Description
Functions
Firmware design:
from 1.4.0.2.6
8026161
1310NH
Motor controller
CMMS-AS-...-G2
CMMS-AS-...-G2
2 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Translation of the original instructions
GDCP-CMMS-AS-G2-FW-EN
Windows®, CiA®, CANopen®, DeviceNET®, PROFIBUS®, Heidenhain®, EnDat®, CANopen® are regis-
tered trademarks of the respective trademark owners in certain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
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.
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 3
Table of contents – CMMS-AS-...-G2
1 Safety and requirements for product use 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Safety 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Safety instructions 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Intended use 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Requirements for product use 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Technical prerequisites 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Qualification of the specialists (requirements for the personnel) 14. . . . . . . . . . . .
1.2.3 Range of application and certifications 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Motor controller interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 Overview: control section interfaces 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 Overview: power section interfaces 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Control interfaces – operating modes – functions 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Overview: control interfaces/connection/device profile/operating
mode/function 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Positioning mode 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Speed mode and force/torque mode 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Synchronisation 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5 Encoder emulation, flying measurement, analogue monitor
and endless positioning 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Control interfaces 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Digital inputs/outputs [X1] 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Select operating mode via mode bits 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Digital inputs (DIN0…13) 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Digital outputs (DOUT0…3) 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Analogue inputs/outputs [X1] 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Analogue inputs (AIN0/#AIN0) 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Analogue output (AMON0) 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Encoder inputs/outputs [X1/X10] 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Encoder input (synchronisation) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Encoder output (encoder emulation) 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Incremental signal (A/#A/B/#B/N/#N) 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR) 35. . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.5 Forward/reverse signals (CW/#CW/CCW/#CCW) 36. . . . . . . . . . . . . . . . . . . . . . . .
3.4 Fieldbuses [X4/X5/EXT] 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Supported fieldbuses 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Required digital inputs/outputs with a fieldbus activation 38. . . . . . . . . . . . . . . . .
CMMS-AS-...-G2
4 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.5 Device profiles for fieldbuses 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Festo Handling and Positioning Profile (FHPP) 39. . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 CANopen device profile CiA 402 (for electric drives) 39. . . . . . . . . . . . . . . . . . . . . .
4 Dimension reference system 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Dimension reference system for electric drives 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Dimension reference system for linear drives 40. . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Dimension reference system for rotative drives 41. . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Calculation rules for the dimension reference system 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Limit switch (hardware) and software end position 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Limit switch LSN/LSP (hardware) 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Software end position SLN/SLP 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Commissioning and in operation 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Sequence control in operation 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Flow diagram: motor controller 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Flow diagram: motor controller regulation 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Data interfaces (parameter/firmware) 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Festo Configuration Tool (FCT) 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Installing the FCT 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Starting the FCT 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 FCT help 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Download/synchronise FCT project/firmware /parameter data
(data in the motor controller) 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.5 Data backup: upload/synchronise FCT project/parameter data
(data from the motor controller) 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.6 Memory card 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.7 Parameter/firmware files 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.8 Download firmware file (xxx.S) (Memory card >> Motor controller) 50. . . . . . . . . . .
5.3.9 Download parameter file (xxx.DCO) (Memory card >> Motor controller) 51. . . . . . .
5.4 Master control over the motor controller 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 FCT master control over the motor controller 53. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Switching the motor controller on and off 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Behaviour of the motor controller during switch-on 54. . . . . . . . . . . . . . . . . . . . . .
5.5.2 Behaviour of the motor controller during switch-off 56. . . . . . . . . . . . . . . . . . . . . .
5.6 Interruption of the mains supply 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Behaviour of the motor controller when the mains supply is interrupted 58. . . . . .
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 5
5.7 Fieldbus configuration (via DIP switches) 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1 Overview of DIP switches [S1.1…12] 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Configure fieldbus address/MAC-ID 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.3 Configure data rate 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.4 Configure fieldbus interface 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.5 Configure terminating resistor 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Positioning mode 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Overview: Positioning mode (position control) 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Record selection, positioning record and positioning record profile 64. . . . . . . . . . . . . . . . . .
6.2.1 Function: record selection, positioning record and positioning record profile 64. .
6.2.2 Actuate record selection/positioning record via fieldbus or digital inputs 65. . . . .
6.2.3 Parameterise positioning record 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Parameterise positioning record profiles 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Direct mode 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Function: Direct mode: 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Activating direct mode via fieldbus 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Connection: digital inputs/outputs 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4 Parameterise direct mode 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Single position operation 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Function: single position operation 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 Actuate individual-record operation via fieldbus or digital inputs 76. . . . . . . . . . .
6.4.3 Connection: digital inputs/outputs 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.4 Timing diagram: start/cancel individual record 78. . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.5 Parameterise individual record operation 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Record linking operation 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Function: record linking operation 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Actuate record-chaining operation via fieldbus/digital inputs 80. . . . . . . . . . . . . .
6.5.3 Connection: digital inputs/outputs 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.4 Timing diagram: start/interrupt/cancel record sequence 82. . . . . . . . . . . . . . . . . .
6.5.5 Parameterise record linking operation 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Interpolated positioning mode 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Function: interpolated positioning mode 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Activate interpolated positioning mode via fieldbus 87. . . . . . . . . . . . . . . . . . . . . .
6.6.3 Connection: digital inputs/outputs 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Homing mode/homing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1 Function: homing mode 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Activate homing mode via fieldbus/digital inputs 89. . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 Connection: digital inputs/outputs 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.4 Timing diagram: cancel homing to limit switch/stop/ 91. . . . . . . . . . . . . . . . . . . . .
6.7.5 Homing mode/configure and parameterise homing 95. . . . . . . . . . . . . . . . . . . . . .
CMMS-AS-...-G2
6 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.8 Jog operation 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.1 Function: jog operation 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.2 Activate jog operation via fieldbus/digital inputs 104. . . . . . . . . . . . . . . . . . . . . . . .
6.8.3 Activate jog operation via Festo Configuration Tool (FCT) 105. . . . . . . . . . . . . . . . . .
6.8.4 Connection: digital inputs/outputs 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.5 Timing diagram: creep-speed travel/jog travel/jog+/jog– 107. . . . . . . . . . . . . . . . .
6.8.6 Parameterise jog mode 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.1 Function: teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.2 Activate teach mode via fieldbus/digital inputs 111. . . . . . . . . . . . . . . . . . . . . . . . .
6.9.3 Connection: digital inputs/outputs 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.4 Timing diagram: teach 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.5 Parameterise teach mode 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Speed mode and force/torque mode 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Speed mode 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.1 Overview: speed mode (speed adjustment) 115. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Function: speed mode 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3 Activate speed mode via fieldbus/analogue input 116. . . . . . . . . . . . . . . . . . . . . . .
7.1.4 Connection: analogue and digital I/O modules 117. . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5 Parameterise speed mode 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Force/torque mode 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Overview: force/torque mode (current control) 120. . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Function: force/torque mode 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Activate force/torque mode via fieldbus/analogue input 121. . . . . . . . . . . . . . . . . .
7.2.4 Connection: analogue and digital I/O modules 122. . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.5 Parameterise force/torque mode 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Synchronisation 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Synchronisation (slave operation) 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Function: synchronisation 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Activate synchronisation via encoder signal 126. . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Connection: digital I/O modules, encoder input, 5 V 127. . . . . . . . . . . . . . . . . . . . . .
8.1.4 Connection: digital I/O modules, encoder input, 24 V 128. . . . . . . . . . . . . . . . . . . .
8.1.5 Timing diagram: start synchronisation via Start Sync signal 129. . . . . . . . . . . . . . . .
8.1.6 Configure/parameterise synchronisation 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 7
9 Motor controller functions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Encoder emulation (master operation) 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Function: encoder emulation 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Output encoder emulation through encoder output 131. . . . . . . . . . . . . . . . . . . . . .
9.1.3 Connection: encoder output, 5 V 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.4 Configure/parameterise encoder emulation 132. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Flying measurement 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Function: flying measurement 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Activate flying measurement via digital input 133. . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 Connection: digital input 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Analogue monitor 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Function: analogue monitor 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Output analogue monitor through digital output 135. . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 Connection: analogue output 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Configure/parameterise analogue monitor 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Endless positioning 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Function: endless positioning 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Relative positioning records 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Service 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Protective and service functions 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.1 Overview 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.2 Overload current and short-circuit monitoring of the motor output 140. . . . . . . . . .
10.1.3 Monitoring of interruption and failure of the mains supply 140. . . . . . . . . . . . . . . . .
10.1.4 Overvoltage and undervoltage monitoring for the intermediate circuit 141. . . . . . .
10.1.5 Output stage temperature monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.6 Monitoring of the motor 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.7 I2t monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Operating mode and error messages 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 LED displays (Ready/CAN) 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Seven-segments display 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.3 Acknowledgement of error messages 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.4 Diagnostic messages 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Diagnostic messages 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Explanations on the diagnostic messages 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Diagnostic messages with instructions for fault clearance 145. . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Error codes via CiA 301/402 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 PROFIBUS diagnostics 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS-...-G2
8 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
B Serial interface RS232 (diagnostics/parameterisation interface) 162. . . . . . . . . . . . . . . . . .
B.1 Activate motor controller via the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1 Master data of the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.2 Basic setting of the interface RS232 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.3 Connect RS232 interface with a program 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.4 Connection [X5]: pin allocation of the interface RS232 163. . . . . . . . . . . . . . . . . . .
B.2 Commands/syntax of the RS232 interface 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.1 General commands 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 Control motor controller via CAN-Interpreter (CI) 164. . . . . . . . . . . . . . . . . . . . . . . .
C Serial interface RS485 (control interface) 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1 Activate motor controller via the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.1 Master data of the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2 Factory setting of the interface RS485 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.3 Connection [X5]: pin allocation of the interface RS485 168. . . . . . . . . . . . . . . . . . .
C.2 Configure RS485 interface in the Festo Configuration Tool (FCT) 169. . . . . . . . . . . . . . . . . . . .
C.3 Commands/syntax of the RS485 interface 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 9
Instructions on this description
This documentation is intended to help you safely work with the motor controller CMMS-AS-…-G2 and
describes the functions, commissioning and error messages.
Target group
This documentation is intended exclusively for technicians trained in control and automation techno-
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Product identification, versions
This documentation refers to the following versions:
– Motor controller CMMS-AS-C4-3A-G2: from Rev. 04
– Firmware: from Version 1.4.0.2.6
– Software for configuration/parameterisation (Festo Configuration Tool):
FCT plug-in “CMMS-AS”, from Version 2.0.0.x
Note
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
…
CMMS-AS-…-G2
572986
CN98 P0021912
Rev 02
In: 1k(95…250)V AC
(50…60)Hz 4A
Out: 3k(0…Input Voltage)V AC
(0…1000)Hz 4A
Type designation CMMS-AS-…-G2
Part number e.g. 572986
Revision e.g. Rev 02
Serial number e.g. CN98 P0021912
Input voltage (In) 95 … 250 V AC ±10 %
50 … 60 Hz, 4 A
Output voltage (Out) 0 … Input voltage V AC
0 … 1000 Hz, 4 A
Tab. 1 Rating plate CMMS-AS-…-G2 (example)
CMMS-AS-...-G2
10 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Type codes
CMMS –
Interfaces
AS C4 3A G2–––
CMMS Motor controller, standard
Motor technology
AS AC synchronous
Nominal cur-rentC4 4A
Input voltage
3A 230 V AC
Generation
G2 2nd generation
Fig. 1 Type codes
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 11
Documentation
You will find information on the motor controller in the following documentation:
User documentation on the motor controller CMMS-AS-...-G2
Name, type Contents
Description of hardware,
GDCP-CMMS-AS-G2-HW-...
Mounting, installation, pin allocations and error messages
Description of the safety function
STO, GDCP-CMMS-AS-G2-S1-...
Functional safety engineering for the motor controller with the
STO safety function
Description of function,
GDCP-CMMS-AS-G2-FW-...
– Functional description and commissioning with FCT
– Control interfaces and device profiles
Description of device profile FHPP,
P.BE-CMM-FHPP-SW-...
Control and parameterisation of the motor controller via the
device profile FHPP from Festo
Description of device
profile CiA 402,
P.BE-CMMS-FHPP-CO-SW-...
– Description of the CAN interface of the motor controller
– Control and parameterisation of the motor controller via the
device profile CiA 402 (DS 402)
PROFIBUS description,
P.BE-CMM-FHPP-PB-SW-...
Description of the PROFIBUS interface of the motor controller.
DeviceNet description,
P.BE-CMMS-FHPP-DN-SW-...
Description of the DeviceNet interface of the motor controller.
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
1 Safety and requirements for product use
12 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions
Warning
Danger of electric shock
Touching live parts causes severe injuries and can lead to death:
– when the module or cover plate is not mounted on the card slot [EXT]
– when cables are not mounted to the plugs [X6] and [X9]
– when connecting cables are disconnected when powered.
The product must be installed in a control cabinet and may only be used if all safeguard-
ing has been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
Caution
Danger of burns from hot surfaces
Dependent on the load of the motor controller, housing temperatures > 80°C are pos-
sible in operation.
• Protect hot surfaces from contact in operation.
• Touch them only in a switched-off, cooled-off status.
Note
Danger from unexpected movement of the motor or axis
• Make sure that the movement does not endanger anyone.
• 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.
1 Safety and requirements for product use
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 13
1.1.2 Intended use
The motor controller CMMS-AS-...-G2 is a digital positioning controller for servo motors for
– supply and activation of the motor
– regulation of speed (current), torque and position.
The motor controller supports the following safety function:
– Safe Torque Off (STO)
Category 3 / PL d in accordance with EN ISO 13849-1.
Use exclusively:
– in faultless technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data
� Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1.
– in an industrial environment
– 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.
1 Safety and requirements for product use
14 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
1.2 Requirements for product use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
• Take into consideration the legal regulations applicable for the destination as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
1.2.1 Technical prerequisites
For correct and safe use of the product:
• Comply with the connection and ambient conditions of the product specified in the technical data
� Hardware description GDCP-CMMS-AS-G2-HW-..., Appendix A.1, and of all connected compon-
ents. Compliance with the limit values and load limits permits operation of the product in compli-
ance with the relevant safety regulations.
• Observe the instructions and warnings in this documentation.
1.2.2 Qualification of the specialists (requirements for the personnel)
The product may only be placed in operation by a qualified electrotechnician who is familiar with:
– installation and operation of electrical control systems,
– the applicable regulations for operating safety-engineered systems,
– the applicable regulations for accident protection and operational reliability, and
– the documentation for the product.
1.2.3 Range of application and certifications
The motor controller with integrated STO safety function is a safety-related part of the control systems.
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
2 Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 15
2 Interfaces
2.1 Motor controller interfaces
2.1.1 Overview: control section interfaces
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
RS232
Memory card
Encoder emulation
Digital signals
Analogue signals
Control interfaces
Control section
Fieldbus
X1
EXT
X5
DriveBus
DeviceNet
Analogue outputs
X5PC/notebook
M1
X9
Motor temperature sensor
Motor
Supply voltage
X2Encoder
Control section: 24 V DC
Operating modes
Controllers
X1Drives Limit switch
Encoder
Encoder input
ParameterFirmware
Digital inputs/outputs
Data interfaces
Motor
Flying measurement
Analogue monitor
Endless positioning
X1
X6
Functions
Synchronisation
Synchronisation
Shaft encoder motor
X6Holding brake
Analogue input
Trigger output
Encoder output X10
STO “Safe Torque Off ” X3 Safety functionSafety switching device
Fig. 2.1 Overview: control section interfaces
2 Interfaces
16 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.1.2 Overview: power section interfaces
CMMS-AS-...-G2
X9Load component: 230 V AC
External braking resistor
Motor
Power section
Supply voltage
X6Motor
Braking resistor
Fig. 2.2 Overview: power section interfaces
2 Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 17
2.2 Control interfaces – operating modes – functions
The motor controller can be operated through a number of interfaces. Various operating modes and
functions are available, dependent on the selected control interface and the device profile (only for
fieldbus). The connection is permanently assigned to the selected control interface. In the “EXT” con-
nection, mounting of the corresponding interface module is required.
You can take the possible combinations from the following overviews.
2.2.1 Overview: control interfaces/connection/device profile/operating mode/function
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
Control interfaces
Connection
EXT
X5
DriveBus
DeviceNet
Synchronisation1)
CiA4025)
FHPP6)
CI7)
Device profile
Functions:– Encoder emulation
– Flying measurement
– Analogue monitor
– Endless positioning
Operating modes:– Positioning mode
– Speed mode
– Force/torque mode
– Synchronisation
X4
EXT
X12)Digital I/O modules
Analogue input/output X13)
Fieldbus
X12)/X104)
Operating mode/function
1) Encoder input
2) HTL signal (high transistor logic) with a max. high level = 24 V
3) Analogue input signal: ±10 V/analogue output signal: +10 V
4) TTL signal (transistor-transistor logic) with a max. high
level = 5 V
5) CANopen device profile CiA 402
6) Festo handling and positioning profile (FHPP)
7) CAN-Interpreter
Fig. 2.3 Overview: control interfaces/connection/device profile/operating mode/function
2 Interfaces
18 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.2.2 Positioning mode
Control interfaces� page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder input Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F = FHPP (Festo) F F F
C = CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Operating modes
Positioning mode (position control)� page 63
Direct mode� page 73
Direct application F/C F F CI
Individual record operation� page 76
Record selection (positioning
record 1…63)
DIN F F F
Record linking operation� page 80
Record selection (positioning
record 1…7)
DIN
Record selection (positioning
record 1…63)
F F F
Interpolated positioning mode� page 87
Direct application C C
Homing mode/homing� page 89
Direct application C F/C F F CI
Record selection (positioning
record 0)
DIN
Jog operation� page 104
Direct application F F F
Digital inputs DIN
Teach mode� page 111
Direct application F F F
Record selection (positioning
record 1…63)
DIN
Tab. 2.1 Overview: positioning mode
2 Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 19
2.2.3 Speed mode and force/torque mode
Control interfaces� page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder input Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F = FHPP (Festo) F F F
C = CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Operating modes
Speed mode (speed adjustment)� page 115
Direct mode
Direct application F/C F F CI
Analogue setpoint value
Analogue input AIN
Force/torque mode (current control)� page 120
Direct mode
Direct application F/C F F CI
Analogue setpoint value
Analogue input AIN
Tab. 2.2 Overview: speed mode and force/torque mode
2 Interfaces
20 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.2.4 Synchronisation
Control interfaces� page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder inputs/outputs Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F = FHPP (Festo) F F F
C = CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Synchronisation
Synchronisation (position control)� page 125
Incremental signal (A/#A/B/#B/N/#N)
Incremental inputs IN
Pulse/direction signal (CLK/DIR)
Incremental inputs IN
Digital inputs DIN
Forward/reverse signal (CW/CCW)
Incremental inputs IN
Digital inputs DIN
Tab. 2.3 Overview: synchronisation
2 Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 21
2.2.5 Encoder emulation, flying measurement, analogue monitor
and endless positioning
Control interfaces� page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder output Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F = FHPP (Festo) F F F
C = CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Functions
Encoder emulation� page 131
Incremental outputs X X X X
Flying measurement� page 133
Digital input X X X X
Analogue monitor (AMON0) [0…10 V]� page 135
Analogue output X X X X X X X X
Endless positioning� page 138
X X X X X X X X
Tab. 2.4 Overview: encoder emulation, flying measurement, analogue monitor and endless
positioning
3 Control interfaces
22 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3 Control interfaces
3.1 Digital inputs/outputs [X1]
The motor controller CMMS-AS-...-G2 at the connection [X1] has 14 digital inputs (DIN0…DIN13) and 4
digital outputs (DOUT0…3).
The function of the digital inputs/outputs is dependent on the selected control interface and operating
mode (mode).
The following operating modes can be controlled via the digital inputs:
– Individual record operation
– Record linking operation
– Homing mode
– Jog mode
– Teach mode
– Synchronisation mode
3.1.1 Select operating mode via mode bits
The following operating modes can be selected through control of the digital inputs “Mode bit 0” and
“Mode bit 1”.
Operating mode Mode Mode bit 1 (DIN9)1) Mode bit 0 (DIN12)2)
Individual record/homing mode Mode 0 0 0
Jog/teach mode Mode 1 0 1
Record linking operation Mode 2 1 0
Synchronisation mode Mode 3 1 1
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
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 23
Overview: digital I/O modules dependent on the operating mode and the mode
Designation Pin Mode 0
Individual
record/
Mode 1
Jog/
Teach
Mode 2
Record linking
Mode 3
Synchronisation
24 V DC [X1.18] Supply voltage 24 V DC (output)1)
GND 24 V [X1.6] Load “DIN/DOUT”
DIN 0 [X1.19] Record selection bit 0 –
DIN1 [X1.7] Record selection bit 1 –
DIN2 [X1.20] Record selection bit 2 CLK/CW_24
DIN3 [X1.8] Record selection bit 3 Halt record
sequence
DIR/CCW_24
DIN4 [X1.21] Output stage enable
DIN5 [X1.9] Controller enable
DIN6 [X1.22] Limit switch 0
DIN7 [X1.10] Limit switch 1
DIN8 [X1.23] Start positioning Teach Start record
sequence
Start
synchronisation
DIN9
(Sample)2)[X1.11] Mode bit 1 = 0 Mode bit 1 = 0 Mode bit 1 = 1 Mode bit 1 = 1
DIN10 [X1.3] Record selection
bit 4
Jog+/
Record selection
bit 4
NEXT1 –
DIN11 [X1.16] Record selection
bit 5
Jog–/
Record selection
bit 5
NEXT2 –
DIN12
(AIN0)3)[X1.2] Mode bit 0 = 0 Mode bit 0 = 1 Mode bit 0 = 0 Mode bit 0 = 1
DIN13
(#AIN0)3)[X1.15] Stop
DOUT0 [X1.24] Controller ready for operation
DOUT1 [X1.12] Motion complete4) Rest reached
DOUT2 [X1.25] Start
confirmed4)Teach confirmed Start
confirmed4)Position
synchronous
DOUT3 [X1.13] Common error4)
1) Internally connected with power supply “24 V DC” (input) at the connection [X9.6].
2) Multiple assignment of DIN9: This digital input is used as a sample input with flying measurement.
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
3 Control interfaces
24 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Timing diagram: shifting of the operating mode via mode bit 0/1
�Mode bit 0(DIN12)[X1.2]
�Mode bit 1(DIN9)[X1.11]
1) Motion complete2) Rest reached
(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Individual record, mode 0Jog/teach, mode 1
Record linking, mode 2Synchronisation, mode 3
1) Start confirmed2) Position synchronous
(DOUT2)[X1.25]
0 01 2 3 0
t1
t1
t1t1t1
1) Mode 0…2 2) Mode 3 1) …
t1 ≤ 5 ms
Fig. 3.1 Timing diagram: shifting of the operating mode via mode bit 0/1
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 25
3.1.2 Digital inputs (DIN0…13)
The function of the digital inputs (DIN0…13) is dependent on the operating mode/mode and control
interface:
Function Description Signal
General operational functions
Output stage enable
(DIN4)[X1.21]
High signal for release of the output stage.
Low signal for blocking of the output stage.
– The residual energy results in uncontrolled
movements in the motor until a state of rest is
reached. (EN 60204-1: Stop category 0)
High
active
Controller enable
(DIN5)[X1.9]
High signal for release of the controller.
Low signal for blocking of the controller.
– The drive is braked with the “Quick stop”
parametrised delay and the output stage is blocked
after the speed has reached “0 rpm”. (EN 60204-1:
Stop category 1)
High
active
Stop
(DIN13)[X1.15]
Low signal for cancellation of the current process.
– The drive is braked with the “Stop” parametrised
delay in a controlled way to speed “0 mm/s” and the
position is maintained. (EN 60204-1: Stop category 2)
Low active
Limit switch
Limit switch 0
(DIN6)[X1.22]
Signal when the reference/end position is reached.
– With the configured edge of the limit switch 0,
reaching of the reference/end position is signaled.
Configur-
able
Limit switch 1
(DIN7)[X1.10]
Signal when the reference/end position is reached.
– With the configured edge of the limit switch 1,
reaching of the reference/end position is signaled.
Configur-
able
Selection of operating mode/mode
Mode bit 0
(DIN12)[X1.2]
Signal for selecting the operating mode (mode). High
active
Mode bit 1
(DIN9)[X1.11]
Signal for selecting the operating mode (mode). High
active
3 Control interfaces
26 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Function SignalDescription
Record selection
Record selection
Bit 0 = 20, (DIN0)[X1.19]
Bit 1 = 21, (DIN1)[X1.7]
Bit 2 = 22, (DIN2)[X1.20]
Bit 3 = 23, (DIN3)[X1.8]
Bit 4 = 24, (DIN10)[X1.3]
Bit 5 = 25, (DIN11)[X1.16]
Signals for selecting (binary code) the positioning record.
(for individual record/record chaining/referencing/teach
mode)
For record chaining mode, only bit 0…2 are active.
High
active
Single position operation (mode 0)
Start positioning
(DIN8)[X1.23]
Signal for starting the individual record.
– With the rising edge, the record selection is evaluated
and the parameters of the active positioning record
are executed by the controller-internal positioning
controller.
High
active
Record linking operation (mode 2)
Start record sequence
(DIN8)[X1.23]
Signal for starting the record sequence
– With the rising edge, the record selection is evaluated
and the parameters of the active record sequence are
executed by the controller-internal positioning
controller/drive.
High
active
Halt record sequence
(DIN3)[X1.8]
Signal for interrupting the record sequence.
– With the low signal, the record sequence is stopped.
– With the high signal, the record sequence is
continued at the stopped position.
Low active
Sequence control
NEXT1
(DIN10)[X1.3]
Signals for control of the sequence control
Through the configured input (NEXT1/2), continuation
can be controlled to the next positioning record. With the
configured edge (rising/falling) the record sequence is
continued.
– Positioning record parameter (FCT) “Command:
NRI/NFI”:
Continuation is executed immediately with the edge.
– Positioning record parameter (FCT) “Command:
NRS/NFS”:
Continuation is executed with the edge and the
output signal “Motion complete = high”.
Configur-
able
NEXT2
(DIN11)[X1.16]
Configur-
able
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 27
Function SignalDescription
Homing mode (only for positioning mode)
Start homing
(DIN8)[X1.23]
Starting for starting homing.
– With the rising edge, homing is performed in
accordance with the parametrised homing method.
High
active
Jog operation (mode 1)
Jog+
(DIN10)[X1.3]
Signal for control of the positive jog travel.
– With the rising edge, jog travel (creep/jog speed) is
started.
– With the falling edge, jog travel is ended.
High
active
Jog–
(DIN11)[X1.16]
Signal for control of the negative jog travel.
– With the rising edge, jog travel (creep/jog speed) is
started.
– With the falling edge, jog travel is ended.
High
active
Teach operation (mode 1)
Teach
(DIN8)[X1.23]
Signal for storing the teach/actual position.
– With the rising edge, teaching is started. The current
actual position of the drive and the record selection
(bit 0…5) are evaluated.
– 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].
High
active
3 Control interfaces
28 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Function SignalDescription
Synchronisation (mode 3)
Start synchronisation
(DIN8)[X1.23]
Signal for starting synchronisation.
– With the high signal, synchronisation is started.
– With the low signal, synchronisation is stopped.
High
active
CLK/CW_24
(DIN2)[X1.20]
Encoder signals for synchronising the motor controller.
– CLK: pulse signal
– CW: forward signal
Configur-
able
DIR/CCW_24
(DIN3)[X1.8]
Encoder signals for synchronising the motor controller.
– DIR: direction signal
– CCW: reverse signal
Configur-
able
Flying measurement
Sampling
(DIN9)[X1.11]
Signal for storing the actual position
– With the configured edge of the sample signal, the
current actual position of the drive is taken over into
the sample memory. The higher-order controller can
interrogate the last stored actual position via the
active fieldbus.
Con-
figured
edge
Tab. 3.3 Function overview: digital inputs
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 29
3.1.3 Digital outputs (DOUT0…3)
Function Description Signal
Digital output (DOUT0)[X1.24]
Operating status
Controller ready for opera-
tion
The signal is high as long as all of the following
conditions are met:
– The output stage enable signal (DIN4) is high
– The controller enable (DIN5) is high
– The stop signal (DIN13) is high (not with the
“Analogue input” control interface)
– No error message is present
– The intermediate circuit is loaded
– Master control is issued
High
active
Digital outputs (DOUT1/2/3)[X1.12/25/13]
Releases
Output stage active The signal is high as long as the following conditions are
met:
– The output stage enable signal (DIN4) is high
– The controller enable (DIN5) is high
– No error message is present
– The intermediate circuit is loaded
– Master control is issued
High
active
Movement
Start confirmed The signal becomes low with the start of a positioning
record.
Low active
Setpoint speed reached The signal is high as long as the actual speed is within the
parametrised message window (message “Speed
reached”) of the parametrised speed (positioning mode).
High
active
Declared speed reached The signal is high as long as the actual speed is within the
parametrised message window and the parametrised
declared speed (message “Speed reached”).
High
active
Motion complete (MC) The signal becomes high if the actual position is within
the parametrised message window and the parametrised
damping time (message “Target reached”) has expired.
For additional information� page 31
High
active
Setpoint position reached The signal is high as long as the actual position is within
the parametrised message window (message “Target
reached”) related to the current setpoint position of the
positioning curve controller-internal positioning
controller.
High
active
3 Control interfaces
30 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Function SignalDescription
Rest reached The signal is high as long as the actual position is within
the parametrised message window (message “Speed
reached”) of the rest status (0 mm/s).
High
active
Remaining distance mes-
sage
The signal is high as long as the actual position is within
the parametrised message window (message “Remaining
distance”).
High
active
Safe stop active The signal is high as long as the output stage enable
signal (DIN4)[X1.21] and the “Driver supply, impulse
block” (REL)[X3.2] = 0 V DC.
High
active
Homing carried out The signal becomes high if homing was completed
without error.
High
active
Teach
Teach confirmed The signal is low as long as the teach signal is high.
The signal becomes high after the parametrised
debounce time (for jog operation parameters) expires.
Low active
Error/warning
Common error The signal becomes low if at least one error message is
active.
Low active
Collective warning message The signal becomes high if at least one warning message
is active.
High
active
Following error The signal is high as long as the actual position is outside
the parametrised message window and the parametrised
delay time (message “Following error”).
High
active
I2t motor/output stage The signal becomes high as soon as the motor or output
stage workload has exceeded the critical range.
High
active
Permanent signal
Off The signal is permanently low (O V DC). Low
On The signal is permanently high (24 V DC). High
Tab. 3.4 Function overview: digital outputs
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 31
Timing diagram: motion complete signal
The timing diagram “Motion complete signal” is depicted here as an example for all messages with
message window and damping time. All other messages behave identically regarding the timing pro-
cess.
Speed
Motion complete(DOUT1)[X1.12]
“Damping time” start
Positioning path
t1
Positioning record parameter“Position”
s+
s–
t1
“Damping time” termination
s+/– Linear axis = … mm
Rotational axis = … R
(FCT: dependent on the parameter “Message
window” in the message “Target reached”)
t1 = … ms (FCT: dependent on the parameter
“Damping time” in the message “Target
reached”)
Fig. 3.2 Timing diagram: motion complete signal
3 Control interfaces
32 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.2 Analogue inputs/outputs [X1]
The motor controller CMMS-AS-...-G2 at the connection [X1] has a differential analogue input
(AIN0/#AIN0) and an analogue output (AMON0).
Overview: analogue input/output
Designation Pin Description
AIN0
(DIN12)1)2 Analogue input, differential
#AIN0
(DIN13)1)15 Analogue input, differential
+VREF 4 Reference voltage, 10 V DC
AGND 14 Analogue load, reference potential for analogue monitor, reference voltage
and analogue input
SGND 1 “Analogue signal” screening
AMONO 17 Analogue monitor (output)
1) Multiple assignment of AIN0/#AIN0: These analogue inputs are used in the positioning mode/synchronisation as digital inputs for
mode bit 1 (DIN12) and stop signal (DIN13).
Tab. 3.5 Overview: analogue input/output
3.2.1 Analogue inputs (AIN0/#AIN0)
Function Description
Analogue input, positive
(AIN0)[X1.2]
Differential analogue signal for control of the motor controller in the
speed mode or force/torque mode.
– Positive setpoint value signal: max. ±10 V, 12 bit resolution
Analogue input, negative
(#AIN0)[X1.15]
Differential analogue signal for control of the motor controller in the
speed mode or force/torque mode.
– Negative setpoint value signal: max. ±10 V, 12 bit resolution
Tab. 3.6 Function overview: analogue inputs
3.2.2 Analogue output (AMON0)
Function Description
Analogue monitor
(AMON0)[X1.17]
The monitor output provides a configurable monitor signal (0…10 V)
with reference to the analogue load “AGND”.
Tab. 3.7 Function overview: analogue output
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 33
3.3 Encoder inputs/outputs [X1/X10]
Max. cycle rate
The encoder signals can be operated with the following cycle rates:
Digital input [X1]: max. 20 kHz
Encoder input [X10]: max. 150 kHz
3.3.1 Encoder input (synchronisation)
The motor controller CMMS-AS-...-G2 has different encoder inputs at the connections [X1/X10]. The
encoder signals are used for synchronising the motor controller.
The following encoder signals are available at the connections:
Encoder input signal Control interfaces
Encoder input [X10]
(Differential signals in
accordance with RS422)
[5 V, TTL]
Digital input [X1]
(Mode 3)
[24 V, HTL]
Incremental signal (A/#A)
(B/#B)
(N/#N)
[X10.1/6]
[X10.2/7]
[X10.3/8]
–
Pulse/direction signal (CLK/#CLK)
(DIR/#DIR)
[X10.1/6]
[X10.2/7]
[X1.20]
[X1.8]
Forward/reverse signal (CW/#CW)
(CCW/#CCW)
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.
3 Control interfaces
34 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.3.3 Incremental signal (A/#A/B/#B/N/#N)
Signal Description
A/B (positive)
#A/#B (negative)
Differential incremental signals (RS422) to control the rotational
speed/direction.
– The signals “A/#A” and “B/#B” are out of phase. In the basic
setting, without reversing the direction of rotation, the A signals
are 90° ahead of the B signals if the direction of rotation is
positive. If the direction of rotation is negative, the B signals are
90° ahead of the A signals. Through the phase shift and edge
sequence (rising/falling) of the signals “A/#A/B/#B”, the motor
controller can determine the rotational speed/direction. The
square evaluation (fourfold) is used for this.
N (positive)
#N (negative)
Zero pulse signals for identification of a revolution.
– The signals “N/#N” serve as a reference mark for a revolution. In
the “Synchronisation” operating mode, these signals are used for
counting the revolutions. With each zero-pulse passage, counting
of the signals “A/#A/B/#B” is restarted.
Tab. 3.9 Overview: incremental signal (A/#A/B/#B/N/#N)
Timing diagram: incremental signal for direction of rotation to the right (basic setting)
Incremental signal: A
90°
Incremental signal: #A
Incremental signal: B
Incremental signal: #B
Zero pulse signal: N
Zero pulse signal: #N
Signal period
One revolution
Fig. 3.3 Timing diagram: incremental signal for direction of rotation to the right (basic setting)
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 35
3.3.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR)
Through these signals, the motor controller can be controlled by a stepper motor control card.
Signal Description
CLK/#CLK Pulse signals for control of the rotations/speed.
DIR/#DIR Direction signals for control of the direction of rotation.
– DIR = high: direction of rotation positive
– DIR = low: direction of rotation negative
Tab. 3.10 Pulse/direction signals (CLK/#CLK/DIR/#DIR)
Timing diagram: pulse/direction signals
Pulse signal: CLK
Pulse signal:#CLK
Direction signal: DIR
Direction signal: #DIR
Pulse period
Direction of rotation “positive” Direction of rotation “negative”
Rotor position
Fig. 3.4 Timing diagram: pulse/direction signals
3 Control interfaces
36 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.3.5 Forward/reverse signals (CW/#CW/CCW/#CCW)
Only one signal pair may be active for activation of the motor controller.
– Forward signals CW/#CW
– Reverse signals CCW/#CCW
Signal Description
CW/#CW Forward signals for control of the positive direction of rotation.
CCW/#CCW Reverse signals for control of the negative direction of rotation.
Tab. 3.11 Overview: forward/reverse signals (CW/#CW/CCW/#CCW)
Timing diagram: forward/reverse signals
Forward signal: CW
Forward signal: #CW
Reverse signal: CCW
Reverse signal: #CCW
Pulse period
Direction of rotation “positive”
Direction of rotation “negative”
Rotor position
Fig. 3.5 Timing diagram: forward/reverse signals
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 37
3.4 Fieldbuses [X4/X5/EXT]
3.4.1 Supported fieldbuses
The motor controller CMMS-AS-...-G2 can be controlled through various fieldbuses. As standard, the
fieldbuses “CANopen” or “DriveBus” can be controlled via the integrated CAN bus connection [X4] or
the fieldbus “RS485” via the integrated RS232/RS485 connection [X5]. Optionally, the fieldbuses
“PROFIBUS DP” or “DeviceNet” can be controlled via the corresponding interface module at the con-
nection [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.
For every fieldbus, a factor group can be used so that application data can be transferred in user-specif-
ic units.
Overview: fieldbus and device profile
The fieldbus documentation is included in the following media:
– CD-ROM of the motor controller CMMS-AS-...-G2 (scope of delivery)
– Support Portal �www.festo.com/sp.
Fieldbus Connection Interface module Device profile Documentation
CANopen [X4] — FHPP1)
CiA 4022)P.BE-CMM-FHPP-SW-…
P.BE-CMMS-FHPP-CO-SW-…
DriveBus [X4] — CiA 4022) P.BE-CMMS-FHPP-CO-SW-…
PROFIBUS DP [Ext] CAMC-PB FHPP1) P.BE-CMM-FHPP-PB-SW-…
DeviceNet [Ext] CAMC-DN FHPP1) P.BE-CMMS-FHPP-DN-SW-…
RS485 [X5] — CI3) � Page 167
1) FHPP: Festo Handling and Positioning Profile � page 39
2) CiA 402: Device profile CiA 402� page 39
3) CI: CAN Interpreter, device profile CiA 402� page 167
Tab. 3.12 Overview: fieldbus and device profile
3 Control interfaces
38 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.4.2 Required digital inputs/outputs with a fieldbus activation
CMMS-AS-...-G2
9
21
22
10
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Limit switch 0 (DIN6)1)2)
Limit switch 1 (DIN7)1)2)
Stop (DIN13)15
X1
X4/X5/EXT
...
6Load “DIN/DOUT” / GND 24 V
Fieldbuses
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) 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
3 Control interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 39
3.5 Device profiles for fieldbuses
3.5.1 Festo Handling and Positioning Profile (FHPP)
Independent of the fieldbus used, a uniform control concept can be implemented through the device
profile “FHPP”. The user does not have to know the specific functions of the respective fieldbuses or
controllers, but can commission and control the drive in the shortest possible time through a uniform
profile.
FHPP distinguishes between the triggering methods “record selection” and “direct operation”.
With record selection, the positioning records parametrised in the motor controller are used.
In the direct mode, the following operating modes can be used:
– Positioning mode (position control)
– Speed mode (speed adjustment)
– Force/torque mode (current control)
The operating modes can be dynamically switched over in direct operation as needed.
Additional information can be found in the documentation� FHPP manual P.BE−CMM−FHPP−SW−…
3.5.2 CANopen device profile CiA 402 (for electric drives)
Through the device profile “CiA 402”, the following operating modes can be used:
– Positioning mode (CiA 402: Profile position mode)
– Homing mode (CiA 402: Homing mode)
– Interpolating position mode (CiA 402: Interpolated position mode)
– Speed mode (CiA 402: Profile velocity mode)
– Force/torque mode (CiA 402: Profile torque mode)
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-…
4 Dimension reference system
40 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
4 Dimension reference system
4.1 Dimension reference system for electric drives
4.1.1 Dimension reference system for linear drives
Example: homing method “limit switch”, negative direction
1
REF AZ
a b c
PZ
d e
TP/AP SLPSLN
2
Run positive (+)LSN LSP
Run negative (–)
M
REF Homing point (reference point)
AZ Axis zero point
PZ Project zero point
SLN Negative software end position (SW limit negative)
SLP Positive software end position (SW limit positive)
LSN Limit switch (hardware) negative (Limit switch negative)
LSP Limit switch (hardware) positive (Limit switch positive)
TP Target position
AP Actual position
a Offset “axis zero point (AZ)”
b Offset “project zero point (PZ)”
c Offset “target/actual position (TP/AP)”
d Offset “SW end position negative (SEN)”
e Offset “SW end position positive (SEP)”
1 Effective stroke
2 Working stroke
Tab. 4.1 Dimension reference system for linear drives
4 Dimension reference system
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 41
4.1.2 Dimension reference system for rotative drives
Example: homing method “current position”
REF
AZ
ab
e
PZ
d
1
2
M
Turn positive (+)Turn negative (–)
c
TP/AP
SLPSLN
LSNLSP
REF Homing point (reference point)
AZ Axis zero point
PZ Project zero point
SLN Negative software end position (SW limit negative)
SLP Positive software end position (SW limit positive)
LSN Limit switch (hardware) negative (Limit switch negative)
LSP Limit switch (hardware) positive (Limit switch positive)
TP Target position
AP Actual position
a Offset “axis zero point (AZ)”
b Offset “project zero point (PZ)”
c Offset “target/actual position (TP/AP)”
d Optional: offset “SW end position negative (SLN)”1)
e Optional: offset “SW end position positive (SLP)”1)
1 Effective positioning range
2 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
4 Dimension reference system
42 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
4.2 Calculation rules for the dimension reference system
Point of reference Calculation rule
Axis zero point AZ = REF + a
Project zero point PZ = AZ + b = REF + a + b
Negative software end
position
SLN = AZ + d = REF + a + d
Positive software end position SLP = AZ + e = REF + a + e
Target position/actual
position
TP/AP = PZ + c = AZ + b + c = REF + a + b + c
Tab. 4.3 Calculation rules for the dimension reference system
4.3 Limit switch (hardware) and software end position
4.3.1 Limit switch LSN/LSP (hardware)
Two limit switches (hardware) are supported in configuration of a limited axis (linear/rotative). These
limit the absolute effective stroke/effective positioning range of the drive. Dependent on the limit
switch type, the switching function “NC contact” or “N/O contact” can be parametrised.
If one of the limit switch positions is reached, movement of the drive is braked in accordance with the
reaction “430/431” parametrised in the FCT error management.
– PS off: power section is switched off immediately. The residual energy results in uncontrolled move-
ments (coasting) in the motor until a state of rest is reached.
– QStop: Quick stop with the parametrised deceleration “Quick Stop”. The power stage is switched
off after the rest state has been reached or after expiration of the parametrised monitoring time
Quick Stop.
– Warn: Deceleration with the parametrised “limit switch” stop deceleration.
After that, the positioning direction of the respective active limit switch is blocked. That is, the drive can
only be run in the positioning direction of the inactive limit switch.
4.3.2 Software end position SLN/SLP
If the axis is restricted, two software end positions for limitation of the working stroke/working posi-
tioning range can also be parametrised relative to the axis zero point between the limit switches (hard-
ware). As with the limit switches (hardware), here, too, the positioning range is blocked when the soft-
ware end position is blocked. In addition, before the software end position is reached, braking with the
stop deceleration “limit switch” is begun so that the position of the software end position is not over-
travelled.
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.
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 43
5 Commissioning and in operation
5.1 Sequence control in operation
5.1.1 Flow diagram: motor controller
Power ON/Software reset
Bootloader
Initialization
Ready foroperation
Acknowledge errorInitialize
Parameters:Download/upload
Error status
All statuses
Enablecontroller and
output stage
Blockcontroller or
output stage
Positioning control
Single position operationInterpolated positioning mode
Record selection/positioning record
Direct modeRecord linking operation
Firmware:Download
Memory card
Jog modeHoming mode
Intermediatecircuit precharge
Force/torque(current regulator)
Operating modes/controller
Speed(Speed regulator)
Position(Position controller)
Synchronisation
Teach mode
Fig. 5.1 Flow diagram: motor controller
5 Commissioning and in operation
44 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.1.2 Flow diagram: motor controller regulation
Currentregulator
CMMS-AS-...-G2
Control section
Speedcontroller
Positioncontroller
Power section
Output stage
M
Motor
Encoder
Position setpoint value
Speed setpoint value Current setpoint
value
Position actual valueSpeed actual value
Current actual value
Force/torquemode
Positioningmode1)
Speed mode
–––
+++
Operating modes
Control interfaces
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
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 45
5.2 Data interfaces (parameter/firmware)
FCT program
CD-ROM/www.festo.com/sp
M1
PC/notebook
Memory card
Devicedescriptions(EDS/GSD) andfunction elements
Festo ConfigurationTool (FCT)
Plug-in file
Software
Storage (HDD/SSD)
Installation Parameter file(xxx.DCO)
Firmware
Firmwarefile
Firmware file(xxx.S)
Firmwarefile
(xxx.S)
Installation/update
Motorcontroller
X1/X4/EXT
ControllerEDS file:– CANopen
– DeviceNet
– DriveBus
GSD file:– PROFIBUS DP
Controllerdata
management
Copy
FCT:
Contro
ller>>SD(Upload)
Control interfaces
Save/
Execute/
FCT: import
Save/execute
Save/execute
FCT:
SD>>Contro
ller(Download)
FCT project dataX5
FCT: Download
FCT: Upload
FCT: Synchronisation
DIP
switch
S1.8
Switch
positio
n=ON
FCT:
Firmware
download
Controllersoftware
(e.g.: CodeSys)
Save/execute
Function elementfile:
– CodeSys
– Step 7
– RSLogix 5000
Save/execute
Save/execute
Download
Fig. 5.3 Overview: data interfaces (parameter/firmware)
5 Commissioning and in operation
46 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.3 Festo Configuration Tool (FCT)
The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, paramet-
erisation and commissioning of different components and devices from Festo.
– Manage parameter data and firmware files.
– Manual operation (e.g. jog, etc.)
– Diagnostics management
– Recording of measurement data
The FCT consists of the following components:
– a framework with uniform project and data management for all supported types of equipment.
– one plug-in for every type of equipment (e. g. CMMS-AS)
The plug-ins are managed and started from the framework. They support execution of all necessary
steps for commissioning the motor controller. Generation of a motor controller parameterisation can
also be performed offline (without RS232 connection) on the PC/notebook. This enables preparation
for the actual commissioning, for example in the planning office when a system is being planned.
5.3.1 Installing the FCT
Note
The FCT plug-in “CMMS-AS” from version 2.0.0.x supports the motor controller
CMMS-AS-...-G2 with the firmware, from version 1.4.0.2.6.
With later versions of the motor controller, check whether there is an updated FCT plug-
in “CMMS-AS” available. If necessary, consult Festo.
Note
Windows administrator rights are required for installing the 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.
3. Select [Execute] in the Start menu (for Windows 7: see “Accessories” menu).
4. Enter D:\Start (if necessary replace D by the letter of your CD ROM drive).
5. Follow the instructions of the FCT Assistant.
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 47
5.3.2 Starting the FCT
1. Start the FCT:
double click the FCT icon on the Desktop
– or –
In the Windows menu [Start], select the entry [Festo Software] [Festo Configuration Tool].
2. Create a project in the FCT or open an existing project. Add a CMMS-AS to the project: menu [Com-
ponents] [Insert]. Information on working with projects and on inserting a device in a project can be
found in the help for the FCT framework with the command [Help] [Contents FCT general].
3. Complete all further steps according to the instructions in the plug-in help: command [Help] [Con-
tents of installed plug-ins] [Festo (manufacturer name)] [CMMS-AS (plug-in name)] “Working with
the plug-in”
5.3.3 FCT help
The following Help functions are available in the FCT:
Dynamic Help:
• Activate the dynamic Help [menu bar][Help][Dynamic help] in the FCTuser interface.
When you click on a field, Help is always displayed dynamically.
Fig. 5.4 Overview: Dynamic Help in the FCT
Static Help:
• 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.
Offline Help (PDF document):
• Print individual pages or all of the pages in a book directly from the Help contents by using the
“Print” button in the Help window.
• Print a prepared version of the help in Adobe PDF format:
Printed version Directory File
FCT Help
(framework)
...(FCT installation directory)\Help\ – FCT_de.pdf
Plug-in Help
(CMMS-AS)
...(FCT installation directory)\HardwareFamilies\
Festo\CMMS-AS\V...\Help\
– CMMS-AS_de.pdf
5 Commissioning and in operation
48 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.3.4 Download/synchronise FCT project/firmware /parameter data
(data in the motor controller)
Data/files Data interfaces
RS232
[X5]
Memory card/card
slot
[M1]
FCT project data
Download (FCT)
PC/Notebook >> Controller X
Synchronisation (FCT)
PC/Notebook << >> Controller X
Firmware file (xxx.S)
Download
PC/Notebook >> Controller (FCT: firmware download) X
DIP switch S1.8, switch position = ON X
Parameter file (xxx.DCO)
Download
SD >> Controller (FCT) X
SD (latest) >> Controller (FCT) X
Tab. 5.1 Transfer parameter/firmware data to the motor controller
5.3.5 Data backup: upload/synchronise FCT project/parameter data
(data from the motor controller)
Data/files Data interfaces
RS232
[X5]
Memory card/card
slot
[M1]
FCT project data
Upload (FCT)
Controller >> PC/Notebook X
Synchronisation (FCT)
PC/Notebook << >> Controller X
Parameter file (xxx.DCO)
Upload
Controller >> SD (FCT) X
Tab. 5.2 Backup of the motor controller parameter data
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 49
5.3.6 Memory card
Using the memory card
The following data can be managed with the plugged-in memory card:
Firmware file (xxx.S)
– If the DIP switch S1.8 is at the “ON” switch position, the versions of the firmware file on the memory
card are checked at every restart (power ON/software reset). If a newer version of the firmware file
is available, it is loaded into the motor controller.
Parameter file (xxx.DCO)
– Through the FCT function “Controller>>SD”, the motor controller parameter record can be backed up
manually as a parameter file on the memory card (upload).
– Through the FCT function “SD>>Controller”, the parameter file with motor controller parameter re-
cord can be loaded manually into the motor controller (download).
– With the activated FCT configuration “After restart, read from SD”, at every restart (power ON/soft-
ware reset) the parameter file is automatically loaded with the motor controller parameter record
into the motor controller (download).
Request to the memory card
Characteristic Description
Supported card type SD1) (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 Names
Letters Format Expansion
Firmware file Large/small xxx.1 .S FW_CMMS-AS_V1p4p0p2p6.S
Parameter file Large 8.31) .DCO CMMSAS01.DCO
1) xxxxxxnn.DCO:
Digit 1–6: “x” = freely selectable
Digit 7+8: “n” = is automatically counted up from “00”.
Tab. 5.4 Characteristics of parameter/firmware files
5 Commissioning and in operation
50 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.3.8 Download firmware file (xxx.S) (Memory card >> Motor controller)
Note
Loss of the motor controller parameters.
With a firmware download, all parameters of the motor controller are deleted (“factory
setting” status).
– Back up the current parameters of the motor controller on a memory card before
conducting a firmware download (FCT: Controller >> SD). A parameter file is gener-
ated.
– Load the parameter file after the firmware download from the memory card into the
motor controller (FCT: SD >> Controller).
Execute the following steps:
1. Make sure that the output stage enable signal (DIN4)[X1.21] = 0 V DC.
2. Shift the DIP switch [S1.8] to the “ON” position.
3. Insert the memory card with the firmware file (xxx.S) into the card slot [M1].
4. Switch the 24 V DC supply voltage off and then back on.
5. During booting, the motor controller checks (7-segments display: illuminated decimal point “.”)
whether a memory card is plugged into the card slot [M1].
If no memory card is plugged in, or it is damaged, the firmware version is loaded from the
permanent memory.
6. The firmware download is executed (7-segments display: flashing decimal point “.”) if a valid firm-
ware version is contained on the memory card.
No download is executed if the firmware version is the same or the firmware file is dam-
aged. The firmware version is then loaded from the permanent memory.
7. The newly loaded firmware starts automatically.
8. Shift the DIP switch [S1.8] to the “OFF” position.
Errors may occur in firmware download. Possible causes for this are:
– Defective firmware file
– Invalid firmware version
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!
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 51
5.3.9 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. You can find additional information in the “Festo Configuration Tool (FCT), CMMS-AS Plug-
In” Help on the CD-ROM� CMMS-AS_de.pdf.
Loading of the parameter file is displayed through the green-flashing Ready-LED.
Additionally, the option “After restart read from SD (memory card)” in the “Project output” FCT window
in the “Memory card” tab can be configured. You can find additional information in the “Festo Configur-
ation Tool (FCT)” Help on the CD-ROM� FCT_de.pdf.
Fig. 5.5 Overview: Option after restart
5 Commissioning and in operation
52 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.4 Master control over the motor controller
Caution
Unexpected movements of the drive due to incorrect parameterising
• When the motor controller is switched on, make sure that the controller enable sig-
nal (DIN5) = 0 V DC.
• Parameterise the entire system completely before you activate the output stage via
the controller enable signal (DIN5)[X1.9].
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.
– Digital input “Controller enable (DIN5)[X1.9]” = 24 V DC.
– Digital input “Stop (DIN13)[X1.15]” = 24 V DC.
and in the “Project output” FCT window – tab “Operate” – device control
“FCT” check box active
“Enable” check box active
CMMS-AS-...-G2
RS485
Control interfaces
Control section
Festo Configuration Tool (FCT)
Controllers
Master control
CANopenDriveBus
PROFIBUS DPDeviceNet
RS232
X4
EXT
X5
X5
X1Digital inputs
Fig. 5.6 Overview: master control over the motor controller
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 53
5.4.1 FCT master control over the motor controller
Timing diagram: FCT master control over the motor controller
“Enable”1) active
Control
Parameterise
“FCT” active
Output stage enable(DIN4)[X1.21]
Festo Configuration Tool (FCT),Device control
Digital inputs (DIN)
Power ON
Controller enable(DIN5)[X1.9]
Stop(DIN13)[X1.15]
Control via DIN
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
5 Commissioning and in operation
54 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.5 Switching the motor controller on and off
5.5.1 Behaviour of the motor controller during switch-on
1. Make sure that, on the motor controller, the controller enable signal (DIN5)[X1.9] = 0 V DC.
2. Switch the supply voltage on (230 V AC [X9.1]/24 V DC [X9.6]).
The Ready LED on the front of the motor controller should now light up.
If the Ready LED does not light up, there is a malfunction. If the 7-segments display shows
a character sequence “E x x x”, it is an error message, and you must eliminate the cause
� Appendix A, page 144.
If no LED (Ready/Bus) or 7-segments display lights up on the motor controller, execute the following
steps:
1. Switch the supply voltage off (230 V AC/24 V DC).
2. Wait five minutes until the intermediate circuit voltage has discharged.
3. Check the connection of all cables and wires.
4. Check the 24 V DC supply voltage.
5. Switch the supply voltage back on (230 V AC/24 V DC).
Connection: Digital inputs/outputs for operating status
CMMS-AS-...-G2
9
21
24
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Controller ready for operation (DOUT0)
Stop (DIN13)15
X1
Common error (DOUT3)1)
6
13
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
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 55
Timing diagram: switch-on sequence via Power ON
(Example: speed mode via analogue input)
� Power ON
Common error(DOUT3)[X1.13]
Output stage enable(DIN4)[X1.21]
Controller enable(DIN5)[X1.9]
Output stage active(DOUT… )[X1.…]
Holding brake released(BR+)[X6.2]
Controller ready for operation(DOUT0)[X1.24]
Speed setpoint value
Speed actual value
t1
t2
t2
t3
t5
t4
Pulse-width modulation output stage active(internal)
t1 L 500 ms
(dependent on the boot phase and start of
the application)
t2 ≥ 2.5 ms
t3 ≤ 10 ms (dependent on the operating mode
and the status of the drive)
t4 ≤ 2.5 ms
t5 = 0…6553 ms (FCT: dependent on the para-
metrised switch-on delay (brake control,
brake timing))
Fig. 5.9 Timing diagram: switch-on sequence via Power ON
5 Commissioning and in operation
56 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.5.2 Behaviour of the motor controller during switch-off
Timing diagram: switch off motor controller via controller enable signal
� Controller enable(DIN5)[X1.9]
Output stage enable(DIN4)[X1.21]
Output stage active(DOUT… )[X1.…]
Holding brake released(BR+)[X6.2]
Controller ready for operation(DOUT0)[X1.4]
t2t1
t3 t4
Speed setpoint value/actual value
Rest reached(DOUT… )[X1.…]
Holding brake open(mechanical)
t5
t6
t1 ≤ 5 ms
t2 = 0 ms…10 s (FCT: dependent on the
parametrised Quick-stop delay and
Quick-stop monitoring time of the speed
actual value)
t3 = 0…6553 ms (FCT: dependent on the
parametrised switch-off delay (brake control,
brake timing))
t4 ≤ 5 ms
t5 L 50…500 ms
t6 ≤ 5 ms
Fig. 5.10 Timing diagram: switch off motor controller via controller enable signal
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 57
Timing diagram: switch off motor controller via output stage enable signal
Controller enable(DIN5)[X1.9]
� Output stage enable(DIN4)[X1.21]
Speed actual value
Holding brake released(BR+)[X6.2]
Holding brake open(mechanical)
t1
Controller ready for operation(DOUT0)[X1.24]
t3
t4
t2
Output stage active(DOUT… )[X1.…]
t1 ≤ 5 ms
t2 ≤ 2.5 ms
t3 L 50…500 ms
t4 = 0…6553 ms (FCT: dependent on the para-
metrised switch-off delay (brake control,
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.
5 Commissioning and in operation
58 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.6 Interruption of the mains supply
5.6.1 Behaviour of the motor controller when the mains supply is interrupted
Timing diagram: interrupt mains supply
Controller enable(DIN5)[X1.9]
Output stage enable(DIN4)[X1.21]
Speed
Holding brake released(BR+)[X6.2]
Controller ready for operation(DOUT0)[X1.24]
t1
t3
t4
Start…(DIN8)[X1.23]
Motion complete(DOUT1)[X1.12]
Declared speed reached1) (DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
�Mains supply
Output stage active(DOUT… )[X1.…]
t2
1) Only if declared speed = setpoint speed.
t1 ≤ 2.5 ms
t2 = … ms (FCT: dependent on the acceleration
ramp)
t3 = 60 ms
t4 ≤ 2.5 ms
Fig. 5.12 Timing diagram: interrupt mains supply
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 59
The holding brake is not suitable for braking the motor or moving masses.
5 Commissioning and in operation
60 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.7 Fieldbus configuration (via DIP switches)
5.7.1 Overview of DIP switches [S1.1…12]
Fig. 5.13 Overview of DIP switches [S1.1...12]
5.7.2 Configure fieldbus address/MAC-ID
The address/MAC-ID can be configured via the DIP switches [S1.1…7].
Fieldbus DIP switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1
CANopen
CAN address (1…127) X X X X X X X
DriveBus
CAN address (2…13) X X X X
PROFIBUS DP
Bus address (3…126)1) X X X X X X X
DeviceNet
MAC-ID (0…63) X X X X X X
RS485
Address (0…127) X X X X X X X
Example: address “57” =
(switch position)
+ 0
(OFF)
+ 32
(ON)
+ 16
(ON)
+ 8
(ON)
+ 0
(OFF)
+ 0
(OFF)
+ 1
(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
5 Commissioning and in operation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 61
5.7.3 Configure data rate
The bit/transmission rate can be configured via the DIP switches [S1.9/S1.10].
Fieldbus Bit/transmission rate DIP switch
S1.10 S1.9
CANopen (CAN-Bus)/DeviceNet 125 KBit/s (125 kBaud) OFF OFF
250 KBit/s (250 kBaud) OFF ON
500 KBit/s (500 kBaud) ON OFF
CANopen (CAN bus) 1 MBit/s (1000 kBaud) ON ON
Tab. 5.6 Configure data rate
5.7.4 Configure fieldbus interface
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 – ON
DriveBus – ON
PROFIBUS DP CAMC-PB OFF
DeviceNet CAMC-DN OFF
RS485 – OFF
Tab. 5.7 Configure fieldbus interface
5 Commissioning and in operation
62 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
5.7.5 Configure terminating resistor
The DIP switch [S1.12] may only be used for activating the “CAN bus” terminating resist-
or.
Fieldbus Note DIP switch
S1.12
CANopen ON: terminating resistor active.
OFF: terminating resistor not active.
OFF/ON
DriveBus
PROFIBUS DP In the PROFIBUS DP, the terminating resistor is
integrated into the “CAMC-PB” interface module.
OFF
DeviceNet Terminating resistor can be connected externally,
if needed.
OFF
RS485 OFF
Tab. 5.8 Configure terminating resistor
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 63
6 Positioning mode
6.1 Overview: Positioning mode (position control)
Current control(torque)
CMMS-AS-...-G2
Control section
Velocitycontrol
Positioncontroller
Powersection
Output stage
M
Motor
Encoder
Actual position valueActual speed value
Actual current value
–––
+++
Position setpoint value
Velocity setpoint value
Current setpoint value
Controller-internal positioning control
Control interfaces
Interpolator
Speed pilot control
Fig. 6.1 Overview: positioning mode - position control
In the positioning mode, the motor controller can be controlled via the fieldbus or digital inputs. With
direct, single-record, record-chaining, homing or jog operation, the positioning curve is calculated in
the controller-internal positioning controller from the positioning parameters and passed on as position
setpoint values. In the case of interpolating positioning mode, the interpolated positioning curve is
calculated in the interpolator and passed on as position setpoint values. The regulator cascade (posi-
tion, speed and current regulator) processes the deviation “setpoint value” and “actual value” and thus
controls the following output stage.
6 Positioning mode
64 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.2 Record selection, positioning record and positioning record profile
6.2.1 Function: record selection, positioning record and positioning record profile
The record selection can be controlled in the single-record/record-chaining/homing operation via the
active fieldbus (CANopen/PROFIBUS DP/DeviceNet) or the digital inputs (mode 0 and 2� page 22).
Through activation of the record selection (0…63), the corresponding positioning record (0…63) is ac-
tivated. Individual records can be linked into a record chain through the “Target” offset parameter. The
positioning record “0” is reserved for the reference mode (homing). The positioning records 1…63 can
be used for the individual record or record chaining mode. To each positioning record, a positioning
record (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).
The following settings can be parametrised in the positioning records/positioning record profiles:
Positioning record parameters:
– Mode (selection of the relative or absolute positioning)
– Position (input of the target position)
– Profile (selection of a positioning record profile)
– Command (selection of a sequence control command) (only for record-chaining operation)
– Target (input of the next positioning record target for the record sequence) (only for record chaining
operation)
– Input (selection of the record sequence control NEXT1/NEXT2) (only for record-chaining operation)
Positioning record profile parameter:
– Speed
– Acceleration
– Deceleration
– Smoothing
– Time (only for record-chaining operation)
– Start delay
– End speed
– Start condition
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 65
6.2.2 Actuate record selection/positioning record via fieldbus or digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Recordselection:
0…63
Positioningrecord:
0…63
Position recordprofile:
0…7Bit 0…5
Positioncontrol
Controller-in-ternal position-
ing control
Fig. 6.2 Overview: Actuate record selection/positioning record via fieldbus or digital inputs
Actuate positioning records
The following positioning records can be actuated, dependent on the control interface and operating
mode:
Control interface Operating mode
Single position
operation
Record linking
operation
Homing mode Teach mode
CANopen Positioning
record 1…63
Positioning
record 1…63
Positioning
record 0
Positioning
record 1…63PROFIBUS DP
DeviceNet
Digital inputs (DIN) Positioning
record 1…63
(Mode 0)
Positioning
record 1…7
(Mode 2)
Positioning
record 0
(Mode 0)
Positioning
record 1…63
(Mode 1)
Tab. 6.1 Overview: Actuate positioning records
6 Positioning mode
66 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Record selection bit 0…5/actuate positioning records 1…63 via digital inputs
Record linking operation:
In record-chaining operation (mode 2), only the positioning records 1…7 can be actuated
via the record selection bit 0…2. The record selections bit 3…5 are used for sequence
control “NEXT1/2” and “Halt record sequence”. Activation of the positioning records
8…63 can only take place via continuation (positioning record parameter: target) in the
positioning records 1…7.
Positioning re-
cord
Record selection bit 0…5
Bit 5 (25)
(DIN11)
Bit 4 (24)
(DIN10)
Bit 3 (23)
(DIN3)
Bit 2 (22)
(DIN2)
Bit 1 (21)
(DIN1)
Bit 0 (20)
(DIN0)
– Single position operation (mode 0)
– Teach-in operation (mode 1)
– Record linking operation (mode 2)
Positioning
record 1
0 0 0 0 0 1
Positioning
record 2
0 0 0 0 1 0
Positioning
record 3
0 0 0 0 1 1
Positioning
record 4
0 0 0 1 0 0
…
Positioning
record 7
0 0 0 1 1 1
Positioning
record 8
0 0 1 0 0 0
…
Positioning
record 15
0 0 1 1 1 1
Positioning
record 16
0 1 0 0 0 0
…
Positioning
record 32
1 0 0 0 0 0
…
Positioning
record 63
1 1 1 1 1 1
Tab. 6.2 Overview: Record selection bit 0...5/actuate positioning records 1...63 via digital inputs
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 67
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:
A = Absolute positioning related to a fixed zero point (axes/project zero
point) (default)
RA = Relative positioning related to the current actual position
RN = Relative positioning related to the last setpoint position
Position Setpoint value for the relative or absolute position.
Profile Selection of the positioning record profile (0…7)
Command
(Record sequence)
Condition for continuation in the sequence control:
END = End of the record sequence:
The record sequence ends with this positioning record. No continuation
follows.
MC = motion complete:
Continuation takes place when the motion complete signal = high.
STS = rest:
Continuation takes place if the drive has reached rest and the
parametrised time (positioning record profile parameter) has expired. Rest
not only means the end of the record sequence (motion complete signal =
high), but also running to block at any position. Timing begins with the
start record sequence signal.
TIM = time:
Continuation takes place if the parametrised time (positioning record
profile parameter) has expired. Timing begins with the rising edge of the
start record sequence signal.
6 Positioning mode
68 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Parameters Description
Command
(Sequence control
via NEXT1/2)
Condition for continuation in the sequence control:
NRI = with rising edge (NEXT…):
The current positioning record is interrupted immediately with the rising
edge (NEXT1/2), and the next positioning record (positioning record
parameter: target) is started.
NFI = with falling edge (NEXT…):
The current positioning record is interrupted immediately with the falling
edge (NEXT1/2), and the next positioning record (positioning record
parameter: target) is started.
NRS = with rising edge (NEXT…) and motion complete:
1) If a rising edge (NEXT1/2) is generated during travel of the current
positioning record, the next positioning record (positioning record
parameter: target) is started immediately after the target position (motion
complete = high) is reached.
2) If the current positioning record reaches the target position (motion
complete = high), the next positioning record (positioning record
parameter: target) is started with the next rising edge (NEXT1/2).
NFS = with falling edge (NEXT…) and motion complete:
1) If a falling edge (NEXT1/2) is generated during travel of the current
positioning record, the next positioning record (positioning record
parameter: target) is started immediately after the target position (motion
complete = high) is reached.
2) If the current positioning record reaches the target position (motion
complete = high), the next positioning record (positioning record
parameter: target) is started with the next falling edge (NEXT1/2).
Target Subsequent positioning record in the record sequence.
This parameter is activated via the positioning parameter (FCT) “Command:
MC/STS/TIM/NRI/NFI/NRS/NFS”. All positioning records can be used as
subsequent positioning record in the record sequence.
Input 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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 69
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.
Smoothing Value for duration of filtering from acceleration and deceleration ramps
� page 71.
Time Setpoint value for how long the positioning record in the record sequence
should be executed until continuation is executed. This parameter becomes
active with the positioning record parameter “Command: TIM”.
Start delay Setpoint value for the waiting time after the start signal until the current
setpoint value is to be executed/the drive should be moved.
Final speed Setpoint value for travel with final speed to run through the target position.
After that, travel continues with final speed.
Start condition Start conditions for the subsequent positioning record in individual or
record-chaining operation.
If the motor controller receives a new start signal (DIN8) during the active
positioning record, the reaction of the controller-internal positioning control can
be controlled via the parametrised start condition as follows:
– Ignore: The start signal (DIN8) for the new positioning record is not evalu-
ated.
– Wait: The current positioning record is executed completely and after that
the new positioning record is started.
– Interrupt: The current positioning record is interrupted and the new posi-
tioning record is started immediately.
Tab. 6.4 Overview: positioning record profile parameter
6 Positioning mode
70 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Parameters: Mode “A/RA/RN”/Start condition “Interrupt”
As an example, the control of a linear axis is described that was configured in positioning record 1 in
the parameter “Start condition” with “Interrupt” and in the positioning records 2a/2b/2c in the para-
meter “Mode” with “A/RA/RN”. Dependent on the configured parameters “Start condition” and
“Mode”, different positions of the linear axis are approached with the second start signal.
Positioning record Positioning record list Positioning profile
Mode Position ... Start condition ...
Positioning record 1 A 150 mm ... Interrupt ...
Positioning record 2a A 120 mm ... ... ...
Positioning record 2b RA –40 mm ... ... ...
Positioning record 2c RN –70 mm ... ... ...
Tab. 6.5 Example: positioning record parameter
Timing diagram: parameter: Start condition “Interrupt”
–70 mm (RN)
Target position: positioning record 1Setpoint position
Actual position
50
0
100
t
s [mm]
150
Start(DIN8)[X1.23]
Start condition “Interrupt”
–40 mm (RA)
120 mm (A)
150 mm (A)Target position: positioningrecord 2a
Target position: positioningrecord 2c
Target position: positioningrecord 2b
1 2
A = Mode A: Absolute positioning related to a
fixed zero point (e.g. project zero point)
RA = Mode A: Relative positioning related to the
current actual position
RN =Mode A: Relative positioning related to the
last setpoint position
Fig. 6.3 Timing diagram: parameter: Start condition “Interrupt”
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 71
Parameter: Smoothing (jerk filter)
Example: Smoothing with an acceleration/time delay ta = 25 ms
a+
v v
v
t t
t
t t
t
Smoothing = 0 %• Filter time = 0 ms, time-optimised
Smoothing = 25 %• Filter time tfi = 12.5 ms (= 1/2 ta)
Smoothing = 50 %• Filter time tfi = 25 ms (= ta)
ta,
tfi
ta
ta
ta
ta
tfi
tfi
tfi
tfi
tfi
tfi
ta,
tfi
a–
a+
a–
a+
a–
Smoothing = 100 %• Filter time tfi = 50 ms (= 2 ta)
ta,
tfi
tfi
tfi
ta,
tfi
v
t
a+
a–
t
tfi = 100 %
a = parametrised acceleration
-a = parametrised deceleration
v = parametrised travel speed
Fig. 6.4 Timing diagram: Smoothing with an acceleration/time delay ta = 25 ms
6 Positioning mode
72 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
With smoothing (jerk filter), the progression of acceleration (a+)/deceleration (a–)/speed (v) can be
adapted.
With the maximum smoothing “100 %”, each edge of the acceleration/deceleration signals is filtered
for 50 ms (filter time). Here, the drive is run with low acceleration/deceleration, and the least stresses
occur for the drive mechanics. The speed/target position is reached later by 50 ms (filter time tfi) in
comparison to a smoothing of “0 %”.
For smoothing = 0 %, acceleration and deceleration are not filtered. Here, the drive is moved with the
parametrised acceleration/deceleration, and the highest stresses occur for the drive mechanics. The
speed/target position is reached in the shortest amount of time.
Overview: smoothing/filter time
Smoothing 0 % 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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 73
6.3 Direct mode
6.3.1 Function: Direct mode:
In the direct mode, the motor controller can be controlled via the active fieldbus (CANopen/PROFIBUS
DP/DeviceNet/RS485). Through direct application, the controller-internal positioning controller re-
ceives the target position for the direct mode. The controller-internal positioning controller calculates
the positioning curve from the direct mode parameters and target position and transfers the position
setpoint values cyclically to the position control. 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
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Fieldbus Control section
EXT
DeviceNet
Controller-in-ternal posi-
tioning con-trolPositioning
parameter
Directapplication
X5RS485
Positioncontrol
Fig. 6.5 Overview: activation: activating direct mode via fieldbus
6 Positioning mode
74 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.3.3 Connection: digital inputs/outputs
CMMS-AS-...-G2
9
21
22
10
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Limit switch 0 (DIN6)1)2)
Limit switch 1 (DIN7)1)2)
Stop (DIN13)15
X1
X4/X5/EXT
...
6Load “DIN/DOUT” / GND 24 V
Fieldbuses
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) 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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 75
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”
and “Speed factor (%-value)”. The speed factor is transmitted
cyclically via the fieldbus.
Acceleration Setpoint value for acceleration to speed.
Deceleration Setpoint value for deceleration to rest.
Smoothing Value for duration of filtering from acceleration and deceleration ramp
� page 71.
Tab. 6.7 Parameterise direct mode
6 Positioning mode
76 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.4 Single position operation
6.4.1 Function: single position operation
The motor controller can be controlled in single-record operation via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet) or the digital inputs (mode 0� page 22). Through record selection, the
controller-internal positioning controller receives the parameters “Positioning record (1…63)” and “Po-
sitioning record profile (0…7)” of the selected individual record. The controller-internal positioning
controller calculates the positioning curve from these parameters and transfers the position setpoint
values cyclically to the position control. 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).
The positioning record “0” is reserved exclusively for homing in the reference mode.
6.4.2 Actuate individual-record operation via fieldbus or digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Recordselection/
Positioningrecord:1…63
Bit 0…5
Controller-in-ternal posi-
tioning con-trol
Positioncontrol
Fig. 6.7 Overview: Actuate individual-record operation via fieldbus and digital inputs
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 77
6.4.3 Connection: digital inputs/outputs
Record selection bit 0 (DIN0)
Record selection bit 3 (DIN3)
Record selection bit 1 (DIN1)
Record selection bit 2 (DIN2)
Record selection bit 5 (DIN11)
Record selection bit 4 (DIN10)
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Start confirmed (DOUT2)2)
CMMS-AS-...-G2
12
9
21
15
19
16
11
2
23
24
13
25
7
20
8
3
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Start positioning (DIN8)
X1
6Load “DIN/DOUT” (GND 24 V)
Mode 0
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
6 Positioning mode
78 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.4.4 Timing diagram: start/cancel individual record
Timing diagram: Start individual record via Start positioning signal
� Start positioning(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed
t3
Record selection bit 0…5(Positioning record 1…63)
(DIN…)[X1.…]
t2
t3
t4
t1
t1 ≤ 2.5 ms
t2 ≥ 2.5 ms
t3 ≤ 5 ms
t4 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
Fig. 6.9 Timing diagram: Start individual record via Start positioning signal
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 79
Timing diagram: cancel individual record via stop signal
This timing diagram shows exclusively activation via digital inputs/outputs
Start record sequence(DIN8)[X1.23]
� Stop(DIN13)[X1.15]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed
t2
Record selection bit 0…5(Positioning record 1…63)
(DIN)[X1.…]
t1
t2
t4
t3
t5
t1 ≥ 2.5 ms
t2 ≤ 5 ms
t3 ≤ 2.5 ms
t4 = … ms (FCT: Dependent on the parameter
“Stop input” in the stop decelerations)
t5 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
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. 6.2.4
6 Positioning mode
80 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.5 Record linking operation
6.5.1 Function: record linking operation
The motor controller can be controlled in record-chaining operation via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet) or the digital inputs (mode 2� page 22). Through record selection, the
controller-internal positioning controller receives the parameters “Positioning records (1…63)” and
“Positioning record profile (0…7)” of the selected record sequence (linking of individual records). The
controller-internal positioning controller calculates the positioning curve from these parameters and
transfers the position setpoint values cyclically to the position control. In addition to the individual
record operation, the conditions for continuation and sequence control can be parametrised in the
record-chaining 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.
6.5.2 Actuate record-chaining operation via fieldbus/digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Recordselection/
positioningrecord: 1…63
Recordselection/
positioningrecord: 1…7
Sequencecontrol:
NEXT1/2
Recordsequence
Bit 0…2
Controller-in-ternal posi-
tioning con-trol
Position control
Fig. 6.11 Overview: Actuate record-chaining operation via fieldbus and digital inputs
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 81
6.5.3 Connection: digital inputs/outputs
Record selection bit 0 (DIN0)
Halt record sequence (DIN3)
Record selection bit 1 (DIN1)
Record selection bit 2 (DIN2)
NEXT2 (DIN11)
NEXT1 (DIN10)
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Start confirmed (DOUT2)2)
CMMS-AS-...-G2
12
9
21
15
19
16
11
2
23
24
13
25
7
20
8
3
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Start record sequence (DIN8)
X1
6Load “DIN/DOUT” (GND 24 V)
Mode 2
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
6 Positioning mode
82 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.5.4 Timing diagram: start/interrupt/cancel record sequence
Timing diagram: start record sequence via start positioning sequence signal
� Start record sequence(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Halt record sequence(DIN3)[X1.8]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed(Positioning record 1/2/3)
t3
1
Record selection bit 0…2(Positioning record 1…7)
(DIN…)[X1.…]
t4
t2
t3
t4 t5
2 3
t1
t1 ≤ 2.5 ms
t2 ≥ 2.5 ms
t3 ≤ 5 ms
t4 L 16 ms
t5 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
Fig. 6.13 Timing diagram: start record sequence via start positioning sequence signal
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 83
Timing diagram: interrupt record sequence via halt positioning sequence signal
Start record sequence(DIN8)[X1.23]
Stop(DIN13)[X1.15]
� Halt record sequence(DIN3)[X1.8]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed(Positioning record 1/2/3)
t2
1
Record selection bit 0…2(Positioning record 1…7)
(DIN…)[X1.…]
t3
t1
t2
t3 t6
2 3
t5 t5
t4 t4
2 3
t1 ≥ 2.5 ms
t2 ≤ 5 ms
t3 L 16 ms
t4 = … ms (FCT: dependent on the deceleration
ramp)
t5 = … ms (FCT: dependent on the acceleration
ramp)
t6 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
Fig. 6.14 Timing diagram: interrupt record sequence via halt positioning sequence signal
6 Positioning mode
84 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Timing diagram: cancel individual record via stop signal
This timing diagram shows exclusively activation via digital inputs/outputs
Start record sequence(DIN8)[X1.23]
� Stop(DIN13)[X1.15]
Halt record sequence(DIN3)[X1.8]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed(Positioning record 1/2/3)
t2
1
Record selection bit 0…2(Positioning record 1…7)
(DIN…)[X1.…]
t3
t1
t2
t3
2 3
t5
t4
t6
t1 ≥ 2.5 ms
t2 ≤ 5 ms
t3 L 16 ms
t4 ≤ 2.5 ms
t5 = … ms (FCT: Dependent on the parameter
“Stop input” in the stop decelerations)
t6 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
Fig. 6.15 Timing diagram: cancel individual record via stop signal
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 85
Timing diagram: cancel record sequence via mode bit 1
This timing diagram shows exclusively activation via digital inputs/outputs
Start record sequence(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Halt record sequence(DIN3)[X1.8]
Motion complete(DOUT1)[X1.12]
�Mode bit 1(DIN9)[X1.11]
Confirm start(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed(Positioning record 1/2/3)
t2
1
Record selection bit 0…2(Positioning record 1…7)
(DIN…)[X1.…]
t3
t1
t2
t3
2 3
t4
Controller ready for operation(DOUT0)[X1.24]
Mode bit 0(DIN12)[X1.2]
t6t5
t1 ≥ 2.5 ms
t2 ≤ 5 ms
t3 L 16 ms
t4 ≤ 2.5 ms
t5 = … ms (dependent on reaching the target
position of the current positioning record)
t6 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
Fig. 6.16 Timing diagram: cancel record sequence via mode bit 1
6 Positioning mode
86 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 87
6.6 Interpolated positioning mode
6.6.1 Function: interpolated positioning mode
In the interpolated positioning mode, the motor controller can be controlled via the active fieldbus
(CANopen/DriveBus). Via the control interface, the interpolator receives new position setpoint values
cyclically. With multi-axis systems, several axes can be controlled synchronously in interpolating opera-
tion in order to run a shared path curve. Here, the position setpoint values are specified to the motor
controller as position setpoint values by a higher-order controller in a defined cycle time. The cycle time
of the position specification is dependent on the control interface (e.g. CANopen: approx. 5 ms). But
the motor controller requires position setpoint values for internal position control in a cycle time of. 0.4
ms. The interpolator calculates from the position specifications of the controller additional position
setpoint values for position control. The motor controller uses for this purpose an interpolation al-
gorithm with a 3rd order polynomial and a corresponding speed pilot control in the cycle time of the
position controller.
Additional information� description of device profile CiA 402, P.BE-CMMS-FHPP-CO-SW-...
Pos-ition
t
1
2
1 Cycle time “control” (≥8 ms) 2 Cycle time “position control” (0.4 ms)
Fig. 6.17 Interpolation of position setpoint values
6.6.2 Activate interpolated positioning mode via fieldbus
X4
CMMS-AS-...-G2
CANopen
Fieldbus Control section
Interpolator
DriveBus
Position control
Fig. 6.18 Overview: Activate interpolated positioning mode via fieldbus
6 Positioning mode
88 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.6.3 Connection: digital inputs/outputs
CMMS-AS-...-G2
9
21
22
10
24
12
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Limit switch 0 (DIN6)1)
Limit switch 1 (DIN7)1)
Controller ready for operation (DOUT0)
Common error (DOUT3)2)
Stop (DIN13)15
X1
X4/EXT
...
6Load “DIN/DOUT” (GND 24 V)
CANopen/DriveBus
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 89
6.7 Homing mode/homing
6.7.1 Function: homing mode
The motor controller can be controlled in homing mode via the active fieldbus (CANopen/DriveBus/
PROFIBUS DP/DeviceNet/RS485) or the digital inputs (mode 0� page 22). Through direct application
or record selection (positioning record 0) the controller-internal positioning controller receives the
homing parameters. The controller-internal positioning controller calculates the homing curve from
these parameters and transfers the position setpoint values cyclically to the position control. After
successful completion of homing, the reference point, the absolute reference point in the dimesion
reference system for axis zero point, project zero point, etc., is determined. The homing parameters can
be parametrised via fieldbus or Festo Configuration Tool (FCT).
For homint, the following settings must be parametrised in the Festo Configuration Tool (FCT):
– 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 )
6.7.2 Activate homing mode via fieldbus/digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
Digital inputs
Fieldbus Control section
X1
EXT
X5
DeviceNet
Inputs
DriveBus
Record selection/Positioning
record: 0
Directapplication
Bit 0…5
Positioncontrol
Controller-internal po-
sitioningcontrol
Limit switch 0/1
Fig. 6.20 Overview: Activate homing mode via fieldbus and digital inputs
6 Positioning mode
90 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.7.3 Connection: digital inputs/outputs
Record selection bit 0 (DIN0)
Record selection bit 3 (DIN3)
Record selection bit 1 (DIN1)
Record selection bit 2 (DIN2)
Record selection bit 5 (DIN11)
Record selection bit 4 (DIN10)
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Start confirmed (DOUT2)2)
CMMS-AS-...-G2
12
9
21
15
19
16
11
2
23
24
13
25
7
20
8
3
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Start positioning (DIN8)
X1
6Load “DIN/DOUT” (GND 24 V)
Mode 0
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 91
6.7.4 Timing diagram: cancel homing to limit switch/stop/
Timing diagram: homing to limit switch
Start positioning(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Limit switch 1(DIN7)[X1.10]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Common error(DOUT3)[X1.13]
t1
Speedv+
v–
Status word referenced (FCT)Homing carried out
(DOUT…)[X1.…]
t2 t3 t2 t3
“Search” “Crawl”
t4
� Limit switch 0 (negative)/� Limit switch 1 (positive)
(DIN6)[X1.22]/(DIN7)[X1.10]
3
1
2 t5
� Limit switch
detected
� Reference point
detected
t1 ≤ 5 ms
t2 = … ms (dependent on the acceleration
ramp)
t3 = … ms (dependent on the deceleration
ramp)
t4 ≤ 2.5 ms
t5 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
1 Example: “normally closed” limit switch type
2 Travel curve with “Positive limit switch”
homing methods
3 Travel curve with “Negative limit switch”
homing methods
Fig. 6.22 Timing diagram: start homing to limit switch via start positioning signal
6 Positioning mode
92 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Timing diagram: homing to stop
Start positioning(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Common error(DOUT3)[X1.13]
t1
t2
� Stop detected
Speedv+
v–“Run”
2
1
Status word referenced (FCT)Homing carried out
(DOUT…)[X1.…]
“Crawl”
t3 t2 t4
� Axis
zero point
reached
t5
t1 ≤ 5 ms
t2 = … ms (FCT: dependent on the acceleration
ramp)
t3 = … ms (dependent on the torque threshold
(FCT) and damping characteristic of the stop)
t4 = … ms (FCT: dependent on the deceleration
ramp)
t5 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
1 Travel curve with “Positive stop” homing
methods
2 Travel curve with “Negative stop” homing
methods
Fig. 6.23 Timing diagram: homing to stop
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 93
Timing diagram: cancel homing via stop signal
Start positioning(DIN8)[X1.23]
� Stop(DIN13)[X1.15]
Limit switch 1(DIN7)[X1.10]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Common error(DOUT3)[X1.13]
t1
Speedv+
v–
Status word referenced (FCT)Homing carried out
(DOUT…)[X1.…]
t2 t3 t2 t6
“Search” “Crawl”
t4
Limit switch 0 (negative)/Limit switch 1 (positive)
(DIN6)[X1.22]/(DIN7)[X1.10]
3
1
2 t7
t5� Limit switch
detected
t1 ≤ 5 ms
t2 = … ms (dependent on the acceleration
ramp)
t3 = … ms (dependent on the deceleration
ramp)
t4 ≤ 2.5 ms
t5 ≤ 2.5 ms
t6 = … ms (FCT: dependent on the parameter
“Stop input” in the stop decelerations)
t7 = … ms (FCT: dependent on the parameters
“Message window” and “Damping time” in
the message “Target reached”)
1 Example: “normally closed” limit switch type
2 Travel curve with “Positive limit switch”
homing methods
3 Travel curve with “Negative limit switch”
homing methods
Fig. 6.24 Timing diagram: cancel homing via stop signal
6 Positioning mode
94 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Timing diagram: cancel homing through error message
Start positioning(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Limit switch 0(DIN6)[X1.22]
Limit switch 1(DIN7)[X1.10]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Common error(DOUT3)[X1.13]
t1
t3t2
“Search”
� Error
Status word referenced (FCT)Homing carried out
(DOUT…)[X1.…]
Speedv+
v–
3
1
2
t1 ≤ 5 ms
t2 = … ms (dependent on the acceleration
ramp)
t3 = … ms (dependent on the configuration
“error function” in the error management and
the corresponding parameter in the stop
deceleration)
1 Example: “normally closed” limit switch type
2 Travel curve with “Positive limit switch”
homing methods
3 Travel curve with “Negative limit switch”
homing methods
Fig. 6.25 Timing diagram: cancel homing through error message (e.g. following error, …)
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 95
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.
– Detect reference point
Parameterise the “Crawl” speed very low so that the reference point can be detected
by the motor controller.
Settings Description
Homing method
Target For homing, the following targets can be configured:
� Page 97
– Current position
– Limit switches
– Limit switch with zero pulse
– Stop
– Stop with zero pulse
– Zero pulse
Direction For homing, the following search directions can be configured:
– Positive direction
– Negative direction
Parameter
Search: travel to the limit switch or stop
Speed Setpoint value for travel with “Search” speed.
Acceleration Setpoint value for acceleration to “Search” speed or for deceleration
to rest.
Crawl: travel to the reference point
Speed Setpoint value for travel with “Crawl” speed.
Acceleration Setpoint value for acceleration to “Crawl” speed or for deceleration to
rest.
Run: travel to the axis zero point
Speed Setpoint value for travel with “Run” speed.
Acceleration Setpoint value for acceleration to “Run” speed or for deceleration to
rest.
Additional parameters
Torque threshold Requirement: homing method “Stop” has been activated.
Threshold value for the torque at which the stop is detected.
Axis zero point Setpoint value for the distance to the reference point.
6 Positioning mode
96 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Settings Description
Options
Travel to axis zero point
after homing
If this option is activated, the drive is automatically driven to the axis
zero point after every successful homing.
Homing with controller en-
able
Requirement:
– Output stage signal (DIN4)[X1.21] = 24 V DC.
– Controller enable (DIN5)[X1.9] = 0 V DC.
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 97
Homing methods
Positioning accuracy
To increase the positioning accuracy, the zero pulse of the motor shaft encoder can be
used for the evaluation.
Software end positions
The software end positions are deactivated with the start of homing and reactivated after
completion of homing.
Current position (No homing is carried out)
Code Description
hex dec
23h 35 Current position
1. The current position is taken as the homing
point.
2. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
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
6 Positioning mode
98 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Homing to limit switch
Code Description
hex dec
12h 18 Positive limit switch
1. Search for limit switch in the positive
direction1):
Travel with “Search” speed in a positive
direction until the limit switch has been
detected.
2. Search for homing point in the negative
direction:
Travel with “Crawl” speed in a negative
direction until the limit switch switches back
into the neutral position. This position is taken
as the homing point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Positive limit switch
11h 17 Negative limit switch
1. Search for limit switch in the negative
direction1):
Travel with “Search” speed in a negative
direction until the limit switch has been
detected.
2. Search for homing point in the positive
direction:
Travel with “Crawl” speed in a positive
direction until the limit switch switches back
into the neutral position. This position is taken
as the homing point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Negative limit switch
1) If the limit switch is active, continue at 2nd point.
Tab. 6.10 Overview: homing to limit switch
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 99
Homing to limit switch and zero pulse signal (N/#N)
Code Description
hex dec
02h 02 Positive limit switch and zero pulse1)
1. Search for limit switch in the positive
direction2):
Travel with “Search” speed in a positive
direction until the limit switch has been
detected.
2. Search for homing point in the negative
direction:
Travel with “Crawl” speed in a negative
direction until the limit switch switches back
into the neutral position and the first zero
pulse has been detected. This position is
taken as the homing point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
Positive limit switch
01h 01 Negative limit switch and zero pulse1)
1. Search for limit switch in the negative
direction2):
Travel with “Search” speed in a negative
direction until the limit switch has been
detected.
2. Search for homing point in the positive
direction:
Travel with “Crawl” speed in a positive
direction until the limit switch switches back
into the neutral position and the first zero
pulse has been detected. This position is
taken as the homing point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
Negative limit switch
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)
6 Positioning mode
100 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Homing to stop
The motor controller must not permanently control to the stop.
Recommendation: Parameterise an axis zero point ≥ 3 mm (outside the effective range of
the stop and end-position cushioning) and activate the FCT option “Travel to axis zero
point after homing”.
Code Description
hex dec
EEh -18 Positive stop1)
1. Search for stop/homing point in the positive
direction:
Travel with “Search” speed in a positive
direction until the stop2) has been detected.
This position is taken as the homing point.
2. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
EFh -17 Negative stop1)
1. Search for stop/homing point in the negative
direction:
Travel with “Search” speed in a negative
direction until the stop2) has been detected.
This position is taken as the homing point.
2. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 101
Homing to stop and zero pulse signal (N/#N)
Code Description
hex dec
FEh -2 Positive stop and zero pulse1)2)
1. Search for stop in the positive direction:
Travel with “Search” speed in a positive
direction until the stop3) has been detected.
This position is taken as the homing point.
2. Search for homing point in the negative
direction:
Travel with “Crawl” speed in a negative
direction until the first zero pulse has been
detected. This position is taken as the homing
point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
FFh -1 Negative stop and zero pulse1)2)
1. Search for stop point in the negative direction:
Travel with “Search” speed in a negative
direction until the stop3) has been detected.
This position is taken as the homing point.
2. Search for homing point in the positive
direction:
Travel with “Crawl” speed in a positive
direction until the first zero pulse has been
detected. This position is taken as the homing
point.
3. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
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)
6 Positioning mode
102 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Homing to zero pulse signal (N/#N)
Code Description
hex dec
22h 34 Zero pulse in positive direction1)
1. Search for zero pulse in the positive direction:
Travel with “Crawl” speed in a positive
direction until the first zero pulse has been
detected. This position is taken as the homing
point.
2. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
21h 33 Zero pulse in negative direction1)
1. Search for zero pulse in the negative direction:
Travel with “Crawl” speed in a negative
direction until the first zero pulse has been
detected. This position is taken as the homing
point.
2. If an axis zero point is parametrised and the
FCT option “Travel to axis zero point after
homing” is activated:
travel with “Run” speed to the axis zero point.
Zero pulse
1) Motors have shaft encoder with zero pulse as standard.
Tab. 6.14 Overview: homing to zero pulse signal (N/#N)
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 103
Option: save zero point shift
Multi-turn absolute encoder
For drives with multi-turn absolute encoder, only one homing is required for commissioning to align the
reference point of the dimension reference system and the zero point of the motor encoder. These off-
set data can be stored permanently in the multi-turn absolute encoder through the command “Save
zero point shift” and are not lost if the supply voltage is interrupted. When the supply voltage is turned
on, drives with multi-turn absolute encoder are always homed at the absolute encoder zero point
stored in the motor encoder.
Single-turn absolute encoder
For drives with single-turn absolute encoder, homing is required after each interruption of the supply
voltage to align the reference point of the dimension reference system and the zero point of the motor
encoder. The absolute reference of the offset data is stored only temporarily and is lost with each inter-
ruption of the supply voltage.
6 Positioning mode
104 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.8 Jog operation
6.8.1 Function: jog operation
The motor controller can be controlled in jog operation directly via the active fieldbus (CANopen/
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. The controller-internal positioning con-
troller calculates the jog curve from the jog parameters and transfers the position setpoint values cyc-
lically to the position control. In jog operation, the drive first runs at creep speed in order to approach a
position accurately. If after expiration of the creep duration the activation continues to be active, the
drive continues at jog speed in order to travel through large paths quickly. Jog operation is quit with the
falling edge of the jog signal.
This operating mode can be used in the following applications:
– Approaching the teach position
– Drive free running (e.g. after a malfunction)
– Manual running (manually operated feed)
The jog parameters can be parametrised via fieldbus or Festo Configuration Tool (FCT).
6.8.2 Activate jog operation via fieldbus/digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Direct application
Jog parameters
Jog+/–
X5RS232
“FCT” softwareJog>> (+)Jog<< (–)
Positioncontrol
Controller-internal po-
sitioningcontrol
Fig. 6.26 Overview: activate jog operation via fieldbus or digital inputs
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 105
6.8.3 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”.
1 2
1 Jog in negative direction 2 Jog in positive direction
Fig. 6.27 Activate jog operation via Festo Configuration Tool (FCT)
6 Positioning mode
106 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.8.4 Connection: digital inputs/outputs
Record selection bit 0 (DIN0)
Record selection bit 3 (DIN3)
Record selection bit 1 (DIN1)
Record selection bit 2 (DIN2)
Jog– (DIN11)
Jog+ (DIN10)
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Teach confirmed (DOUT2)
12
9
21
15
19
16
11
2
24
13
25
7
20
8
3
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
X1
6Load “DIN/DOUT” (GND 24 V)
Mode 1
CMMS-AS-...-G2
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 107
6.8.5 Timing diagram: creep-speed travel/jog travel/jog+/jog–
Timing diagram: crawl/jog travel
a2
t(s)
Jog+/jog– (DIN10/DIN11)
v(t) 1/t1
t3 t4
2
t2
a1
a1
v1
v2
0
1 Crawl run to the precise positioning of the
drive
2 Jog run to run through large stroke lengths
quickly
a1 Acceleration (jog parameter)
a2 Deceleration (jog parameter)
v1 Crawl speed (crawl travel parameter)
v2 Max. speed (jog parameter)
t1 Crawl duration (crawl travel parameter)
t2 Crawl acceleration time (dependent on the
parametrised acceleration a1 and crawl
speed v1)
t3 Jog acceleration time (dependent on the
parametrised acceleration a1 max. speed v2
and crawl speed v1)
t4 Jog deceleration time (dependent on the
parametrised deceleration a2 and max.
speed v2)
Fig. 6.29 Timing diagram: crawl/jog travel
6 Positioning mode
108 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Timing diagram: jog travel via jog+/jog–
Stop(DIN13)[X1.15]
� Jog+(DIN10)[X1.3]
� Jog–(DIN11)[X1.16]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Acknowledge teach(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
t1
t4 t4
t3 t3
SpeedJog+
Jog–
t1
t2
t2
t1 ≤ 5 ms
t2 ≤ 5 ms
t3 = … ms (FCT: dependent on the crawl
duration and jog acceleration ramp)
t4 = … ms (FCT: dependent on the jog
deceleration ramp)
Fig. 6.30 Timing diagram: jog travel via jog+/jog–
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 109
Timing diagram: jog travel with simultaneous activation of jog+/jog–
Priority of the jog signals
The signal “jog–” has a higher priority than the signal “jog+”. If both signals are active
simultaneously, the signal “jog–” is executed.
Stop(DIN13)[X1.15]
� Jog+(DIN10)[X1.3]
� Jog–(DIN11)[X1.16]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Acknowledge teach(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
t1
t1
t4
SpeedJog+
Jog–
t3 t3
t4
t3
t4 t4
t3
t1t2
t2
t2
t1 ≤ 5 ms
t2 ≤ 5 ms
t3 = … ms (FCT: dependent on the crawl
duration and jog acceleration ramp)
t4 = … ms (FCT: dependent on the jog
deceleration ramp)
Fig. 6.31 Timing diagram: jog travel with simultaneous activation of jog+/jog–
6 Positioning mode
110 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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).
Parameters Description
Crawling:
Crawl speed Setpoint value for travel at crawl speed.
Crawling duration Setpoint value for duration of crawling.
Jog parameters (jog travel):
Max. speed Setpoint value for travel at max. speed.
Acceleration Setpoint value for the following accelerations:
– Crawling: acceleration to crawl speed.
– Jogging: acceleration to max. speed.
Deceleration Setpoint value for deceleration (for crawling and jog travel) to rest.
Smoothing Value for duration of filtering of acceleration and deceleration ramp
� page 71.
Tab. 6.15 Parameterise jog mode
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 111
6.9 Teach mode
6.9.1 Function: teach mode
The motor controller can be controlled in teach mode directly via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet) or the digital inputs (mode 1� page 22). Prior to the teach mode, the drive
must be run into the desired teach position. Through the direct application or record selection, a posi-
tioning record (1…63) can be selected in which the teach position is to be stored. Evaluation of the
teach position is started via the teach bit in the control byte of the fieldbus or with the rising edge of
the teach signal at the digital input (DIN8). With the falling edge of the teach signal, the current actual
position of the drive is temporarily stored in the “Position” positioning record parameter of the selec-
ted positioning record. Simultaneously, the parametrised debounce time starts to run, which blocks a
new evaluation of the record selection during storage.
The teach position is not permanently stored until there is a falling edge of the controller enable signal
(DIN5)[X1.9].
Temporary data are lost when the 24 V DC power supply is switched off or in the event of a
power failure.
6.9.2 Activate teach mode via fieldbus/digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Direct application Memory:Positioning record
parameter “Position”
Record selection/Positioning record:
1…63
Teach
Bit 0…5
Fig. 6.32 Overview: activate teach mode via fieldbus and digital inputs
6 Positioning mode
112 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.9.3 Connection: digital inputs/outputs
Record selection bit 0 (DIN0)
Record selection bit 3 (DIN3)
Record selection bit 1 (DIN1)
Record selection bit 2 (DIN2)
Record selection bit 5 (DIN11)
Record selection bit 4 (DIN10)
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Teach confirmed (DOUT2)
CMMS-AS-...-G2
12
9
21
15
19
16
11
2
23
24
13
25
7
20
8
3
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Teach (DIN8)
X1
6Load “DIN/DOUT” (GND 24 V)
Mode 1
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
6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 113
6.9.4 Timing diagram: teach
� Teach(DIN8)[X1.23]
Stop(DIN13)[X1.15]
1) Jog+2) Record selection bit 4
(DIN10)[X1.3]
1) Jog–2) Record selection bit 5
(DIN11)[X1.16]
Motion complete(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Acknowledge teach(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
SpeedJog+
Jog–
t1
t1
t2
t6
Record selection bit 0…3(Positioning record 1…15)
(DIN…)[X1.…]
t2
t5
Store actual position
t3t4
t3t4
1) Jogging 2) Teaching
t7
t1 ≤ 5 ms
t2 ≤ 5 ms
t3 = … ms (FCT: dependent on the crawl
duration and jog acceleration ramp)
t4 = … ms (FCT: dependent on the jog
deceleration ramp)
t5 ≤ 2.5 ms
t6 = … ms (FCT: dependent on the debounce
time)
t7 ≤ 2.5 ms
Fig. 6.34 Timing diagram: teach
6 Positioning mode
114 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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)”
until the digital inputs “Jog+ (DIN10)” and “Jog– (DIN11)” are
evaluated again.
Tab. 6.16 Parameterise teach mode
7 Speed mode and force/torque mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 115
7 Speed mode and force/torque mode
7.1 Speed mode
7.1.1 Overview: speed mode (speed adjustment)
Currentregulator
Speedregulator
Output stage
M
Motor
Encoder
Speed actual value
Current actual value
––
++
Speed setpoint value Current setpoint
value
CMMS-AS-...-G2
Control section Power section
Control interfaces
Speed setpoint value ramp
Fig. 7.1 Overview: speed mode (speed adjustment)
In the speed mode, the motor controller can be controlled via the fieldbus or analogue input. The regu-
lator cascade (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.
7 Speed mode and force/torque mode
116 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
7.1.2 Function: speed mode
In the speed mode, the motor controller can be controlled via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet/RS485) or analogue input. Through the direct application (fieldbus) or the
analogue setpoint value (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.
For speed mode, no homing is required.
7.1.3 Activate speed mode via fieldbus/analogue input
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
Analogue input
Fieldbuses Control section
X1
EXT
X5
DeviceNet
Input
Direct application
Analogue setpoint value
Speed setpointvalue ramp
Speed adjustment
Fig. 7.2 Overview: activate speed mode via fieldbus or analogue input
7 Speed mode and force/torque mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 117
7.1.4 Connection: analogue and digital I/O modules
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Limit switch 0 (DIN6)1)
Limit switch 1 (DIN7)1)
Common error (DOUT3)2)
Screening (SGND)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Start confirmed (DOUT2)2)
CMMS-AS-...-G2
12
9
21
22
10
14
2
15
1
24
13
25
X1
Setpoint value:-10…+10 V
Load “DIN/DOUT” (GND 24 V) 6
4
Analogue input, differential (#AIN0)
Analogue input, differential (#AIN0)
Reference voltage output (VREFOUT), +10 V DC
Analogue load (AGND), reference potential “referencevoltage output/analogue inputs”
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
7 Speed mode and force/torque mode
118 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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.
Offset Value for the height of the voltage shift “rotational speed/speed
characteristic curve” to the zero point� page 119.
Safe Zero Threshold value for the analogue setpoint value range in which the
rotational speed/speed characteristic curve is valued as rest (linear
axis = 0 mm/s or rotative axis = 0 rpm)� page 119.
Input malfunctions (e.g. offset fluctuations, noise, etc.) can be
suppressed or a defined rest of the drive can be parametrised.
If the motor controller can be operated via an external control circuit,
the value “0 V” should be parametrised as a Safe Zero to ensure the
stability of the external control circuit.
Setpoint value selection/speed setpoint value ramp
Ramp type Selection of the ramp type
Dependent on the ramp type, the parameters “acceleration,
deceleration and positive/negative direction” can be parametrised
individually or grouped.
Acceleration
(positive/negative
direction)
Setpoint value for acceleration to the speed setpoint value.
Deceleration
(positive/negative
direction)
Setpoint value for deceleration to the speed setpoint value.
Tab. 7.1 Parameterise speed mode
7 Speed mode and force/torque mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 119
-1
1
1 7.55 10-10 -7.5 -5 -2.5
1250
1000
500
-500
-750
-1000
[V]
Linear axis [mm/s]
Rotative axis [rpm]
2
1
750
2.5
1 Safe Zero = 1 V 2 Offset = -2.5 V
Fig. 7.4 Rotational speed/speed characteristic curve
Offset:
If the parameter “Offset” is used, the rotational speed/speed characteristic curve is shif-
ted by the value of the offset.
For the example “Offset = -2.5 V (Fig. 7.4)”, the following values result:
– Linear axis: -10 V = -750 mm/s, + 10 V = 1250 mm/s.
– Rotative axis: -10 V = -750 rpm, + 10 V = 1250 rpm.
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”.
7 Speed mode and force/torque mode
120 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
7.2 Force/torque mode
7.2.1 Overview: force/torque mode (current control)
Currentregulator
(torque)
CMMS-AS-...-G2
Control section Power section
Output stage
M
Motor
Encoder
Current actual value
–
+
Current setpoint
value
Control interface
Fig. 7.5 Overview: force/torque mode (current control)
In the force/torque mode, the motor controller can be controlled via the fieldbus or analogue input. The
current regulator processes the deviation “current setpoint value” and “current actual value” and thus
regulates the following output stage.
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.
7 Speed mode and force/torque mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 121
7.2.2 Function: force/torque mode
In the force/torque mode, the motor controller can be controlled via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet/RS485) or analogue input. Through the direct application (fieldbus) or the
analogue setpoint value (analogue input), the current control (torque) receives the current setpoint
value.
No homing is required with force/torque mode.
7.2.3 Activate force/torque mode via fieldbus/analogue input
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
Analogue input
Fieldbuses Control section
X1
EXT
X5
DeviceNet
Input
Direct application
Analogue setpoint value
Current regulation
Fig. 7.6 Overview: activate force/torque mode via fieldbus or analogue input
7 Speed mode and force/torque mode
122 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
7.2.4 Connection: analogue and digital I/O modules
Analogue load (AGND), reference potential “referencevoltage output/analogue inputs”
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Limit switch 0 (DIN6)1)
Limit switch 1 (DIN7)1)
Common error (DOUT3)2)
Analogue input, differential (#AIN0)
Screening (SGND)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Start confirmed (DOUT2)2)
CMMS-AS-...-G2
12
9
21
22
10
14
2
15
1
24
13
25
X1
Setpoint value:-10…+10 V
Load “DIN/DOUT” (GND 24 V) 6
4Reference voltage output (VREFOUT), +10 V DC
Analogue input, differential (#AIN0)
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
7 Speed mode and force/torque mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 123
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).
Offset Value for the height of the voltage shift “torque/force characteristic
curve” to the zero point� page 124.
Safe Zero Threshold value for the analogue setpoint value range in which the
torque/force characteristic curve is valued as free of torque/force
(0 mA)� page 124.
Input malfunctions (e.g. offset fluctuations, noise, etc.) can be sup-
pressed or a defined rest of the drive can be parametrised.
If the motor controller can be operated via an external control circuit,
the value “0 V” should be parametrised as a Safe Zero to ensure the
stability of the external control circuit.
Tab. 7.2 Parameterise force/torque mode
7 Speed mode and force/torque mode
124 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
-1
1
1 7.55 10-10 -7.5 -5 -2.5
125
100
50
-50
-75
-100
[V]
[%]1)
2
1
75
2.5
1 Safe Zero = 1 V
2 Offset = -2.5 V
1) In reference to the motor nominal current
Fig. 7.8 Torque/force characteristic curve
Offset:
If the parameter “Offset” is used, the torque/force characteristic curve is shifted by the
value of the offset.
For the example “Offset = -2.5 V (Fig. 9.7)”, the following values result:
– Linear/rotative axis: -10 V = -75 %, + 10 V = 125 % of the motor nominal current.
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”.
8 Synchronisation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 125
8 Synchronisation
8.1 Synchronisation (slave operation)
8.1.1 Function: synchronisation
In slave operation (synchronisation), the motor controller can be controlled via encoder inputs or the
digital inputs. The motor controller receives the setpoint value for synchronisation through the encoder
input. From the setpoint value, the parametrised line count and the parametrised “virtual gear unit”,
the internal controller calculates a position setpoint value and passes it on cyclically to the position
control.
The following encoder signals/control interfaces are available for synchronisation:
Encoder signal Control interfaces
Encoder input [X10]
(Differential signals
in accordance with RS422)
[5 V, TTL]
Digital input [X1]
[24 V, HTL]
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.
8 Synchronisation
126 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
8.1.2 Activate synchronisation via encoder signal
CMMS-AS-...-G2
Control section
X1Encoder signals: 24 V- CLK/DIR
- CW/CCW
Synchronisation(slave operation)
Encoder output
ControllersMotor controller CMM...1)
Encoder
Master Slave
Encoder input
X10Encoder 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
8 Synchronisation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 127
8.1.3 Connection: digital I/O modules, encoder input, 5 V
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)3)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)3)
Setpoint position reached (DOUT2)
CMMS-AS-...-G2
12
9
21
15
11
2
23
24
13
25
Limit switch 1 (DIN7)2) 10
22Limit switch 0 (DIN6)2)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Sync start (DIN8)
X1
6
X10
1
2
3
6
7
8
A
B
N
#A
#B
#N
CW
CCW
CLK
DIR
Pulse/directionsignal
Forward/reversesignal
Incremental signal
Load “DIN/DOUT” (GND 24 V)
41)
5
Load “Encoder signal” (GND)
Auxiliary power supply 5 V DC ±5 % / max. 100 mA
HousingScreening (GND)
91)Load “auxiliary power supply” (GND)
Mode 3
#CW
#CCW
#CLK
#DIR
The connection diagram shows the switch positions in operation.
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
8 Synchronisation
128 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
8.1.4 Connection: digital I/O modules, encoder input, 24 V
Stop (DIN13)
24 V DC
Controller enable (DIN5)
Output stage enable (DIN4)
Common error (DOUT3)2)
Controller ready for operation (DOUT0)
Motion complete (DOUT1)2)
Setpoint position reached (DOUT2)2)
CMMS-AS-...-G2
12
9
21
15
11
2
23
24
13
25
Limit switch 1 (DIN7)1) 10
22Limit switch 0 (DIN6)1)
Mode bit 0 (DIN12)
Mode bit 1 (DIN9)
Start sync (DIN)
6
X1
20
8
Pulse/directionsignal
Forward/reversesignal
CLK (DIN2)
DIR (DIN3)
CW (DIN2)
CCW (DIN3)
...
Load “DIN/DOUT” (GND 24 V)
Mode 3
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
8 Synchronisation
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 129
8.1.5 Timing diagram: start synchronisation via Start Sync signal
� Start Sync(DIN8)[X1.23]
Stop(DIN13)[X1.15]
Rest reached(DOUT1)[X1.12]
Controller ready for operation(DOUT0)[X1.24]
Position synchronous(DOUT2)[X1.25]
Common error(DOUT3)[X1.13]
Speed “Master”
t1 t2
t3 t4
Speed “Slave”
t1 ≤ 5 ms
t2 ≤ 5 ms
t3 = … ms (dependent on the master
acceleration ramp)
t4 = … ms (dependent on the master
deceleration ramp)
Fig. 8.4 Timing diagram: start synchronisation
8 Synchronisation
130 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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
Encoder data
Synchronisation input Select synchronisation input:
(Only for encoder signal “CLK/DIR” and “CW/CCW” active)
– Connection [X10]: 5 V signal
– Connection [X1]: 24 V signal (DIN2/DIN3)
Number of lines Value for the number of lines on the rotation angle “90°/360°”.
The encoder signals are evaluated differently through the squared
evaluation of the motor controller. The line count “1” refers to the
following angle ranges:
– Incremental signal (A/#A/B/#B): 360° (one revolution).
– Pulse/direction signal (CLK/DIR): 90° (quarter revolution)
– Forward/reverse signal (CW/CCW): 90° (quarter revolution)
Gear unit Transmission ratio (gear ratio) of a virtual gear unit
Options
Ignore zero pulse The zero pulse signals “N/#N” are not used for counting the
revolutions. With this option, malfunctions due to faulty evaluation of
the A/#A/B/#B signals can be suppressed.
Reversing the direction of
rotation
The evaluation of the phase displacement of the signals “A/#A” and
“B/#B” is rotated 180°.
Tab. 8.2 Configure/parameterise synchronisation
The line count can normally be found in a data sheet or the rating plate for the shaft
encoder.
9 Motor controller functions
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 131
9 Motor controller functions
9.1 Encoder emulation (master operation)
9.1.1 Function: encoder emulation
In the master mode (encoder emulation), the motor controller can output its current actual position
(rotor position) via the encoder output [X10] as an incremental signal (A/#A/B/#B/N/#N). This incre-
mental signal can be used by the connected slave device as a synchronisation signal.
The emulated incremental signals (A/#A/B/#B/N/#N) are active at the encoder output
[X10] as standard. Through activation of the operating mode “Synchronisation, slave
mode”, the encoder output is deactivated and the encoder input activated.
9.1.2 Output encoder emulation through encoder output
CMMS-AS-...-G2
Encoder signal: 5 V- A/#A/B/#B/N/#N
Control section
X10
Encoder emulation(master operation)
Encoder input
ControllersMotor controller CMM...
MasterSlave
Encoder output
Fig. 9.1 Overview: output encoder emulation via encoder signals
9 Motor controller functions
132 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
9.1.3 Connection: encoder output, 5 V
CMMS-AS-...-G2
X10
1
2
3
6
7
8
Incremental signal
A
#N
B
#A
N
#B
41)
5
“Incremental signal” load (GND)
Auxiliary power supply 5 V DC ±5 % / max. 100 mA
HousingScreening (SGND)
91)Load “auxiliary power supply” (GND)
1) Pin “4” and “9” are connected internally.
Fig. 9.2 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 2n.
(1, 2, 4, 8, ... 2048).
Settings Description
Encoder data
Number of lines Value, number of increments per revolution (360°).
The number of increments specifies the number of emulated
incremental signals “A/#A/B/#B” per revolution.
Options
Suppress zero pulse The zero pulse signals “N/#N” are not passed on to the slave device.
Reversing the direction of
rotation
The phase displacement of the signals “A/#A” and “B/#B” is rotated
by 180°.
Tab. 9.1 Configure/parameterise encoder emulation
9 Motor controller functions
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 133
9.2 Flying measurement
9.2.1 Function: flying measurement
In flying measurement, the “actual position” measured value can be stored in the motor controller
through the fast sample input (DIN9)[X1.11]. With the configured edge of the sample input, the current
actual position of the drive is taken over into the sample memory. A higher-order controller can inter-
rogate the last stored actual position via the active fieldbus (CANopen/PROFIBUS DP/DeviceNet/
RS485). The last stored actual position is displayed in the “Project output” FCT window in the online
tab “Operation” in the “Dynamic data” field.
9.2.2 Activate flying measurement via digital input
Multiple assignment of digital inputs.
– DIN9: This digital input is used in the positioning mode as mode bit 1.
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Flying measurement
Fieldbus Control section
X5
EXT
DeviceNet
FCT
Sample storage“Actual position”
X5RS485
X1
Inputs
Sample input
X2
Shaft encoder motor
Actual position
Fig. 9.3 Control flying measurement via digital input
9 Motor controller functions
134 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
9.2.3 Connection: digital input
CMMS-AS-...-G2
6
Festo Configuration Tool (FCT)
Sampling input (DIN9)11
X51)
X4/X51)/EXT
...
Load “DIN/DOUT” (GND 24 V)
Fieldbuses
X1
...
...
X2
Motor shaft encoder, EnDat 2.2
1) The connection [X5] can only be used for an interface (RS232 or RS485).
Fig. 9.4 Connection: digital input
9 Motor controller functions
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 135
9.3 Analogue monitor
9.3.1 Function: analogue monitor
Through the analogue monitor (AMON0)[X1.17], the motor controller can provide various setpoint/ac-
tual values to a controller or oscilloscope as an analogue output signal.
9.3.2 Output analogue monitor through digital output
CMMS-AS-...-G2
Analogue output
Analogue monitor
Control section
X1Monitor signal:0…10 V
Setpoint/actual values:– Speed
– Position
– Current
– ….
Fig. 9.5 Overview: output analogue monitor through digital output
9.3.3 Connection: analogue output
CMMS-AS-...-G2
14Analogue load “Analogue monitor” (AGND)
Analogue monitor (AMON)
X1
17
1Screening (SGND)
Fig. 9.6 Connection: analogue output
9 Motor controller functions
136 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
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)
– Speed actual value (filtered)
– Position setpoint value
– Position actual value
– Effective current setpoint value
– Effective current actual value
– Reactive current setpoint value
– Reactive current actual value
– Phase current U
– Phase current V
– Rotor position
– Following error
– Output stage voltage
– Fixed voltage level
Scaling Value for scaling of the monitor signal to the analogue output signal
(0…10 V)� Fig. 9.7.
Offset Value for the height of the “Offset” voltage shift to the load
(AGND)[X1.14]� Fig. 9.7.
Numeric overflow limitation Function for overflow limitation of the analogue output signal
� Fig. 9.8.
Tab. 9.2 Configure/parameterise analogue monitor
9 Motor controller functions
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 137
Analogue monitor with offset adjustment
2
2
–200–300–400
10
8
6
4
[V]
–100 200 300 400100[mm/S]
1
1 Offset = 4 V DC 2 Scaling “Speed setpoint value” = 200 mm/s
Fig. 9.7 Analogue monitor with offset adjustment
Analogue monitor with offset adjustment and numeric overflow limitation
2
–200–300–400
10
8
6
4
[V]
–100 200 300 400100[mm/S]
12
1 Offset = 4 V DC 2 Numeric overflow limitation active
Fig. 9.8 Analogue monitor with offset adjustment and numeric overflow limitation
9 Motor controller functions
138 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
9.4 Endless positioning
9.4.1 Function: endless positioning
For applications such as “synchronised conveyor belt” or “rotary indexing table”, endless positioning is
possible in one direction through relative positioning records. For relative positioning records, an over-
run of the position counter is possible. 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).
For endless positioning, only the relative positioning types “RA/RN” may be used in the
travel parameter “Mode”.
No endless positioning is possible in jog mode, since the minimum or maximum absolute
position is always used as a target here.
Configure endless positioning in the Festo Configuration Tool (FCT)
1. Mark either the option field
“Rotative Festo axis”, “Linear
user-defined axis” or “Rotative
user-defined axis” in the drive
configuration.
2. Activate the “Unlimited” control
field for endless positioning.
1
2
Fig. 9.9 Configure endless positioning in the Festo Configuration Tool (FCT)
“Endless positioning” settings in the Festo Configuration Tool (FCT):
– Use the mounted limit switches for homing only.
– Do not use parametrised software end positions for operation.
9 Motor controller functions
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 139
9.4.2 Relative positioning records
The motor controller calculates internally with 65536 increments (16 bit) per revolution (360°). For
positioning records that do not have a whole number (integer) as the result, the motor controller
rounds up to the next whole number. 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°).
10 Service
140 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
10 Service
10.1 Protective and service functions
10.1.1 Overview
The motor controller has a complex array of sensors that monitor the controller section, power output
stage, motor and external communication to ensure that they function excellently. Most errors cause
the controller section to switch off the motor controller and the power output stage. The motor control-
ler cannot be switched back on until the error is remedied and then acknowledged.
For some of the diagnostic messages, the behaviour of the motor controller can be parametrised.
Possible reactions:
– PS off power section is switched off immediately. The residual energy results in uncontrolled
movements (coasting) in the motor until a state of rest is reached.
– QStop Quick stop with the parametrised deceleration “Quick Stop (FCT)”. The power stage is
switched off after the rest state has been reached or after expiration of the parametrised monitor-
ing time Quick Stop (FCT).
– Warn Output of a warning, no further error response
– Ignore No error response
A complex system of sensors and numerous monitoring functions ensure operational reliability:
– Measurement of the motor temperature
– Measurement of the power output stage temperature
– Detection of power interruption/failure
– Detection of earth faults (PE)
– Detection of overvoltages and undervoltages in the intermediate circuit
– I2t-monitoring of motor and output stage
– Detection of errors in the internal power supply
– Supply voltage failure
10.1.2 Overload current and short-circuit monitoring of the motor output
Overload current and short-circuit monitoring detects short circuits between two motor phases and
short circuits at the motor output terminals against the positive and negative reference potential of the
intermediate circuit and against earthing (PE). If the error control detects overload current, the power
output stage shuts down immediately, guaranteeing protection against short circuits.
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.
10 Service
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 141
10.1.4 Overvoltage and undervoltage monitoring for the intermediate circuit
The overvoltage monitoring for the intermediate circuit takes effect as soon as the intermediate circuit
voltage exceeds the operating voltage range. The undervoltage monitoring for the intermediate circuit
takes effect as soon as the intermediate circuit voltage falls below the operating voltage range. The
power output stage is switched off if exceeded or fallen below.
10.1.5 Output stage temperature monitoring
The output stage temperature is measured with a temperature sensor. In error management, the reac-
tion to the errors “Temperature of output stage is 5 °C below maximum” and “Over-temperature of
output stage” can be parametrised.
10.1.6 Monitoring of the motor
The motor controller has the following protective functions for monitoring the motor and the connected
motor shaft encoder:
Protective function Description
Monitoring the
shaft encoder
An error of the motor shaft encoder results in switching off of the power output
stage. Generally true for intelligent encoders is that their various error
messages are evaluated and reported by the motor controller as common error
“E 08-6” and “E 08-8”.
Measurement and
monitoring of the
motor
temperature
The motor controller can record and monitor the motor temperature through
the connection [X6].
In error management, the reaction to the error “overtemperature error (motor)”
can be parameterised.
Tab. 10.1 Protective functions of the motor
10.1.7 I2t monitoring
The motor controller has I2t monitoring to limit the average power loss in the power output stage and in
the motor. 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.
10 Service
142 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
10.2 Operating mode and error messages
10.2.1 LED displays (Ready/CAN)
The two LED indicators are located on the front of the motor controller.
The following functions are displayed through the LED indicators.
Element LED colour Function
Ready Green Operating status/controller enable
Flashing green Parameter file (xxx.DCO), memory card is being read/written
CAN Yellow Status display of CAN bus illuminates if CAN communication
takes place
Tab. 10.2 LED displays
10.2.2 Seven-segments display
The seven-segments display is located on the front side of the motor controller.
The following operating modes and error/warning messages are displayed over the seven-segments
display.
Display 1) Significance
Operating modes
Rotating
outside
segments
Speed mode (speed adjustment):
Display changes corresponding to rotor position and speed.
Middle
segment
Controller enable active (motor is energised).
I Force mode (current control)
P x x x Positioning mode, record number x x x
000 – No positioning record active
001...063 – Positioning record 001 ... 063 active
070/071 – Jog+/jog–
064 – Manual travel via FCT or FHPP direct record (direct operation)
P H x Homing phase x
0 – Searching travel to the primary destination (limit switch or stop)
1 – Crawl to the reference point
2 – Travel to the axis zero point
H Two-channel safety function requested (DIN4 [X1.21] and Rel [X3.2])
10 Service
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 143
Display 1) Significance
Bootloader messages
Dot Start program (bootloader) active
Flashing
point
– Firmware file (memory card) is being read
– Display of errors through the start program
Error/warning messages
E x x y Error (E = error)
Number: Two-position main index (x x), single-position sub-index (y)
Example: E 0 1 0� Appendix A.
– x x y – Warning
Number: Two-position main index (x x), single-position sub-index (y).
Example: - 1 7 0 -� Appendix A.
1) Several characters are displayed one after the other.
Tab. 10.3 Operating mode and error display of the seven-segments display
10.2.3 Acknowledgement of error messages
Error messages can be acknowledged through:
– Festo Configuration Tool (FCT)
– the fieldbus (control word)
– a decreasing edge of the controller enable signal (DIN5)
Controllerenable
(DIN5)[X1.9]
1
“Error active”
1 ≤ 5 ms
Fig. 10.1 Timing diagram: acknowledge errors
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.
A Diagnostic messages
144 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
A Diagnostic messages
A.1 Explanations on the diagnostic messages
If an error occurs, the motor controller CMMS-AS-...-G2 displays an error message cyclically in the sev-
en-segment display. The error message is made up of an E (for Error), a main index and a sub-index,
e.g.: “E 01 0”.
Warnings have the same number as error messages. In contrast to error messages, however, warnings
are preceded and followed by hyphens, e.g. “- 1 7 0 -”
The subsequent error tables include the following information:
Column Significance
No. Main index and sub-index of the diagnostic message.
Code The Code column includes the error code (Hex) via CiA 402.
Message Message that is displayed in the FCT.
Cause Possible causes for the message.
Action Action by the user.
Reaction The Reaction column includes the error response (default setting, partially
configurable):
– PS off (switch off output stage)
– QStop (quick stop with parametrised ramp)
– Warn (Warning)
– Ignore.
Tab. A.1 Explanations of the error tables
The Reaction column includes the error responses of the default parameter set. After
configuration of the motor controller with 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
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 145
A.2 Diagnostic messages with instructions for fault clearance
Error group 1 Internal faults
No. Code Message Reaction
01-0 6180h Stack overflow PS off
Cause – Incorrect firmware?
– Sporadic high processor load due to special compute-bound
processes (save parameter set, etc.).
Measure • Load approved firmware.
• Contact Technical Support.
Error group 02 Intermediate circuit
No. Code Message Reaction
02-0 3220h Undervoltage in intermediate circuit Configurable
Cause – Intermediate circuit voltage falls below the parametrised
threshold.
Measure • Quick discharge due to switched-off mains supply.
• Check mains voltage (mains voltage level or network imped-
ance too high?).
• Check intermediate circuit voltage (measure).
• Check undervoltage monitor (threshold value).
• Check travel profile: If travel with lower acceleration and/or
travel speeds is possible, reduced power consumption from the
mains results.
Error group 03 Temperature monitoring, motor
No. Code Message Reaction
03-1 4310h Temperature monitoring, motor 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.
A Diagnostic messages
146 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 04 Temperature monitoring, electronics
No. Code Message Reaction
04-0 4210h Excess/low temperature of power electronics Configurable
Cause Motor controller is overheated.
– Motor controller overloaded?
– Temperature display plausible?
Measure • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
• Check the drive layout (due to possible overloading in continu-
ous operation).
Error group 05 Internal voltage supply
No. Code Message Reaction
05-0 5114h 5 V electronics supply fault PS off
Cause Monitoring of the internal power supply has recognised under-
voltage. This is either due to an internal defect or an overload/
short circuit caused by connected peripherals.
Measure • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present� Repair by the manufacturer.
05-1 5115h Error in 24 V supply PS off
Cause Monitoring of the internal power supply has recognised under-
voltage.
Measure • Check 24 V logic supply.
• Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present� Repair by the manufacturer.
05-2 8000h Error in driver supply PS off
Cause Error in the plausibility check of the driver supply (Safe Torque Off )
Measure • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present� Repair by the manufacturer.
Error group 06 Intermediate circuit
No. Code Message 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.
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 147
Error group 07 Intermediate circuit
No. Code Message Reaction
07-0 3210h Overvoltage in the intermediate circuit PS off
Cause Braking resistor is overloaded; too much braking energy which
cannot be dissipated quickly enough.
– Resistor capacity is incorrect?
– Resistor not connected correctly?
– Check design (application)
Measure • Check the design of the braking resistor (positioning drives);
resistance value may be too great.
• Check the connection to the braking resistor (internal/extern-
al).
Error group 08 Angle encoder
No. Code Message Reaction
08-6 7386h Angle encoder communication fault PS off
Cause Communication to serial angle encoders is disrupted (EnDat en-
coders).
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Measure • Check whether encoder signals are faulty?
• Test with another encoder.
• Check angle encoder cable.
For operation with long motor cables:
• Observe notes on EMC-compliant installation! Additional anti-
interference measures required from 15 m cable length.
08-8 7388h Internal angle encoder error PS off
Cause Internal monitoring of the angle encoder has detected an error and
forwarded it via serial communication to the controller.
Possible causes:
– Excess rotational speed.
– Angle encoder defective.
Measure If the error occurs repeatedly, the encoder is defective.� Replace
encoder including encoder cable.
A Diagnostic messages
148 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 11 Homing
No. Code Message Reaction
11-1 8A81h Homing error PS off
Cause Homing was interrupted, e.g. by:
– Withdrawal of controller enable.
– Reference switch is beyond the limit switch.
– External stop signal (termination of a homing phase).
Measure • Check homing sequence.
• Check arrangement of the switches.
• If applicable, lock the stop input during homing if it is not de-
sired.
Error group 12 CAN
No. Code Message Reaction
12-0 8181h CAN: general error Configurable
Cause Other CAN error.
Triggered by the CAN controller itself and is used as a common
error for all further CAN errors.
Measure • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
12-1 8181h CAN: error bus off Configurable
Cause Errors can occur if the CAN control malfunctions or is deliberately
requested by the controller of the bus-off status.
Measure • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
12-2 8181h CAN: error when transmitting Configurable
Cause Error when sending a message (e.g. no bus connected).
Measure • Re-start CAN controller
• Check CAN configuration in the controller
• Check wiring
12-3 8181h CAN: error receiving Configurable
Cause Error receiving a message.
Measure • 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?
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 149
Error group 12 CAN
No. ReactionMessageCode
12-4 8130h CAN: time-out nodeguarding Configurable
Cause Node guarding telegram not received within the parametrised
time. Signals corrupted?
Measure • Compare cycle time of the remote frames with that of the con-
troller.
• Check: failure of the controller?
12-5 8181h CAN: error in the IPO mode Configurable
Cause Over a period of 2 SYNC intervals, the SYNC telegram or the PDO of
the controller has failed.
Measure • Re-start CAN controller.
• Check CAN configuration in the controller (SYNC telegram must
be parametrised).
• Check wiring.
Error group 14 Motor identification
No. Code Message Reaction
14-9 6197h Error, motor identification PS off
Cause Error in automatic determination of the motor parameters.
Measure • Ensure sufficient intermediate circuit voltage.
• Encoder cable connected to the right motor?
• Motor blocked, e.g. holding brake does not release?
Error group 16 Initialization
No. Code Message Reaction
16-2 6187h Initialization fault PS off
Cause Error in initialising the default parameters.
Measure • In case of repetition, load firmware again.
If the error occurs repeatedly, the hardware is defective.
16-3 6183h Unexpected status / programming error PS off
Cause 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.
A Diagnostic messages
150 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 17 Following error monitoring
No. Code Message Reaction
17-0 8611h Following error monitoring Configurable
Cause Comparison threshold for the limit value of the following error
exceeded.
Measure • Increase error window.
• Parameterise acceleration to be less.
• Motor overloaded (current limiter from the I²t monitoring act-
ive?).
Error group 18 Output stage temperature monitoring
No. Code Message Reaction
18-1 4280h Output stage temperature 5 °C belowmaximum Configurable
Cause The output stage temperature is greater than 90°C.
Measure • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
Error group 19 I²T monitoring
No. Code Message Reaction
19-0 2380h I²t at 80 % Configurable
Cause Of the maximum I²t workload of the controller or motor, 80 % has
been achieved.
Measure • Check whether motor/mechanics are blocked or sluggish.
Error group 21 Current measurement
No. Code Message Reaction
21-0 5210h Error, offset current measurement PS off
Cause The controller performs offset compensation of the current meas-
urement.
Tolerances that are too large result in an error.
Measure If the error occurs repeatedly, the hardware is defective.
• Send motor controller to the manufacturer.
Error group 22 PROFIBUS
No. Code Message Reaction
22-0 7500h Error in PROFIBUS initialisation PS off
Cause Fieldbus interface defective.
Measure • Please contact Technical Support.
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 151
Error group 22 PROFIBUS
No. ReactionMessageCode
22-2 7500h PROFIBUS communication error PS off
Cause – Faulty initialisation of the PROFIBUS interface.
– Interface defective.
Measure • Check the set slave address.
• Check bus termination.
• Check wiring.
Error group 25 Firmware
No. Code Message Reaction
25-1 6081h Incorrect firmware PS off
Cause Motor controller and firmware are not compatible.
Measure • Update the firmware.
Error group 26 Data flash
No. Code Message Reaction
26-1 5581h Checksum error PS off
Cause Checksum error of a parameter set.
Measure • Load factory setting.
• If the error is still present, the hardware may be defective.
Error group 29 SD card
No. Code Message Reaction
29-0 7680h No SD available Configurable
Cause An attempt was made to access a missing SD card.
Measure Check:
• whether the SD card is inserted properly,
• whether the SD card is formatted,
• whether a compatible SD card is plugged in.
29-1 7681h SD initialization error Configurable
Cause – Error during initialization.
– Communication not possible.
Measure • Plug card back in.
• Check card (file format FAT 16).
• If necessary, format card.
A Diagnostic messages
152 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 29 SD card
No. ReactionMessageCode
29-2 7682h SD parameter record error Configurable
Cause – Checksum incorrect.
– File not present.
– File format incorrect.
– Error backing up the parameter file on the SD card.
Measure • Check content (data) of the SD card.
Error group 31 I²t monitoring
No. Code Message Reaction
31-0 2312h I²t error motor (I²t at 100 %) Configurable
Cause I²t monitoring of the controller has been triggered.
– Motor/mechanical system blocked or sluggish.
– Motor under-sized?
Measure • Check motor and mechanical system.
31-1 2311h I²t error controller (I²t at 100 %) Configurable
Cause I²t monitoring of the controller has been triggered.
Measure • Check power dimensioning of drive package.
Error group 32 Intermediate circuit
No. Code Message Reaction
32-0 3280h Intermediate circuit charging time exceeded PS off
Cause The intermediate circuit could not be charged after the mains
voltage was applied.
– Fuse possibly defective.
– Internal braking resistor defective.
– In operation with external braking resistor, the resistor is not
connected
Measure • Check mains voltage (intermediate circuit voltage < 150 V)
• Check interface to the external braking resistor.
• If the interface is correct, the internal braking resistor or the
built-in fuse is presumably faulty� 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.
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 153
Error group 35 Fast stop
No. Code Message Reaction
35-1 6199h Time out for fast stop PS off
Cause The parametrised time for fast stop was exceeded.
Measure • Check parameterisation.
Error group 40 Software end position
No. Code Message Reaction
40-0 8612h Negative software limit switch reached Configurable
Cause The position setpoint has reached or exceeded the negative soft-
ware limit switch.
Measure • Check the target data.
• Check positioning area.
40-1 8612h Positive software limit switch reached Configurable
Cause The position setpoint has reached or exceeded the positive soft-
ware limit switch.
Measure • Check the target data.
• Check positioning area.
40-2 8612h Target position lies behind the negative software limit switch Configurable
Cause Start of a positioning task was suppressed because the target lies
behind the negative software limit switch.
Measure • Check the target data.
• Check positioning area.
40-3 8612h Target position lies behind the positive software limit switch Configurable
Cause The start of a positioning task was suppressed because the target
lies behind the positive software limit switch.
Measure • Check the target data.
• Check positioning area.
Error group 41 Path program
No. Code Message Reaction
41-8 6193h Path program error, unknown command Configurable
Cause 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.
A Diagnostic messages
154 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 42 Positioning
No. Code Message Reaction
42-1 8681h Positioning: error in pre-computation Configurable
Cause Positioning cannot be reached through the options of the position-
ing (e.g. final speed) or parameters.
Measure • Check parameterisation of the position records in question.
42-4 8600h Message, homing required Configurable
Cause – Positioning not possible without homing.
– Homing must be carried out.
Measure • Reset optional parameterisation “Homing required”.
• Carry out a new homing run after acknowledgement of an angle
encoder error.
42-9 6191h Error in position data record PS off
Cause – An attempt is being made to start an unknown or deactivated
position record.
– The set acceleration is too small for the permissible maximum
speed.
– (Danger of a calculation overflow in the trajectory calculation).
Measure • Check parameterisation and sequence control and correct if
necessary.
Error group 43 Limit switch error
No. Code Message Reaction
43-0 8612h Negative limit switch error Configurable
Cause Negative hardware limit switch reached.
Measure • Check parameterisation, wiring and limit switches.
43-1 8612h Positive limit switch error Configurable
Cause 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.
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 155
Error group 45 STO error
No. Code Message Reaction
45-0 8000h Error in driver supply PS off
Cause Driver supply is still active despite the STO requirement.
Measure The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-1 8000h Error in driver supply PS off
Cause The driver supply is active again, although STO is still required.
Measure The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-2 8000h Error in driver supply PS off
Cause The driver supply is not active again, although STO is no longer
required.
Measure If the error occurs again after the STO requirement is ended, the
hardware of the motor controller is defective.
45-3 8087h DIN4 plausibility error PS off
Cause Output stage no longer switches off� hardware defective.
Measure Repair by the manufacturer.
Error group 64 DeviceNet error
No. Code Message Reaction
64-0 7582h DeviceNet communication error PS off
Cause Node number exists twice.
Measure • Check the configuration.
64-1 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.
A Diagnostic messages
156 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Error group 64 DeviceNet error
No. ReactionMessageCode
64-2 7582h DeviceNet communication error PS off
Cause – Receive buffer overflow.
– Too many messages received within a short period.
Measure • Reduce the scan rate.
64-3 7582h DeviceNet communication error PS off
Cause – Send buffer overflow.
– Insufficient free space on the CAN bus to transmit messages.
Measure • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
64-4 7582h DeviceNet communication error PS off
Cause IO-message could not be sent
Measure • Check that the network is connected correctly and does not
malfunction.
64-5 7582h DeviceNet communication error PS off
Cause Bus off.
Measure • Check that the network is connected correctly and does not
malfunction.
64-6 7582h DeviceNet communication error PS off
Cause Overflow in the CAN controller.
Measure • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
Error group 65 DeviceNet error
No. Code Message Reaction
65-0 7584h DeviceNet general error Configurable
Cause – Communication is activated, even though no interface is
plugged in.
– The DeviceNet interface is attempting to read an unknown
object.
– Unknown DeviceNet error.
Measure • Check whether the DeviceNet interface is plugged in correctly.
• 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.
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 157
Error group 70 Operating mode error
No. Code Message Reaction
70-2 6195h General arithmetic error PS off
Cause The fieldbus factor group cannot be calculated correctly.
Measure • Check the factor group.
70-3 6380h Operating mode error Configurable
Cause This operating mode change is not supported by the motor control-
ler.
Measure • Check your application.
Not every change is permissible.
Error group 79 RS232 error
No. Code Message Reaction
79-0 7510h RS232 communication error Configurable
Cause Overrun when receiving RS232 commands.
Measure • Check wiring.
• Check of the transmitted data.
A Diagnostic messages
158 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
A.3 Error codes via CiA 301/402
Diagnostic messages
Code No. Message Reaction
2311 h 31-1 I²t error controller (I²t at 100%) Configurable
2312 h 31-0 I²t error motor (I²t at 100%) Configurable
2320 h 06-0 Over-current of the intermediate circuit/output stage PS off
2380h 19-0 I²T at 80 % Configurable
3210h 07-0 Overvoltage in the intermediate circuit PS off
3220h 02-0 Undervoltage in intermediate circuit Configurable
3280h 32-0 Intermediate circuit charging time exceeded PS off
3285h 32-8 Power supply failure during controller enable PS off
4210h 04-0 Over-/undertemperature of power electronics Configurable
4280h 18-1 Output stage temperature 5 °C below maximum Configurable
4310h 03-1 Temperature monitoring, motor Configurable
5114h 05-0 Error, 5 V electronics supply PS off
5115h 05-1 Error in 24 V supply PS off
5210h 21-0 Error, offset current measurement PS off
5581h 26-1 Checksum error PS off
6081h 25-1 Incorrect firmware PS off
6180h 01-0 Stack overflow PS off
6183h 16-3 Unexpected status / programming error PS off
6187h 16-2 Initialization fault PS off
6191h 42-9 Error in position data record PS off
6192h 41-9 Error, jump destination path program Configurable
6193h 41-8 Error, jump destination path program Configurable
6195h 70-2 General arithmetic error PS off
6197h 14-9 Error, motor identification PS off
6199h 35-1 Time out for quick stop PS off
6380h 70-3 Operating mode error Configurable
7386h 08-6 Angle encoder communication fault PS off
7388h 08-8 Internal angle encoder error PS off
7500h 22-0 Error in PROFIBUS initialization Configurable
22-2 PROFIBUS communication error Configurable
7510h 79-0 RS232 communication error Configurable
7582h 64-0 DeviceNet communication error PS off
64-2 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
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 159
Diagnostic messages
Code ReactionMessageNo.
7584h 64-1 DeviceNet general error PS off
65-0 DeviceNet general error Configurable
7680h 29-0 No SD available Configurable
7681h 29-1 SD initialization error Configurable
7682h 29-2 SD parameter set error Configurable
8000h 45-0 Error, driver supply PS off
45-1 Error, driver supply PS off
45-2 Error, driver supply PS off
05-2 Error, driver supply PS off
8087h 45-3 DIN4 plausibility error PS off
8130h 12-4 CAN: time-out nodeguarding Configurable
8181h 12-0 CAN: general error Configurable
12-1 CAN: error bus off Configurable
12-2 CAN: error when transmitting Configurable
12-3 CAN: error when receiving Configurable
12-5 CAN: error in the IPO mode Configurable
8600h 42-4 Message, homing required Configurable
8611h 17-0 Following error monitoring Configurable
8612h 40-0 Negative software limit switch reached Configurable
40-1 Positive software limit switch reached Configurable
40-2 Target position lies behind the negative software limit switch Configurable
40-3 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
A Diagnostic messages
160 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
A.4 PROFIBUS diagnostics
Diagnostic messages
Unit_Diag_Bit No. Message Reaction
00 E429 Position data set 42-9 Error in position record PS off
01 E703 Operating mode 70-3 Operating mode error Configurable
02 E702 Arithmetic error 70-2 General arithmetic error PS off
03 E421 Position
pre-computation
42-1 Positioning: error in
pre-computation
Configurable
04 E163 Unexpected state 16-3 Unexpected status /
programming error
PS off
05 E010 Stack overflow 01-0 Stack overflow PS off
06 E261 Checksum error 26-1 Checksum error PS off
07 E162 Initialization 16-2 Initialization fault PS off
08 E290 No SD available 29-0 No SD available Configurable
09 E291 SD initialization 29-1 SD initialization error Configurable
10 E292 SD parameter set 29-2 SD parameter set error Configurable
13 E222 PROFIBUS
communication
22-2 PROFIBUS communication error Configurable
14 - unknown 12-x Unknown error (CAN) Configurable
15 E790 RS232 communication
error
79-0 RS232 communication error Configurable
18 E418 Record seq. unknown
cmd
41-9 Error, jump destination path
program
Configurable
19 E419 Record seq. invalid
dest.
41-8 Error, jump destination path
program
Configurable
20 - unknown 64-x Unknown error (DeviceNet) PS off
65-x Unknown error (DeviceNet) Configurable
23 E220 PROFIBUS assembly 22-0 Error in PROFIBUS initialization Configurable
26 E351 Time out: Quick stop 35-1 Time out for quick stop PS off
27 E111 Error during homing 11-1 Homing error PS off
31 E149 Motor identification 14-9 Error, motor identification PS off
33 E190 I2t at 80 % 19-0 I²T at 80 % Configurable
35 E181 Outp. stage temp. 5 <
max.
18-1 Output stage temperature
5 °C belowmaximum
Configurable
36 E170 Following error 17-0 Following error monitoring Configurable
37 E424 Enforce homing run 42-4 Message, homing required Configurable
38 E43x limit switches 43-0 Negative limit switch error Configurable
43-1 Positive limit switch error Configurable
43-9 Fault in limit switch Configurable
A Diagnostic messages
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 161
Diagnostic messages
Unit_Diag_Bit ReactionMessageNo.
39 E40x Software limit 40-0 Negative software limit switch
reached
Configurable
40-1 Positive software limit switch
reached
Configurable
40-2 Target position lies behind the
negative software limit switch
Configurable
40-3 Target position lies behind the
positive software limit switch
Configurable
40 E320 Loading time link
overflow
32-0 Intermediate circuit charging time
exceeded
PS off
41 E328 Fail. power supply
ctr.ena.
32-8 Power supply failure during
controller enable
PS off
42 E310 I2t-error motor 31-0 I²t error motor (I²t at 100%) Configurable
43 E311 I2t-error controller 31-1 I²t error controller (I²t at 100%) Configurable
45 E052 Driver supply 45-0 Error, driver supply PS off
45-1 Error, driver supply PS off
45-2 Error, driver supply PS off
05-2 Error, driver supply PS off
46 E453 Plausibility DIN 4 45-3 DIN4 plausibility error PS off
47 E124 Time out nodeguarding 12-4 CAN: time-out nodeguarding Configurable
48 E050 5 V - Internal supply 05-0 Error, 5 V electronics supply PS off
50 E051 24 V - internal supply 05-1 Error in 24 V supply PS off
51 E251 Hardware error 25-1 Incorrect firmware PS off
52 E210 Offset current metering 21-0 Error, offset current
measurement
PS off
53 E060 Overcurrent output
stage
06-0 Over-current of the intermediate
circuit/output stage
PS off
54 E020 Undervoltage power
stage
02-0 Undervoltage in intermediate
circuit
Configurable
55 E070 Overvoltage output
stage
07-0 Overvoltage in the intermediate
circuit
PS off
58 E03x Overheating error
(motor)
03-1 Temperature monitoring, motor Configurable
59 E040 Overtemperature
power stage
04-0 Over-/undertemperature of
power electronics
Configurable
61 E086 SINCOS-RS485
communication
08-6 Angle encoder communication
fault
PS off
62 E088 SINCOS track signals 08-8 Internal angle encoder error PS off
B Serial interface RS232
162 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
B Serial interface RS232 (diagnostics/parameterisationinterface)
B.1 Activate motor controller via the interface RS232
B.1.1 Master data of the interface RS232
Parameter Significance
Signal level According to RS232 specification
Transmission rate 9.6…115 KBit/s
ESD protection Drivers up to 16 kV protected against electrostatic discharge “ESD”
Connection RS232, 3-conductor (RxD/TxD/GND)
Tab. B.1 Parameters of the RS232 interface
B.1.2 Basic setting of the interface RS232
In the factory setting, the interface RS232 is reset to the following basic settings.
Parameter Significance
Baud rate 9.6 KBit/s
Data bits 8
Parity None
Stop bits 1
Tab. B.2 Basic setting according to factory setting
B.1.3 Connect RS232 interface with a program
To be able to operate an interface with a terminal program, such as for test purposes, the following
settings are required (recommendations):
Parameter Value
Flow control None
Emulation VT100
ASCII configuration – Sent characters finish with line feed
– Output entered characters locally (local echo)
– During reception, attach line feed to the end of the line
Tab. B.3 Connect RS232 interface with a program
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.
B Serial interface RS232
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 163
B.1.4 Connection [X5]: pin allocation of the interface RS232
Collision with interface “RS485”.
If the interface “RS232” is used, the interface “RS485” can additionally be active through
configuration. If a cable is used in which the pins “4” and “9” are contacted on both plugs,
this can result in simultaneous access of the interfaces “RS232” and “RS485” to themotor
controller.
– For communication with the interface “RS232”, use only a cable that corresponds to
the pin allocation “interface RS232”.
DSUB plug connector, 9-pin, pins
Pin Designation Description
1 – Unused
2 RxD Receive data Receive signal
3 TxD Transmit data Transmission signal
4 – Do not occupy
(may only be used for RS485, A-signal (RxD+/TxD+))
5 GND Ground Load, reference potential “transmission/reception signal”, not
galvanically separated
6 – Unused
7 – Unused
8 – Unused
9 – Do not occupy
(may only be used for RS485, B-signal (RxD–/TxD–))
Tab. B.4 Pin allocation of RS232 interface
B.2 Commands/syntax of the RS232 interface
B.2.1 General commands
Command Syntax Answer
New initialisation of the positioning con-
troller
RESET! None (switch-on message)
Save the current parameter record and
all position records in the non-volatile
flash memory
SAVE! DONE
Setting the transmission rate for serial
communication
BAUD9600
BAUD19200
BAUD38400
BAUD57600
BAUD115200
Unknown command Any ERROR!
MMMM: main version: 16 Bit (hexadecimal format)
SSSS: subversion: 16 Bit (hexadecimal format)
B Serial interface RS232
164 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Command AnswerSyntax
Reading the version number of the firm-
ware.
VERSION? 2300:VERSION:MMMM.SSSS
MMMM: main version: 16 Bit (hexadecimal format)
SSSS: subversion: 16 Bit (hexadecimal format)
Tab. B.5 General commands
B.2.2 Control motor controller via CAN-Interpreter (CI)
Communication of the CAN-Interpreter (CI) is based on the service data objects (SDO) of the CANopen
device profile CiA 402. Through the RS232 interface, the motor controller can be parametrised and
controlled.
Command syntax
Read: ?XXXXYY
8 bit write: =XXXXYY:WW
16 bit write: =XXXXYY:WWWW
32 bit write: =XXXXYY:WWWWWWWW
Short code Significance
XXXX Command index
YY Command sub-index
WWWW Data
Tab. B.6 Command syntax RS232
Additional information on CAN objects can be found in the documentation� device profile CiA 402,
P.BE-CMMS-FHPP-CO-SW-….
Example: operate motor controller in direct mode (profile position mode)
The following describes the sequence in principle.
1. Changing of the controller enable logic
The controller enable logic can be changed via the CAN control word (COB 6510_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
As a result, the release can be granted via the CAN control word (COB 6040_00).
– Command: =604000:0006 command “shutdown”
– Command: =604000:0007 command “switch on/disable operation”
– 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
B Serial interface RS232
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 165
3. Write position parameters
The target position can be written through the CAN control word (COB 607A_00, target position).
The target position is thereby written in “position units”. That means, it depends on the set CAN
factor group. The default setting here is 1/216 revolutions. (16 bit portion before the decimal point,
16 bit portion after it.)
– Command: =607A00:00058000 target position 5.5 revolutions
The travel speed can be written via the CAN control word (COB 6081_00, profile velocity), the final
speed via the CAN control word (COB 6082_00, end velocity).
The speeds are thereby written in “speed units”. That means, they depend on the set CAN factor
group.
The default setting here is 1 revolution/min. (32 bit portion before the decimal point, 0 bit portion
after it).
– Command: =608100:000003E8 travel speed 1000 rpm
The acceleration can be written via the CAN control word (COB 6083_00, profile acceleration), the
deceleration via the CAN control word (COB 6084_00 profile deceleration) and the quick stop ramp
via the CAN control word (COB 6085, quick stop deceleration).
The acceleration is thereby written in “acceleration units”. That means, they depend on the set CAN
factor group.
The default setting here is 1/28 revolution/min. (24 bit portion before the decimal point, 8 bit por-
tion after it).
– Command: =608300:00138800 acceleration 5000 rpm
4. Start positioning
Positioning is started via the CAN control word (COB 6040_00):
a) Controller enable is controlled via bit 0 … 3 (see above).
b) Positioning is started via a rising edge at bit 4. The following settings are accepted thereby.
c) Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is
taken over (0), or whether the ongoing positioning should be cancelled (1)
d) Bit 6 establishes whether the positioning should be carried out absolutely (0) or relatively (1).
– Command: =604000:001F start absolute positioning or
– Command: =604000:005F start relative positioning
5. After positioning has been ended, the status of the controller must be reset so a new positioning
can be started.
– Command: =604000:000F bring controller into “Ready” state
Example: “Homing mode” via the RS232 interface
With the CAN access simulated via the RS232 interface, the motor controller can also be operated in
the CAN “Homing mode”. The following describes the sequence in principle.
1. Conversion of the controller enable logic
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
B Serial interface RS232
166 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3. As a result, the release can be granted via the CAN control word (COB 6040_00).
– Command: =604000:0006 command “shutdown”
– Command: =604000:0007 command “switch on/disable operation”
– Command: =604000:000F command “Enable operation”
4. Activation of the “Homing mode”
5. The reference mode is activated via the CAN control word (COB 6060_00, Mode of Operation).
– Command: =606000:06 Homing mode
6. Start homing
7. Homing is started via the CAN control word (COB 6040_00).
8. Controller enable is controlled via bit 0 … 3.
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
C Serial interface RS485
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 167
C Serial interface RS485 (control interface)
C.1 Activate motor controller via the interface RS485
C.1.1 Master data of the interface RS485
Parameter Significance
Signal level According to RS485 specification
Transmission rate 9.6 … 115 KBit/s
ESD protection Drivers up to 16 kV protected against electrostatic discharge “ESD”
Connection DSUB plug, 9-pin, socket, special cable
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 8
Parity None
Stop bits 1
Tab. C.2 Factory setting of the interface RS485
C Serial interface RS485
168 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
C.1.3 Connection [X5]: pin allocation of the interface RS485
Collision with interface “RS232”.
When the interface RS485 is activated, the interface RS232 continues to be active. If a cable
is used inwhich the pins “2” and “3” arecontactedonboth plugs, this canresult insimultan-
eous access of the interfaces “RS232” and “RS485” to the motor controller.
– For communication with the interface “RS485”, use only a cable that corresponds to
the pin allocation “interface RS485”.
DSUB plug connector, 9-pin, pins
Pin Designation Description
1 – Unused
2 – Do not occupy
(may only be used for RS232, RxD signal)
3 – Do not occupy
(may only be used for RS232, TxD signal)
4 A (RxD+/TxD+) + Receive-/Transmit data Positive transmission and reception signal
5 GND Ground Load, reference potential
“transmission/reception signal”
6 – Unused
7 – Unused
8 – Unused
9 B (RxD–/TxD–) – Receive-/Transmit Data Negative transmission and reception signal
Tab. C.3 Pin allocation of RS485 interface
C Serial interface RS485
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 169
C.2 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”)
4. Mark the “Digital I/O” button in
the project tree.
5. Deactivate the “active” control
field in the “Mode selection via
DIN9 and DIN12” field.
6. Press the “Download” button in
the work space to load the new
configuration in the motor
controller.
7. Press the “Save” button in the
work space to save the new
configuration permanently.
8. Produce a reset to activate the
configuration:
– FCT: Press the “Restart
controller” button
([Menu bar] [Component]
[Restart controller]).
– Switch 24 V DC supply
voltage off and on.
1 2
7
4
5
6
3
8
Fig. C.1 Configure RS485 interface in the FCT
C Serial interface RS485
170 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
C.3 Commands/syntax of the RS485 interface
Control of the motor controller via RS485 takes place with the same objects as with RS232. Only the
syntax of the commands to read/write the objects is expanded in comparison to the RS232.
Syntax:
Xtnn:HH...HH:CC
Short code Significance
XT Fixed constants
nn Node number, identical to the CANopen node number (setting via DIP switch)
HH...HH Data (RS232 command syntax)
CC Checksum
Tab. C.4 Command syntax RS485
– The reply sends the following characters to the first 5 positions:
“XRnn:” with nn = node number of the device.
– All devices react to the node number 00 as “Broadcast”. In this way, each device can be addressed
without knowing the node number.
– The commands of type “=” “?”, etc. support an optional checksum. This checksum is formed
without the first 5 characters.
At the byte level, all characters are added up byte-by-byte to a UINT8 number without taking the
overtravel into account.
The checksum comprises the entire command without RS485 identifier and without checksum.
Example:
for “XT07:=607A00:000A0000:80”
the checksum “80” is created over
“=607A00:000A0000:”.
– The boot-up message of the boot loader and the boot-up message of the firmware are sent only
over RS232 mode.
Example “Profile position mode” via RS485
If the motor controller is operated via the RS485 interface, control, just as operation, can take place via
the RS232 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
CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 171
Index
A
Address of the fieldbus 60. . . . . . . . . . . . . . . . . .
Analogue inputs 32. . . . . . . . . . . . . . . . . . . . . . . .
Analogue monitor 135. . . . . . . . . . . . . . . . . . . . . .
Analogue output 32. . . . . . . . . . . . . . . . . . . . . . .
C
Certificates 14. . . . . . . . . . . . . . . . . . . . . . . . . . . .
CiA 402 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control interfaces 22. . . . . . . . . . . . . . . . . . . . . . .
D
Data interfaces 45. . . . . . . . . . . . . . . . . . . . . . . . .
Data rate 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Declaration of conformity 14. . . . . . . . . . . . . . . .
Device profiles
– CANopen device profile CiA 402 39. . . . . . . . . .
– Festo Handling and Positioning
Profile (FHPP) 39. . . . . . . . . . . . . . . . . . . . . . . .
Digital inputs 25. . . . . . . . . . . . . . . . . . . . . . . . . .
Digital outputs 29. . . . . . . . . . . . . . . . . . . . . . . . .
Dimension reference system 40. . . . . . . . . . . . . .
E
Encoder emulation 131. . . . . . . . . . . . . . . . . . . . .
Encoder input 33. . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder output 33. . . . . . . . . . . . . . . . . . . . . . . .
Endless positioning 138. . . . . . . . . . . . . . . . . . . .
Error 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error message 143, 144. . . . . . . . . . . . . . . . . . .
F
FCT 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Festo Configuration Tool (FCT) 46. . . . . . . . . . . . .
FHPP 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbuses 37. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware file 49. . . . . . . . . . . . . . . . . . . . . . . . . . .
Flying measurement 133. . . . . . . . . . . . . . . . . . . .
Forward/reverse signal
(CW/#CW/CCW/#CCW) 36. . . . . . . . . . . . . . . . .
H
Homing 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I
I2t monitoring 141. . . . . . . . . . . . . . . . . . . . . . . . .
Incremental signal (A/#A/B/#B/N/#N) 34. . . . . .
Intended use 13. . . . . . . . . . . . . . . . . . . . . . . . . .
Interruption and failure monitoring 140. . . . . . . .
L
LED displays
– CAN 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Ready 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limit switch 42. . . . . . . . . . . . . . . . . . . . . . . . . . .
M
MAC ID 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master control 52. . . . . . . . . . . . . . . . . . . . . . . . .
Memory card 49. . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring of the motor 141. . . . . . . . . . . . . . . . .
Multi-turn absolute encoder 103. . . . . . . . . . . . .
O
Operating modes
– Force/torque mode 120. . . . . . . . . . . . . . . . . .
– Homing mode 89. . . . . . . . . . . . . . . . . . . . . . . .
– Interpolated positioning mode 87. . . . . . . . . . .
– Jog mode 104. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Positioning mode 63. . . . . . . . . . . . . . . . . . . . .
– Record linking operation 80. . . . . . . . . . . . . . .
– Single position operation 76. . . . . . . . . . . . . . .
– Speed mode 115. . . . . . . . . . . . . . . . . . . . . . . .
– Synchronisation 125. . . . . . . . . . . . . . . . . . . . .
– Teach mode 111. . . . . . . . . . . . . . . . . . . . . . . . .
Overload current and short-circuit
monitoring 140. . . . . . . . . . . . . . . . . . . . . . . . .
Overvoltage and undervoltage monitoring 141. .
CMMS-AS-...-G2
172 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
P
Parameter file 49. . . . . . . . . . . . . . . . . . . . . . . . . .
Position control 63. . . . . . . . . . . . . . . . . . . . . . . .
Positioning profile 64. . . . . . . . . . . . . . . . . . . . . .
Positioning record 64. . . . . . . . . . . . . . . . . . . . . .
Pulse/direction signal
(CLK/#CLK/DIR/#DIR) 35. . . . . . . . . . . . . . . . .
R
Record selection 65. . . . . . . . . . . . . . . . . . . . . . .
Relative positioning records 139. . . . . . . . . . . . .
S
SD memory card 49. . . . . . . . . . . . . . . . . . . . . . . .
Service 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Seven-segment display 142. . . . . . . . . . . . . . . . .
Short-circuit monitoring 140. . . . . . . . . . . . . . . . .
Single-turn absolute encoder 103. . . . . . . . . . . .
Smoothing 71. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software end position 42. . . . . . . . . . . . . . . . . . .
T
Target group 9. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature monitoring 141. . . . . . . . . . . . . . . .
Terminating resistor 62. . . . . . . . . . . . . . . . . . . . .
Type codes 10. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reproduction, distribution or sale of this document or communica-tion of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights re-served in the event that a patent, utility model or design patent isregistered.
Copyright:Festo AG & Co. KGPostfach73726 EsslingenGermany
Phone:+49 711 347-0
Fax:+49 711 347-2144
e-mail:[email protected]
Internet:www.festo.com
Original: de