538
- SDO Error Message (Abort SDO Transfer Request)
  538
- Emergency Communication
  540
- Cia 402
  541
- Error Finite State Machine
  541
- Ethernet over Ethercat-Communication (Eoe)
  547
- Objects Reference List
  548

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