CPX terminal Description Communication profile FHPP for the CMAX axis controller Activation and diagnostics via CPX node Typ CPX−CMAX−C1−1 Description 559 757 en 0908NH [727 411]
Contents and general safety instructions Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . de Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0908NH Designation . . . . . . . . . . . . . P.BE−CPX−CMAX−CONTROL−EN Order no. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 757 © (FestoAG & Co. KG, D 73726 Esslingen, 2009) Internet: http://www.festo.com E−mail: service_international@festo.
Contents and general safety instructions Interbus®, DeviceNet®, PROFIBUS®, CC−Link®, EtherNet/IP®, PROFINET®, Adobe Reader® and TORX® are registered trademarks of the respective trademark owners in certain countries. II Festo P.
Contents and general safety instructions Contents Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general safety instructions 2.3 FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Establish ready status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.3 Special features depending on operating mode . . . . . . . . . . . . . . . 2−29 2−31 2−32 2−33 3. Drive functions . . . . . . . . . . . . . .
Contents and general safety instructions 4. Faults and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4−1 4.1 4.2 Overview of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Error numbers on the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.
Contents and general safety instructions 5.4.7 5.4.8 5.4.9 5.4.10 5.4.11 5.4.12 5.4.13 5.4.14 5.4.15 5.4.16 Setpoint values for jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direct operating mode: Positioning . . . . . . . . . . . . . . . . . . . . . . . . . Direct operating mode: Force control . . . . . . . . . . . . . . . . . . . . . . . . Parameters of the default values . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive configuration . . . . . . . . . . . . . . . . . .
Contents and general safety instructions A.3 Operation and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.3.1 Nominal/actual comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.3.2 Exchanging components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.3.3 Reconfigure axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.3.4 Data reset . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general safety instructions B.8.5 Individual value mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.8.6 Position control during a force task . . . . . . . . . . . . . . . . . . . . . . . . . B.8.7 Force ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.8.8 Controller amplifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.8.9 Influence of the static identification on force control . . . .
Contents and general safety instructions Intended use This description contains the communication profile for the axis controller type CPX−CMAX−C1−1. The profile is based on the Festo Handling and Positioning Profile (FHPP). This provides you with supplementary information about con trolling, diagnosing and parameterising the axis controller via the fieldbus. Additional information can be found in the system description for the used axis controller (see Tab. 0/1): Description P.BE−CPX−CMAX−SYS−...
Contents and general safety instructions Safety instructions When commissioning and programming positioning systems, you must always observe the safety regulations in the descriptions as well as the operating instructions for the other components used. The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the potential danger area must be prevented by suitable measures, such as barriers and warning signs.
Contents and general safety instructions Target group This description is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service or write to the follow ing e−mail address if you have any technical problems: service_international@festo.com Festo P.
Contents and general safety instructions Important user instructions Danger categories This description contains instructions on the possible dangers which can occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a picto gram. A distinction is made between the following danger warnings: Warning ...
Contents and general safety instructions Identification of special information The following pictograms designate texts that contain special information. Pictograms Information: Recommendations, tips and references to other sources of information. Accessories: Information about necessary or useful accessories for the Festo product. Environment: Information on the environmentally friendly use of Festo products. Text designations · Bullet points indicate activities that may be carried out in any order.
Contents and general safety instructions Information about the version This description refers to the following versions: Axis controller CPX−CMAX−C1−1 starting from software versionV 1.0 This description contains special information about the con trol, programming and diagnosis of a CMAX with the used CPX nodes. XIV Festo P.
Contents and general safety instructions User documentation for the CMAX axis controller Type Title Electronics de CMAX axis controller, scription system description" P.BE−CPX−CMAX−SYS−... Contents Mounting, installation, commissioning and diagnosis of the CMAX axis controller. Communica CMAX communication Control, programming and diagnosis of a CMAX with tion profile de profile" the used CPX node. scription P.BE−CPX−CMAX−CONTROL−...
Contents and general safety instructions Glossary The following product−specific terms and abbreviations are used in this manual: Term / abbreviation Meaning 0xA0 (A0h) Hexadecimal numbers are indicated by a prefixed 0x" or by a subscript h". A Digital output. From the point of view of the master controller, the CMAX control inputs are module output data. See section 2.2. AB Output byte.
Contents and general safety instructions Term / abbreviation Meaning Festo Parameter Channel (FPC) FHPP−specific parameter access. Functions Special functions in the different operation modes, such as: Jog mode Homing Homing By means of homing, the reference position and thereby the origin of the dimension reference system of the axis are defined. I Digital input. From the point of view of the master controller, the CMAX status outputs are module input data. See section 2.2.
Contents and general safety instructions Term / abbreviation Meaning Project zero point (PZ) Dimension reference point for all positions in positioning tasks. The project zero point forms the basis for all absolute position specifications (e.g. in the position set table or in direct mode). The point of reference for the project zero point is the axis zero point. Record Positioning command defined in the position set table, consisting of target position, positioning mode, speed, acceleration, ...
CPX terminal configuration and FHPP overview Chapter 1 Festo P.
1. CPX terminal configuration and FHPP overview Contents 1.1 1.2 1.3 1.4 1−2 Planning aspects when parametrising the CMAX . . . . . . . . . . . . . . . . . . . . . . 1.1.1 Instructions on the available CPX nodes . . . . . . . . . . . . . . . . . . . . . 1.1.2 CMAX parameters and CPX node parameters . . . . . . . . . . . . . . . . . Data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CPX parametrisation . . . . . . . . . . . . . . . . . . .
1. CPX terminal configuration and FHPP overview 1.1 Planning aspects when parametrising the CMAX 1.1.1 Instructions on the available CPX nodes Tab. 1/1 shows an overview of the available CPX nodes (CPX−FEC or CPX bus nodes) that are suitable for operation with the CMAX (as of August 2009). CPX node Required version 1) Use For a description see CPX−CEC in preparation On request CPX−FEC From Revision 18 (R18) On request Appendix C.
1. CPX terminal configuration and FHPP overview 1.1.2 CMAX parameters and CPX node parameters The CMAX has a number of specific parameters. These inter nal CMAX parameters cannot be stored as module para meters in the CPX node, but are exclusively saved in the CMAX. It is therefore not possible to access to the CMAX parameters in the usual way via the I/O diagnostic interface or via any corresponding bus−specific channels, but only via special functions.
1. CPX terminal configuration and FHPP overview 1.2 Data format Multi−byte values are usually interpreted by CMAX in the byte sequence INTEL (LSB−MSB)". INTEL (LSB−MSB) − little endian Example 21.268.514 d = 01 44 88 22h Byte address 0 Bit no.
1. CPX terminal configuration and FHPP overview The CMAX evaluates the global system parameter and con verts the byte sequence accordingly. After changing the para meter, wait for about 2 seconds until the CMAX conversion has been reliably executed. The CMAX swaps the values, both in the cyclical (I/O data) as well as acyclical data (parameters). 1−6 Festo P.
1. CPX terminal configuration and FHPP overview 1.3 1.3.1 CPX parametrisation Fail−safe or idle mode parametrising example Depending on your application and the CPX node used, check if corresponding fail−safe or idle mode parametrising is necessary. Fail−safe parametrising or idle mode parametrising allows defined I/O states to be established in the event of a fault or if the bus fails. Additional information can be found in the respective Appendix C.3, C.2 or C.1. 1.3.
1. CPX terminal configuration and FHPP overview 1.4 Commissioning instructions via the CPX node (fieldbus) Fundamentally, the CMAX can be completely commissioned in a controlled manner via the CPX node. This requires extensive programming of the master system, however, and suitable measures for monitoring the drive while the commissioning functions are being executed. Recommendation: Carry out commissioning with the FCT. Tab.
I/O data and sequence control Chapter 2 Festo P.
2. I/O data and sequence control Contents 2.1 2.2 2.3 2−2 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.1 Record select mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.2 Direct operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.4 Parametrisation . . . . . . . .
2. I/O data and sequence control 2.1 Operating modes The operating modes differ with regard to their content and the meaning of the cyclic I/O data and with regard to the functions which can be accessed in the CMAX. 2.1.1 Record select mode The CMAX has over 64 records which contain all the necess ary information for a positioning task. The record number that the CMAX is to process at the next start is transferred in the PLC’s output data.
2. I/O data and sequence control 2.1.2 Direct operating mode In direct operating mode, positioning tasks are formulated directly in the PLC’s output data (or the CPX node). The typical application dynamically calculates the nominal target values for each job or just for some jobs. This makes it possible to adjust the system to different workpiece sizes, for example, without having to re−parametrise the record list. The setpoint values are managed completely in the PLC and sent to the CMAX.
2. I/O data and sequence control 2.1.4 Parametrisation In parametrising mode, parameters can be transferred in the cyclical I/O data of the FHPP, which are actually meant to con trol the CMAX. Here, the first control byte CCON is transferred for controlling the enabling and operating mode of the CMAX. The seven other bytes are occupied by the Festo Parameter Channel (FPC). Parametrising mode can be activated in the states Drive/ controller disabled" or Drive/controller enabled".
2. I/O data and sequence control 2.1.5 Overview of the available functions in the operating modes Tab. 2/1 shows the functions available in the individual operating modes. Function Operating mode Rec. sel. m. Direct m. Commiss. Parametrisation in the cyclical I/O data 1) x Acycl. parametrisation 2) of axis data (cylinder length, ...) 1) x Acycl. parametrisation 2) of setpoint values (record list, etc.
2. I/O data and sequence control 2.2 Structure of the cyclical I/O data in the operating modes Data Byte 1 Output data Bytes 1 and 2 (fixed) are retained in every operating mode (except byte 2 for parametrisation). They contain control and status bytes (e.g. CCON, SCON, ...
2. I/O data and sequence control 2.2.1 CCON/SCON structure CCON With control byte 1 (CCON), all the states are controlled which must be available in all operating modes. Assignment of the CCON control byte (byte 1) CCON B7 OPM2 B6 OPM1 Operating mode selection SCON B5 LOCK B4 B3 RESET B2 BRAKE B1 STOP B0 ENABLE Software access blockage Reset fault Release brake Stop Enable drive Control byte 1 (SCON) signals the CMAX status in all operating modes.
2. I/O data and sequence control Control byte 1 (CCON) Bit EN Description B0 ENABLE Enable Drive = 0: Disable drive (controller) = 1: Enable drive (controller) B1 STOP Stop = 0: Stop active (execute stop ramp + cancel positioning task). The drive stops with a stop ramp. The job is aborted and the standstill monitoring is deactivated. = 1: Enable drive. Not permissible in parametrising mode. A warning is signaled in parametrising mode if logic 1 is set.
2. I/O data and sequence control Status byte 1 (SCON) Bit EN Description B0 Drive Enabled ENABLED = 0: Drive/controller disabled, controller not active = 1: Drive/controller enabled B1 OPEN Operation Enabled = 0: Stop active = 1: Operation enabled, positioning possible B2 WARN Warning = 0: Warning not registered = 1: Warning registered B3 FAULT Fault = 0: No fault = 1: There is a fault or fault reaction is active.
2. I/O data and sequence control 2.2.2 Defining the operating mode with CCON Operating mode d CCON/SCON Description .OPM2 .OPM1 Record select operating mode (record select mode) 0 0 The PLC selects a record from a record list saved in the CMAX. A record contains all the parameters which are specified for a positioning task. The record number is transferred to the cyclic I/O data as the setpoint or actual value.
2. I/O data and sequence control 2.2.3 I/O data in the record select operating mode I/O data: Record select mode Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data CCON CPOS Record no. Reserved Reserved Input data SCON SPOS Record no.
2.
2. I/O data and sequence control CPOS Control byte 2 (CPOS) controls the positioning sequences as soon as the drive has been enabled. Control byte 2 (CPOS) record select mode Bit EN Description B0 HALT Reserved, must be set to 0. A warning is signaled for logic 1. B1 START Start Positio− ning Task With a rising edge the current setpoint values will be transferred and positioning started. B2 HOM Start Homing With a rising edge, homing is started with the set parameters.
2. I/O data and sequence control Status byte 2 (SPOS) record select mode Bit EN Description B0 HALT Halt Reserved (= 0). B1 ACK Acknowledge Start = 0: Ready to start = 1: Start executed 1) B2 MC Motion Complete = 0: Positioning task active = 1: Positioning task completed, possibly with error 2) B3 TEACH Acknowledge Teach = 0: Teaching carried out, actual value is transferred = 1: Ready for teaching B4 MOV Axis is moving Movement monitoring = 0: Drive does not move.
2. I/O data and sequence control Status byte 4 (RSB) record select mode Bit EN Description B0 RC1 Position set sequencing #1 completed 1) If at least one switching condition has been configured: = 0: The first switching condition was not met yet. = 1: The first switch has been executed. B1 RCC Position set sequencing Completed 1) If at least one switching condition has been configured and motion has been completed (MC): = 0: Switching condition not met, record chaining aborted.
2. I/O data and sequence control 2.2.
2.
2. I/O data and sequence control CPOS Control byte 2 (CPOS) controls the positioning sequences as soon as the drive has been enabled. Control byte 2 (CPOS) direct mode Bit EN Description B0 HALT Reserved, must be set to 0. A warning is signaled for logic 1. B1 START Start Positioning Task With a rising edge the current setpoint values will be transferred and positioning started. B2 HOM Start Homing With a rising edge, homing is started with the set parameters. Referencing is reset.
2. I/O data and sequence control CDIR Control byte 3 (CDIR) is a special control byte for the operating mode direct mode.
2. I/O data and sequence control Status byte 2 (SPOS) direct mode Bit EN Description B0 HALT Halt Reserved (= 0). B1 ACK Acknowledge Start = 0: Ready to start = 1: Start executed 1) B2 MC Motion Complete = 0: Positioning task active = 1: Positioning task completed, possibly with error 2) B3 TEACH Acknowledge Teach Reserved (= 0). B4 MOV Axis is moving Movement monitoring = 0: Drive does not move.
2.
2. I/O data and sequence control 2.2.5 I/O data in commissioning mode I/O data: Commissioning Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Output data CCON CPOS Function Param. 1 Parameter 2 (e.g.
2.
2. I/O data and sequence control CPOS Control byte 2 (CPOS) controls the positioning sequences as soon as the drive has been enabled. Control byte 2 (CPOS) commissioning mode Bit EN Description B0 HALT Reserved, must be set to 0. A warning is signaled for logic 1. B1 START Start Positioning Task With a rising edge the current setpoint values will be transferred and positioning started. B2 HOM Start Homing With a rising edge, homing is started with the set parameters. Referencing is reset.
2. I/O data and sequence control Status byte 2 (SPOS) commisioning mode Bit EN Description B0 HALT Halt Reserved (= 0). B1 ACK Acknowledge Start = 0: Ready to start = 1: Start executed 1) B2 MC Motion Complete = 0: Positioning task active = 1: Positioning task completed, possibly with error 2) B3 TEACH Acknowledge Teach = 0: Teaching carried out, actual value is transferred = 1: Ready for teaching B4 MOV Axis is moving Movement monitoring = 0: Drive does not move.
2. I/O data and sequence control 2.2.
2. I/O data and sequence control Assignment of the status bytes (parametrisation) SCON Byte y 1 B7 OPM2 B6 OPM1 Operating mode acknowledgement B5 B4 FCT_MMI 24VL B3 FAULT B2 WARN B1 OPEN Software device control Fault Warning Operation Drive enabled enabled Load voltage applied B0 ENABLED Subindex Subindex of the transferred parameter Byte 2 Param. Reply identifier and parameter number: identifier Bit Content Description Bytes 3+4 0...
2. I/O data and sequence control 2.3 FHPP finite state machine From all statuses Switched off T7* always has the highest priority. T7* S5 S1 Controller switched on Reaction to faults T1 T8 T11 S6 S2 T9 Controller disabled T5 Fault T2 T10 S3 Controller enabled (stop) T6 T4 SA5 Jog positive TA9 T3 SA1 TA10 TA7 Ready SA6 Jog negative SA4 Homing is being carried out TA8 TA11 TA12 TA2 S4 TA1 SA2 Positioning task active TA5 Operation enabled Fig.
2. I/O data and sequence control Notes on the Operation enabled" state Transitions T4, T6 and T7* are executed from every sub−state SAx and automatically have a higher priority than any transi tion TAx. Reaction to faults T7 ( Fault recognised") has the highest priority (and is marked with an asterisk *"). 2−30 Festo P.
2. I/O data and sequence control 2.3.1 Establish ready status T Internal conditions Actions of the user T1 Drive is switched on. No error is found. T2 Load voltage applied. The higher−order controller is the PLC/fieldbus master. Enable drive" = 1 CCON = xxx0.xxx1 T3 Stop" = 1 CCON = xxx0.xx11 T4 Stop" = 0 CCON = xxx0.xx01 T5 Enable drive" = 0 CCON = xxx0.xxx0 T6 Enable drive" = 0 CCON = xxx0.xxx0 T7* Fault recognised.
2. I/O data and sequence control 2.3.2 Positioning Note: CCON = xxx0.xx11 is also always considered to be a permissible action. TA Internal conditions Actions of the user TA1 Referencing is running. Start positioning task = 0→1 CPOS = 00x0.00P0 TA2 Motion Complete = 1 The current record is completed. The next record is not to be carried out automatically CPOS = 00xx.xxx0 TA5a Record select mode: A single record is finished. The next record is processed automatically. CPOS = 00xx.
2. I/O data and sequence control 2.3.3 Special features depending on operating mode Operating mode Notes on specific features Record select mode TA5: A new record can be started at any time With this, it is possible for the PLC to initiate a new record at any time depending on any events. The CMAX automatically handles all setpoint switching problems. Direct operating mode TA2: The condition that no new record may be processed no longer applies.
2. I/O data and sequence control 2−34 Festo P.
Drive functions Chapter 3 Festo P.
3. Drive functions Contents 3.1 3.2 3.3 3.4 3−2 General functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.2 Force control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.3 Standstill control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.4 Quality classes . . . . . . . . .
3. Drive functions 3.1 3.1.1 General functional description Position control Single value mode (point−to−point) Free profile A positioning task for a free profile is executed with the given speed, acceleration and deceleration. There might be a limitation imposed on valued determined during identification. Properties: Automatic profile Speed, acceleration, deceleration and mass can be set separately for every task.
3. Drive functions Continuous mode In the case of continuous setpoint specification, an external position setpoint is tracked. The setpoint values can be speci fied by the PLC/via the fieldbus. The continuous setpoint specification is only possible in di rect operating mode and mainly corresponds with the free profile. Properties: Speed, acceleration and deceleration are limited to values specified by the user (no automatic limitation).
3. Drive functions 3.1.2 Force control Force control is done by controlling the pressure forces which act on the piston in both cylinder chambers. The force of the cylinder is not controlled directly a force sensor would be required for this but is controlled via the force acting on the piston. The imprecision of the force is therefore in the range of the static friction force of the drive. The setpoint values are specified as a force in the used system of units.
3. Drive functions Force control sequence If Force control" is set as the control mode with a rising edge at CPOS.START in RCB1 (record set mode) or in control byte CDIR (direct mode), the CMAX interprets the setpoint specifi cation as a force setpoint. It activates the force control and adjusts the value with the set ramp. The RSB/SDIR signalises the Force control" status accordingly.
3. Drive functions 3. At standstill: Force ramp until target force has been reached (phase 6 ). The target force is approached with the set force ramp. 4. Once the axis has reached the target force, fulfilling the MC conditions, MC is set ( 7 ). Notes: If there is a stop" or error F1 (controller active), position control is switched to (setpoint position = actual position, etc.). If the limit monitoring responds, regardless of whether stroke or speed, the controller always changes to position control.
3. Drive functions E. g., it might be necessary to adjust the amplification factor if the drive takes too long to reach the setpoint value. Information on the control factors can be found in section B.7.3. Additional information about force and standstill control can be found in section B.8.
3. Drive functions Notes regarding stroke and speed monitoring: When the path is exceeded which is set in the stroke monitoring (PNU 510, relative to the starting position), RSB.XLIM or SDIR.XLIM is set (stroke limit reached). If the speed Vlim (PNU 511) is exceeded, RSB.VLIM or SDIR.VLIM is set (speed limit reached). The drive is decelerated each time with the stop ramp, kept at the current position with position control and SPOS.MC is set as soon as the drive has stopped.
3. Drive functions 3.1.3 Standstill control Standstill control starts by ending a positioning task (MC). There is a switch from position to force control to keep the drive safely at its standstill position. Here, the force currently applied to the piston is measured and is specified as a set point for the force control.
3. Drive functions 3.1.4 Quality classes For positioning or force tasks, the respectively specific quality classes are used. This way, conditions are defined for which a task is signaled as being completed. Quality class Description Exact stop The task is completed when the drive is within the tolerance for the duration of the monitoring time (in the case of position control, it is nearly stopped − final speed check). Fast stop The task is completed as soon as the drive is within the tolerance.
3. Drive functions 3.1.5 Handling the clamping unit or brake On the VPWP there is a digital output available for controlling a clamping unit or brake. No clamping unit/brake configured No clamping unit has been configured in the factory settings (PNU 1143:03 = 0). The digital output on the VPWP always delivers 0 V. Clamping unit/brake configured If a clamping unit is configured (PNU 1143:03 = 1), the clamping unit is controlled exclusively by the control bit CCON.BRAKE, i.e.
3. Drive functions CCON.BRAKE control logic In the factory settings, the control logic is low active, i.e. the clamping unit/brake is closed for CCON.BRAKE = 0. The switching output on the VPWP delivers 0 V With PNU 522:02, the control logic can be inverted. See Tab. 3/2. CCON.BRAKE control logic Control VPWP Clamping unit PNU 522:02 CCON.BRAKE Output Status Low active: = 0: 0 Brake active for CCON.
3. Drive functions Switch−on behaviour: Since the clamping unit/brake is low−active by default, it is closed at switch−on (as long as CCON.BRAKE = 1 is set). If the clamping unit/brake is configured to be high−active, this remains closed until the first negative edge at CCON.BRAKE or the first drive enable. This prevents the brake from being released unintentionally, e.g. when all PLC data are set to 0 initially at switch−on.
3. Drive functions Enable drive CCON.ENABLE 1 Stop CCON.STOP 1 Release brake CCON.BRAKE 1 Start CPOS.START 1 Drive enabled SCON.ENABLED 1 Operation enabled CCON.OPEN 1 Output Pin 2 0 0 0 0 0 0 24 V 0 V Brake status open closed 50 ms Fig. 3/3: Open brake" sequence An overview of different cases for setting and releasing the brake is shown in Tab. 3/3. An overview of different cases for for activating and deactivat ing the controller is shown in Tab. 3/4. Festo P.
3. Drive functions Status, action Sequence or status for ... opening the brake closing the brake Controller is disabled Brake output (pin 2) = 24 V Brake output (pin 2) = 0 V Activate controller simulta neously 1. Brake output (pin 2) = 24 V 2. Position control with Set = Actual 3. SCON.ENABLED = 1 1. Position control with set = actual 2. SCON.ENABLED = 1 3.
3. Drive functions 3.1.6 Motion Complete (MC) Motion Complete (MC) defines whether a positioning task is active. Motion Complete rules: MC = 0 is set at the start of a positioning task, and this before ACK = 1 for: Start record or direct mode (position or force control) Jog mode Start homing Identification and movement test.
3. Drive functions Position control The Motion Complete (MC) signal indicates whether the last started task has been ended. It is made up of several logical conditions. See Tab. 3/5 and Fig. 3/4. Condition Description Permanent entry in tolerance window for position The actual position reaches the tolerance window and does not exit it again during the set monitoring time. The monitoring time (PNU 1154) can be configured in expert mode with the FCT (controller data −> position controller).
3. Drive functions aJ 3 aJ 1 2 4 aJ 5 6 aJ 7 8 9 SPOS.MC 1 Position target setpoint 6 Start of the setpoint curve 2 Position setpoint value/actual value 7 End of the setpoint curve 3 Positioning tolerance 8 1. timeout (as starting timeout) 4 Speed setpoint value / actual value 9 2. timeout (as positioning timeout) 5 Speed tolerance aJ Monitoring time Fig. 3/4: Motion Complete (position control) Information regarding monitoring time in Fig. 3/4: Setting with PNU 1154, default = 30 ms.
3. Drive functions Force control In the case of force control, the MC conditions correspond to those of position control, and correspondingly refer to the force setpoint and force tolerance. Special features: 3.1.7 No MC is output during the speed control phase (see sec tion 3.1.2). Timeout: PNU 1163. No speed monitoring (i.e. the drive can move). No standstill warning. No starting timeout (function is covered by pressure monitoring, see fault E50).
3. Drive functions Movement monitoring (SPOS.MOV) The bit SPOS.MOV indicates that the drive is moving. For this, CMAX checks whether the speed signal exceeds the internal limit (4 mm/s). The internal status Drive in motion" is additionally filtered with the switch−off time to simplify the evaluation in a PLC program. 1 Target setpoint value 1 2 Reference setpoint value 2 3 3 Actual value 4 Speed 4 5 Speed tolerance 5 6 Motion Complete (SPOS.
3. Drive functions Following error or tolerance monitoring (SPOS.DEV) The bit SPOS.DEV ( deviation" = control fault) indicates that the control fault (i.e. SET/ACTUAL deviation) has exceeded a certain value. The permissible deviation depends on the movement status of the drive. During positioning (MC = 0): Following error After reaching Motion Complete: Tolerance window There is no difference between the behaviour of position and force control. Only the parameters and signals used are dif ferent.
3. Drive functions Regarding Fig. 3/6: 1 to 3: Setpoint value and actual value curves. The setpoint value here refers to the reference setpoint value which is gen erated by the trajectory planning. 4 to 6: Enlarged illustration of the control fault and the two tolerances. The following error tolerance (11 mm) is much greater than the positioning tolerance (0.1 to 10 mm or 0.004 to 0.394 in). 7: The MC signal determines which tolerance is used. Overview of parameters involved (see section 5.4.
3. Drive functions Standstill monitoring (SPOS.STILL) The standstill warning bit indicates whether the drive has moved again since reaching Motion Complete. SPOS.STILL Description =0 No movement =1 Warning: Drive moved after MC. The bit remains set until the next start. Tab. 3/9: Standstill monitoring states Properties: 3−24 Standstill monitoring is activated as soon as SPOS.MC = 1 is set. It is only executed when position control is active.
3. Drive functions 1 Target position 2 Reference position 3 Actual position 4 Position tolerance 1 2 4 5 3 5 Standstill tolerance 6 Speed tolerance 6 7 Standstill monitoring 7 active 8 Motion Complete (SPOS.MC, B2) 8 9 9 Standstill error (SPOS.STILL) aJ aA aJ Position condition met: Standstill tolerance exited aA Speed condition met: Drive movedfor30 ms. Fig. 3/7: Standstill monitoring Festo P.
3. Drive functions Overview of parameters involved (see sections 5.4.4, 5.4.5, 5.4.12) Parameters involved Description PNU Current setpoint position 300:02 Actual position 300:01 Target position window = current tolerance 4 411:xx or 545 Standstill position window = current tolerance * 0.5 5 But at least 0.1 mm. 0.5 * (411:xx or 545) Monitoring time 1132:04 Start (FHPP) SPOS.MC = positive edge: Motion Complete Acknowledgement (FHPP) SPOS.
3. Drive functions 3.1.8 Limitation of setpoint values In order to position quickly without overshoots when reaching the position or force setpoint value, CMAX limits setpoint values for accelerations, etc. which are too high. During dynamic identification it is determined what maximum acceleration values allow for overshoot−free positioning. These values can lie under the physically achievable acceler ations and decelerations, depending on the mass, starting and target positions, etc.
3. Drive functions Position control If a setpoint curve is generated based on acceleration set points which the drive can’t follow, this can lead to over shoots at the target position. With dynamic identification, the maximum attainable speed as well as the acceleration and deceleration ability of the drive system are ascertained. The goal is to make overshoot−free positioning behaviour possible during positioning. Examples can be found in the online help of the FCT CMAX plug−in.
3. Drive functions Parameter for limiting values The parameter for limiting values (PNU 1173) contains a structure with the values required for display. When the CMAX has defined values, it sets the bit in the status word to New values available".
3. Drive functions PNU 1173: Limiting values Index Status value Unit EI 1) Description 7 Maximum de celeration value Accel. 7 The maximum possible deceleration determined by the controller. The maximum deceleration value is deter mined from identification data and depends on the mass, start and target position. 8 Speed set point Speed 6 That is the speed setpoint desired by the user. 9 Maximum speed Speed 6 The maximum possible speed determined by the con troller.
3. Drive functions When is there reliable data in the parameter values? The bit 0 of the status word must be set. If the bit is not set, the information which follows in the structure does not be long together. It comes from different positioning operations, or the data was not yet completely initialised. Once the values have been determined, they remain in the CMAX until the FCT reads them out. Resetting the bit 0 in the status word by the FCT allows the CMAX to overwrite the old values again.
3. Drive functions 3.2 3.2.1 Commissioning operations Movement test The movement test is for detecting defects in the tubing con nection. Note If the tubing connections of the VPWP get mixed up, the control direction is reversed. When activating the con troller, the drive would move at maximum speed into the end position. Carry out the movement test in the following cases: · During commissioning after parametrisation.
3. Drive functions Carrying out the movement test The movement test must be carried out without activating the controller. The valve is only controlled here. The valve control value is then calculated independently of any deviation. In stead, a chamber of the cylinder is deliberately pressurized until the drive moves. Based on the position change, it is de cided whether it moved in the right direction. 1. To carry out the movement test, it must be enabled (CCON.ENABLE = 1, CCON.STOP =1).
3. Drive functions 4. The CMAX then starts an internal sequence where the valve control values are directly specified and a corre sponding evaluation is carried out based on the reaction of the drive. Finally, the result is stored in the Status movement test" parameter. The end of the movement test is signalised with SPOS.MC = 1. If the tubing connection is correct, the controller is enabled at the end of the movement test. Here, bit 0 in the movement test status is automatically set to 1 by the CMAX.
3. Drive functions The status of the movement test can be influenced by writing the commissioning operation parameter (PNU 1192:07): = 1: Movement test is reset and must be carried out again. = 2: Movement test is set to does not have to be executed" and is therefore skipped. The parameter can only be written when the CMAX is in com missioning mode and there is no enable.
3. Drive functions 3.2.2 Homing For drives with incremental measuring systems, homing must have been carried out before a positioning task can be done. Homing can be carried out in each supported operating mode except for parametrising mode. The drive references with respect to a stop or, as a special case, the current position. Reaching the stop is detected when the piston comes to a standstill. Here, the possibility that this standstill was caused by a lack of air pressure must be ruled out.
3. Drive functions 3.2.3 Homing sequence and parametrisation The drive references with respect to a stop (or the current actual position). Sequence (does not apply to referencing at the actual position): 1. Reset the homing status to Homing not executed". 2. Search for the reference point (mechanical stop). 3. Wait for standstill for 500 ms. Afterwards, the pressurized cylinder chamber must have a chamber pressure measur ing at least 2/3 of the set operating pressure. 4.
3. Drive functions The axis zero point offset has a great influence on CMAX con troller optimisation. Even small values (a few mm) must be specified as exactly as possible: The distance between the used stop (of the reference point) and the cylinder end position (retracted piston rod) is measured as the offset and entered as a negative value. When the piston rod is completely retracted (cylinder end position) the value 0 must be entered as the offset.
3. Drive functions 3.2.4 Homing run methods The homing methods are oriented towards CANopenDS 402. Homing methods Hex Dec Description 23h 35 Current position · The current position is saved as the reference point. There is no movement, not even for checking whether pressure is applied. EFh −17 Negative stop · Run at homing speed in negative direction to stop. This position is saved as a reference point. EEh −18 Positive stop · Run at reference speed in positive direction to stop.
3. Drive functions 3.2.5 Identification and adaptation During identification, mainly those parameters are deter mined which are influenced by component fluctuations (e.g. valve covers, cylinder friction) or unknown installation factors (e.g. tubing connection, external friction), but the knowledge of which is important for the controller function.
3. Drive functions Static identification With static identification, characteristics are ascertained which have an effect on the behaviour of the system at the beginning and end of the movement as well as on that of the standstill control. This includes static friction of the drive and the valve characteristics in the range of the mid−position (valve hysteresis).
3. Drive functions Identification sequence During static identification, the axis first moves to the middle of the nominal stroke and carries out smaller movements in both directions. If the middle of the nominal stroke cannot be approached due to the software end position, the CMAX moves close to the software end position in question at the start of static identifi cation. For dynamic identification, there should be at least 100 mm of free space available for movement.
3. Drive functions Carrying out identification 1. Set commissioning mode. 2. Prepare identification: Set commissioning operation 1. Parameter 1 = 0. Parameter 2 = current workpiece mass in system of units 3. Start with CPOS.START. 4. Wait for SPOS.MC. 5. The CMAX enters the identification result in the identifica tion status (PNU 1171).
3. Drive functions Resetting identification The identification data can be reset manually with PNU 1192:03. See section 5.4.16. The adaptation data is also reset here. Recommendation: After exchanging components or changing parameters, the identification data should be reset before carrying out a new identification run. Adaptation After successful identification, the adaptation values are automatically determined during operation. Adaptation is able to independently improve non−optimal control behaviour.
3. Drive functions Faulty adaptation could be the reason for the following be haviour: After commissioning, the positioning behaviour gradually deteriorates. The positioning times become longer and the machine cycle gets bigger. E30 errors occur more often. After identification, the behaviour drastically improves without making any other changes. Afterwards, however, it begins to deteriorate slowly again until identification is carried out again. In these cases, adaptation could be responsible.
3. Drive functions 3.2.6 Jog mode In the Operation enabled" state, the drive can be traversed by jogging in the positive/negative directions. This function is usually used for: Moving to teaching positions Moving the drive out of the way (e.g. after a system fault) Manual traversing as a normal operating mode (manually operated feed). Sequence 1. When one of the signals Jog positive / Jog negative" (CPOS.JOGP/CPOS.JOGN) is set, the drive starts to move slowly (creeping phase).
3. Drive functions 1 Creeping speed 2 (slow travel) 2 Maximum speed Speed v(t) 3 Acceleration 1 4 Deceleration 5 Creeping period 3 4 t [s] CPOS.JOGP or CPOS.JOGN (Jog positive/negative) 1 0 5 Fig. 3/8: Sequence diagram for jog mode Special operating states Before referencing, jogging is only possible at reference speed. If the drive is outside of the software end positions, jogging can be used to move it into the allowed range.
3. Drive functions If the CMAX determines that the axis came to a standstill before reaching the target position (software end position or hardware end position), e.g. due to a stop or obstacle, the drive is stopped. CPOS.JOGN has priority. If JOGP and JOGN are set at the same time, the negative direction is moved in. Timeout during jogging The timeout during jogging is not caught, independent of the operating mode.
3. Drive functions Overview of parameters involved (see also section 5.4.7) Parameters involved Description PNU Jog mode, creeping speed 530 Jog mode, maximum speed 531 Jog mode, acceleration 532 Jog mode, deceleration 533 Jog mode, creeping period in ms 534 Mass during jog mode 536 / 605 1) Start (FHPP) CPOS.JOGP = positive edge: Jog positive (towards increasing actual values) CPOS.JOGN = negative edge: Jog negative (towards decreasing actual values) Acknowledgement (FHPP) SPOS.
3. Drive functions 3.2.7 Teaching The following values can be taught: Setpoint values in the record list (record selection) Project zero point and software end positions (commis sioning). Setpoint value sequence in the record list Position or force values can be taught. The existing setpoint values are overwritten here. The type is determined by the control mode in record control byte 1 (RCB1). 1. Set record select mode (OPM2 = 0 + OPM1 = 0).
3. Drive functions 1 PLC: Prepare teaching Teach value CPOS.TEACH 2 CMAX: 1 0 Ready for teaching 1 3 PLC: Teach now Acknow− ledgement SPOS.TEACH 4 CMAX: 0 1 Value transferred 2 3 4 Fig. 3/9: Handshake during teaching Notes: The drive must not stand still for teaching. However, a speed of 1 m/s means that the actual position changes by 1 mm every millisecond.
3. Drive functions Project zero point and software end position sequence These values can only be taught in commissioning mode. The PLC must notify the CMAX what is being taught in the set parameter 1 (byte 4). 1. Set commissioning mode. (OPM2 = 1 + OPM1 = 0). 2. The last commissioning operation (e.g. identification) must have been ended. Teaching is not permissible while a commissioning operation is active and will lead to a fault. 3.
3. Drive functions 5. Teaching is done via the bit handshake in the control and status bytes CPOS/SPOS (Fig. 3/9). The teach tar get is acknowledged in byte 4 of the input data (parameter 1) with the positive edge at SPOS.TEACH. Notes: The drive should be stopped during teaching. The signaled actual position changes suddenly when teaching the project zero point. As long as CPOS.TEACH = 1, the CMAX does not accept any starting edge. Therefore, no function can be started during teaching.
3. Drive functions Typical errors and warnings during teaching No. Type Cause W35 Actual position is out The software end positions were passed during teaching. side of the software end position E44 Teaching not possible Teaching cannot be executed. For reasons, see Tab. 3/17. E46 Start during teaching is not allowed. Commissioning mode: During CPOS.TEACH = 1, no commissioning operation can be started. Reason: Both the teaching function as well as the commissioning operation use parameter 1.
3. Drive functions 3.3 Record select operating mode (record select mode) A record can be started in the Drive enabled" state. This function is usually used for: moving to any records in the record list by the PLC processing a positioning profile by linking records known target positions that seldom change (recipe change). Controller functions Tab. 3/18 shows the suppor ted controller functions during record selection.
3. Drive functions Overview of parameters involved (see also section 5.4.5) Parameters involved Description PNU All parameters of the record data, see sections 3.3.2, Tab. 3/20 401 ... 412 1) Default values, depending on PNU 403 1) 600 ... 608 Start (FHPP) CPOS.START = positive edge: Start Jogging and referencing have priority. Acknowledgement (FHPP) SPOS.MC = 0: Motion Complete SPOS.ACK = positive edge: Acknowledge Start SPOS.
3. Drive functions 3.3.1 Start of a record 1 Setpoint record number Output data N−1 N N−1 N N+1 0 1 Start CPOS.START 0 1 Acknowledge Start SPOS.ACK 0 1 Motion Complete SPOS.MC 0 1 Actual record number Input data 0 1 2 tmin 3 4 5 6 7 tmin: at least 1 bus cycle waiting time. Recommendation: 1 PLC cycle. Not required if consistent data transmission is used. Fig. 3/10: Record start sequence 1 Set the required record number in the PLC’s output data.
3. Drive functions 3 The CMAX accepts the record number and starts positio ning, i.e. the setpoint curve. In the PLC input data, the actual record number is set to the current record and SPOS.MC is reset. 4 The CMAX signalises with the rising edge at SPOS.ACK that the PLC output data have been accepted and that the positioning task is now active. 5 The PLC recognises the acknowledgement SPOS.ACK = 1 in its input data and resets CPOS.START in its output data. 6 CMAX acknowledges the resetting of CPOS.
3. Drive functions Errors in the record parameters, e.g. an impermissible switching condition (see section 3.3.3). Subsequent record with active record switching not initia lised. If the next record is configured with an automatic profile, only the condition MC (or none) are permissible. Other wise, a warning (W37) is signaled and the free profile is used. The CMAX does not react to the rising edge at CPOS.START: It must be checked whether SPOS.ACK was really reset.
3. Drive functions 3.3.2 Record structure A positioning task in record select mode is described by a record made up of setpoint values. Every setpoint value is addressed by its own PNU. A record consists of the setpoint values with the same subindex. PNU 1) Name Position control 401 Record control byte 1 RCB1 Setting for positioning task: absolute/relative, position/force control, ...
3. Drive functions 3.3.3 Conditional record switching / record chaining (PNU 402) Record select operating mode allows several positioning tasks to be linked. This means that several records are auto matically executed one after the other after START. This al lows a travel profile to be defined, e.g. switching to another speed after a position is reached. To do this, a (decimal) condition is set in RCB2 to define that the following record N + 1 is automatically executed after the current record.
3. Drive functions Mode of action of the Start, Ack, MC and RCx signals Signal Bit Description START CPOS.START Start of the first record of the record chaining MC SPOS.MC End of the record chain RC1 RSB.RC1 First record chain executed: After the first switch, bit 0 in the record status byte (RSB) is set. RCC RSB.RCC Record chain complete: At the end of positioning (MC=1), RCC is set to show that all parametrised switches were executed. RCE RSB.
3. Drive functions Defined switching conditions in the CMAX Value Condition Description 0 No switch. 1 Reserved 2 Position The preselected value is inter preted as the position value 1. The switch happens as soon as the current actual position ex ceeds the preselected value in the direction of travel 2. As there is no need to stop, the drive reaches its target position quicker. Speed Position 1 MC 2 3 Force The preselected value is inter preted as the force value 1.
3. Drive functions Defined switching conditions in the CMAX Value Condition Description 4 The preselected value is inter preted as the time T1 1. Switch: The drive moves slowly up to the unknown workpiece posi tion 2 (to the end point) and stops there 3 . When a standstill is reached, the time T1 begins. As soon as this has elapsed, the next record is executed 4. If the drive didn’t move up to 100 ms after the start of the record (e.g.
3. Drive functions Defined switching conditions in the CMAX Value Condition Description 6 ... 10 Reserved 11 Stroke The preselected value is inter preted as the stroke 1 (position difference, with sign). The stroke refers to the last target position, not the actual position reached during the last positioning. The switch 2 occurs after reach ing the specified stroke. If the current record has already been started by means of chain ing, the preselected value refers to the switching position.
3. Drive functions Defined switching conditions in the CMAX Value Condition 13 Description Stroke after Switching is only permissible in a force record. force The preselected value is inter preted as the stroke 1 (position difference, with sign). After reaching the MC condition for the force task 2, monitoring of the actual position is started. The switch 3 occurs as soon as the stroke 1 set in the pre− selected value has been passed.
3. Drive functions Defined switching conditions in the CMAX Value Condition Description 14 Switching is only permissible in a force record. The preselected value is inter preted as the position value 1. Switching occurs as soon as the current actual position reaches the preselected value, indepen dently of whether the MC condi tion for the force task has already been met (case 3, signals with solid lines) or not (case 2, sig nals with dashed lines). Attention: SPOS.
3. Drive functions 3.4 Direct operating mode (direct mode) In the Operation enabled" state (direct mode), a positioning task is formulated directly in the I/O data, which is trans mitted by the CPX node (e.g. via the fieldbus). The setpoint values are reserved in the PLC here. Typical applications The function is used in the following situations: Moving to any position within the effective stroke. The target positions are unknown during designing or change frequently (e.g.
3. Drive functions Overview of parameters involved (see also sections 5.4.8 and 5.4.9) Parameters involved Description PNU 1) Position control Basic speed value 2) 540 Direct mode acceleration 541 Direct mode deceleration 542 Workpiece mass 544 Tolerance Force control Basic value for force ramp 545 2) 550 Workpiece mass 551 Force tolerance 552 Damping time in ms 553 Speed limit for force control 554 Start (FHPP) CPOS.START = positive edge: Start CDIR.
3. Drive functions 3.4.1 Start of a positioning task 1 Setpoint values Output data N−1 N+1 N N+2 0 1 Start CPOS.START (B1) 0 1 Acknowledge Start SPOS.ACK (B1) 0 1 Motion Complete SPOS.MC (B2) 0 1 2 3 4 tmin tmin: at least 1 bus cycle waiting time. Recommendation: 1 PLC cycle. Not required if consistent data transmission is used. Fig. 3/11: Start the positioning task The sequence of remaining control and status bits behave according to record select operating mode. See sections 3.3.
3. Drive functions 3 After resetting CPOS.START and the acknowledgement SPOS.ACK = 0, a new setpoint value can be started at any time. There is no need to wait for MC. The CMAX internally calculates tne necessary steps to execute the new positioning task. If a change of direction is required, for example, the drive is first braked until speed = 0 is reached. Only then is the new setpoint posi tion transferred to the controller. No fault message is gen erated.
3. Drive functions Setpoint value limitation The setpoint values are limited according to Tab. 3/25. Setpoint value limitation Value Description Limit values (rel/abs, if necessary) Error or warning Secondary setpoint, position Speed as a percentage of the basic value (PNU 540 or PN U 600). 0 % ... 100% 0.01 m/s to 10 m/s No Workpiece mass as a percentage of the basic value of the workpiece mass (PNU 551 or PNU 605) 0 % ... 100% 0 kg to 2000 kg 1) No Primary set point, posi tion Position.
3. Drive functions 3.4.2 Continuous setpoint specification (tracking mode) Continuous setpoint specification active 1 Setpoint value Output data N N−1 0 N+1 N+ 19 N+ 20 N+ 21 1 Start CPOS.START 0 1 Acknowledge Start SPOS.ACK 0 1 Motion Complete SPOS.MC 0 1 2 3 4 Fig. 3/12: Start the positioning task 1 Set the desired setpoint value (position, force) and the speed setpoint in the output data of the PLC. 2 If SPOS.
3. Drive functions 3−74 Festo P.
Faults and diagnostics Chapter 4 Festo P.
4. Faults and diagnostics Contents 4.1 4.2 4.3 4.4 4.5 4−2 Overview of diagnostics options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 Error numbers on the CPX terminal . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 Fault groups: Classification according to the cause . . . . . . . . . . . . 4.2.
4. Faults and diagnostics 4.1 Overview of diagnostics options The CMAX supports a number of different options for diag nostics and error handling in the CPX terminal. An overview is shown in Tab. 4/1. Access/ Function Diagnostics option Brief description Detailed description Local Display on the device LED display, dis play / 7− segment display The LEDs and the display directly indi cate operating and fault statuses. Fast on −the−spot" diagnosis.
4. Faults and diagnostics 4.2 Faults and warnings The CMAX permanently monitors the operating status and issues corresponding diagnostic messages in the event of deviations from the nominal status. The diagnostic messages are categorised as faults (errors) or warnings, depending on the cause or effect, and can be evaluated in detail and then processed. Faults Events and statuses that jeopardize or prevent correct oper ation of the CMAX are reported as faults.
4. Faults and diagnostics Acknowledging faults Indicated faults need to be acknowledged with CCON.RESET. It may be necessary to eliminate the cause of the fault first. 1. Positive edge on CCON.RESET. 2. Wait 3 s (depending on the fault, the CMAX requires at the most 3 seconds, e.g. to initialize the axis). 3. Check whether the fault has been eliminated: if SCON.FAULT = 0: ok if SCON.FAULT = 1: Check fault number, eliminate cause, if necessary, see section 4.2.5.
4. Faults and diagnostics 4.2.1 Error numbers on the CPX terminal All CMAX faults are also reported as CPX error messages 10x (100 ... 109). These can be ev aluated via the CPX node, e. g. via the I/O diagnostic interface. Function number Module diagnostic data 2008+m*4+1 Module error number (CPX error) 4.2.2 Fault groups: Classification according to the cause The CMAX faults and warnings are arranged in groups. The first digit indicates the group and the second digit indicates the cause.
4. Faults and diagnostics 4.2.3 Fault level: Classification according to the response to the fault The fault level is a classification according to the CMAX response to an identified diagnostic event.
4. Faults and diagnostics 4.2.4 Reset types: Behaviour in the event of fault acknowledgement Depending on the type of the fault, acknowledgement leads to various actions in the CMAX, in order to delete the active fault message and possibly quit the fault status. Type Description Example R Acknowledging (reset) The reset command deletes the message. The fault is then termin ated. It will only be reported once more if the command is repeated without the cause of the message having been eliminated.
4. Faults and diagnostics 4.2.5 Error number and warning numbers Fault group 0 configuration error CPX error group 100 (CPX−MMI:[Configurationerror] ) No. Message Cause/description Error handling Type1) 01 The nominal configur ation deviates from actual configuration 2) A component on the axis string does not corres− pond to the nominal con figuration: Measuring system or sensor interface (type, length). Cylinder (type, length, diameter). Valve (size).
4. Faults and diagnostics Fault group 0 configuration error CPX error group 100 (CPX−MMI:[Configurationerror] ) continued No. Message Cause/description Error handling Type1) 05 Project not loaded com pletely or block down load active The controller cannot be enabled because the nominal configuration is not yet complete. (Configuration status C00, C01 or C02). · Complete the nominal Level: F2 Reset: R Info: The controller cannot be enabled because block download is still active.
4. Faults and diagnostics Fault group 1 execution error CPX error group 101 (CPX−MMI:[Executionerror] ) No. Message Cause/description Error handling Type1) 10 Homing not carried out Drive with incremental measuring system is not referenced. · Carry out homing. Level: F1 Reset: R Info: x 11 No homing provided Homing task in the case of absolute measuring system. · Do not carry out homing.
4. Faults and diagnostics Fault group 1 execution error CPX error group 101 (CPX−MMI:[Executionerror] ) continued No. Message Cause/description Error handling Type1) 16 Dynamic identification failed Incorrect mass parame trised or transferred in parameter 2. 2) · Check mass and data. Level: F1 Reset: R Info: x Too much mechanical play in the system. · Check system struc Constructional design not stable enough. · Check system struc Tubes used are too long.
4. Faults and diagnostics Fault group 1 execution error CPX error group 101 (CPX−MMI:[Executionerror] ) continued No. Message Cause/description Error handling Type1) 19 Impermissible mode change Change between record select operating mode and direct operating mode during active posi tioning task (SPOS.MC=0). · Reversing only Level: F1 Reset: R Info: x after completed positioning task (SPOS.MC = 1) Change between record · Shifting only in stop select operating mode or status.
4. Faults and diagnostics Fault group 2 record error CPX error group 102 (CPX−MMI:[Recorderror] ) No. Message Cause/description Error handling Type1) 21 Impermissible record number When starting an invalid record number was pending (0 or > 64). · Check record Level: F1 Reset: R Info: x Record is not configured Retrieved record was not configured and con tains no valid position ing data. · Check record and The retrieved record is not enabled for execu tion.
4. Faults and diagnostics Fault group 2 execution error CPX error group 102 (CPX−MMI:[Recorderror] ) continued No. Message Cause/description Error handling Type1) 27 Sequencing condition cannot be reached during the positioning task. Sequencing position is not between the start ing position (last set point value or actual value at the time of sequencing) and the new setpoint position, or both positions are identical.
4. Faults and diagnostics Fault group 3 control error CPX error group 103 (CPX−MMI:[Controlerror] ) No. Message Cause/description Error handling 30 · Remove obstacle or Timeout: Target value not Obstacle in the travel range (only position con correct target posi reached 2) troller). tion. Type1) Level: F1 Reset: R Info: x Compressed air not suffi · Check supply pres cient. sure, check hosing connection, configure error 50 as an error.
4. Faults and diagnostics Fault group 3 control error CPX error group 103 (CPX−MMI:[Controlerror] ) continued No. Message Cause/description Error handling Type1) 31 No movement after start 2) Pressure could not be built up. · Check supply pres Drive jammed or slug gish. · Check guide and Level: F1 Reset: R Info x Info: Working pressure not sufficient to move the mass. · Set sufficient working Valve defective. · Check pressure sure. mechanical structure.
4. Faults and diagnostics Fault group 3 control error CPX error group 103 (CPX−MMI:[Controlerror] ) continued No. Message Cause/description Error handling Type1) 33 Target position outside of the software or hard ware end positions Target position is out side of the set software end positions. · Check and correct Level: F1 (W) Reset: R Info: x Target position is out side of the reachable hardware end positions.
4. Faults and diagnostics Fault group 3 control error CPX error group 103 (CPX−MMI:[Controlerror] ) continued No. Message Cause/description Error handling Type1) 36 Software end position reached with force con trol 2) No workpiece. · Check workpiece, Level: F1 Reset: R Info: x check workpiece position. · Use record sequenc ing for return travel or stop. Software end positions · Correct software end can be reached in the de positions. sired sequence.
4. Faults and diagnostics Fault group 3 control error CPX error group 103 (CPX−MMI:[Controlerror] ) continued No. Message Cause/description Error handling Type1) 39 Speed too high with force control Configured permissible speed limit was ex ceeded with force con trol. · Check workpiece, Level: F1 Reset: R Info: x Nominal speed of the force record is set too large compared to the limit speed. · Harmonise nominal check speed limit. speed and speed limit.
4. Faults and diagnostics Fault group 4 system error A CPX error group 104 (CPX−MMI: [SystemerrorA] ) No. Message Cause/description Error handling Type1) 40 Impermissible control mode with force control Force control set for DSMI. · DSMI cannot execute Level: F1 Reset: R Info: x Impermissible control mode set in the RCB1 or CDIR · Correct RCB1 or CDIR. Positioning mode Rela tive" not permissible in tracking mode Relative bit (CDIR.
4. Faults and diagnostics Fault group 4 system error A CPX error group 104 (CPX−MMI: [SystemerrorA] ) continued Error handling Type1) No. Message Cause/description 44 Teaching not possible 2) Teaching (falling edge on · Only activate Level: F1 CPOS.TEACH) is trig CPOS.TEACH = 1 (pre Reset: R gered unintentionally pare teaching) directly Info: x through disconnection or before the teaching switching off the control. process. Always end teaching immediately.
4. Faults and diagnostics Fault group 4 system error A CPX error group 104 (CPX−MMI: [SystemerrorA] ) continued No.
4. Faults and diagnostics Fault group 5 system error B CPX error group 105 (CPX−MMI: [SystemerrorB] ) Type1) No. Message Cause/description Error handling 50 Supply pressure is too low 2) Pressure in both cylin der chambers is < 1.5 bar. · Check the compressed Level: F2 (W) air supply. · Wait until cylinder Reset: F Info: x chambers (poss. via leakage) are suffi ciently filled. · Configure as a warning.
4. Faults and diagnostics Fault group 5 system error B CPX error group 105 (CPX−MMI: [SystemerrorB] ) continued No. Message Cause/description Error handling Type3) 54 Operating voltage over load on the controller Short circuit in the cables of the axis string (between controller and valve or valve and sen sor interface).
4. Faults and diagnostics Fault group 6 error in valve CPX error group 106 (CPX−MMI: [Error in valve] ) No. Message Cause/description Error handling Type1) 60 Faulty communication with the valve or no valve present When switching on, only the position measuring system/sensor interface was found. The valve was not detected. · Check cables to the Level: F2 Reset: N Info: x valve. · Replace the valve.
4. Faults and diagnostics Fault group 6 error in valve CPX error group 106 (CPX−MMI: [Error in valve] ) continued No. Message Cause/description Error handling Type1) 65 Operating voltage of the valve outside of the tol erance range (under− voltage) The valve reports in sufficient operating volt age. Either the cable between the CMAX and the valve is faulty or the valve.
4. Faults and diagnostics Fault group 7 controller error CPX error group 107 (CPX−MMI:[Controllererror] ) No. Message Cause/description Error handling Type1) 72 system software error Internal software error (firmware). · If possible, read diag Level: FS Reset: Poff Info: x nostic memory and save and archive the project. · Switch controller off/on and check whether error occurs again. · Contact Support. 73 Controller hardware faulty No communication possible with CMAX.
4. Faults and diagnostics Fault group 8 measuring system error CPX error group 108 (CPX−MMI:[Encodererror] ) No. Message Cause/description 80 Faulty communication with the measuring system/ sensor interface or no measuring system/sensor interface present Position measuring sys · Exchange position tem / sensor interface was measuring system / not detected when switch sensor interface, check ing on. the cables.
4. Faults and diagnostics Fault group 8 measuring system error CPX error group 108 (CPX−MMI:[Encodererror] ) Message 84 Reference position of the Although the controller · Reference again. measuring system lost has set the status to Referenced", the measuring system/ sensor interface re ported Not referenced".
4. Faults and diagnostics 4.3 4.3.1 Diagnostic parameters Latest diagnostic status The CMAX offers various parameters for the current diagnos tic messages. PNU Brief description 220 Active fault messages bit−encoded 221 Active warning messages, bit−encoded 224 Currently indicated fault ’Exx’ on the display 225 Currently active fault level 226 Current warning to be indicated in the FCT 227 Error status, bit−encoded for FCT Tab.
4. Faults and diagnostics Parameter Description Active fault level PNU 225 In this way the FCT can display the current status of the CMAX in accord ance with the fault level (section 4.2.3). The most serious current fault is always responsible for the current fault level. Bit−encoded fault status PNU 227 The bit−encoded error status allows the FCT to indicate the exact status of an active fault message. The coding is identical to the coding of the PNU 203 support information.
4. Faults and diagnostics Structure of an entry in the diagnostic memory determines meaning Time stamp milliseconds of the day Days in operation Event Diagnostic code Additional information determines meaning PNU 222 PNU 202 PNU 200 PNU 201 PNU 203 int32 int32 int32 int32 int32, (bit−encoded) Number of days in operation Number of milli Diagnostic event seconds of the day Diagnostic number Additional in formation for FCT Tab.
4. Faults and diagnostics Diagnostic events The diagnostic event determines the meaning of the diagnos tic code and the additional information. Diagnostic events (PNU 200) Value 1) Qty. Description Diagnostic code (PNU 201) Additional information (PNU 203) 0 Blank entry 1 E... Fault Fault number (} 4.2.5) Additional information incoming fault 3 R... Reset Reset number (} 4.3.4) Additional reset information 5 W... Warning Fault number (} 4.2.
4. Faults and diagnostics Examples of diagnostic messages Time stamp Event No. Description 2817d 17h 21.123s Reset R01 Reset successfully executed. All the fault messages were deleted. There is no longer a fault. 2817d 16h 18.123s Fault E50 Supply pressure too low (< 1.5 bar) Last command: Execute record, record number 64 2817d 03h 18.123s Switch on P01 Project data available and load (duration of the initialization: 1289 ms).
4. Faults and diagnostics 4.3.3 Fault status (PNU 227) and additional information (PNU 203) This additional information is designed mainly for diagnostics performed by FCT. It supplements the error number by helpful information such as the record number. With active messages, it also indicates whether the error can be acknowledged and whether the cause is still active. The coding is the same for the parameters: PNU 203: Additional information with errors/warnings in the diagnostic memory. Index 1 ...
4. Faults and diagnostics Range Name Description Bit 31..22 (203/−−) Internal diag nostic code Internal diagnostic information (only for service staff ). Bit 21 (−−/227) A Required action = 0: Acknowledge: The cause of the message is currently not ac tive or is presently not being checked. The message can be acknowledged. = 1: Eliminate: The cause of the message is still active. The cause must be eliminated before the message can be acknowledged.
4. Faults and diagnostics Information and details on the faults (PNU 202) Info (bit 11 ... 08) Details (bit 07... 00) Value Description Value Description 0 No information 1 Cause of fault E08 1 (valve drive or (valve, measuring system 2 was exchanged) 3 4 2 4−38 Cause of fault E09 1 (faulty parameter 2 in the project) Not specified. Valve was exchanged. Sensor was exchanged. Valve and sensor were exchanged. Not specified.
4. Faults and diagnostics Information and details on the faults (PNU 202) Info (bit 11 ... 08) Details (bit 07... 00) Value Description Value 3 Cause of fault E44 1 (teaching not 2 possible) Description Not specified. In direct operating it is not possible to teach (no teach target). 3 Homing not carried out. 4 Commissioning: Unknown teach target specified in parameter 1.
4. Faults and diagnostics Information and details on the faults (PNU 202) Info (bit 11 ... 08) Details (bit 07... 00) Value Description Value Description 6 1 Switch on. 2 Enable drive. 3 Disable drive. 4 Enable drive. 5 Disable operation (stop). 10 Start direct operating. 11 Start direct operating positioning task. 12 Start direct operating force task. 13 Start direct operating positioning task continuously. 14 Start direct operating force task continuously. 20 Start homing.
4. Faults and diagnostics 4.3.4 Diagnostic code and additional information with reset, switching on and configuration The diagnostic memory contains other diagnostic events along with faults and warnings. Here the contents of what the diagnostic number and additional information means is de scribed. Diagnostic event 3: Reset A reset command was executed with FCT or with the PLC. Diagnostic number No. Description 1 Successful: All the fault messages were deleted.
4. Faults and diagnostics Diagnostic event 7: Switch on The CMAX was switched on. Diagnostic number No. Description 1 Normal start: Project data fully loaded. 2 Start in configuration mode C00: no project available. 3 Start in configuration mode C01: Project incomplete. 4 Start in configuration mode C02: Project incomplete. 5 Start in configuration mode C03: Movement test must be carried out.
4. Faults and diagnostics Diagnostic event 8: Configuration A configuration/commissioning operation was executed. Diagnostic number No. Description 1 Firmware was updated. 2 Data reset: All user and controller data was deleted. 3 Movement test carried out. 4 Static identification executed. 5 Static and dynamic identification executed. 6 Identification reset, identification data were deleted.
4. Faults and diagnostics 4.4 Configuration of diagnostic messages and faults PNU 228 permits the configuration of diagnostic events. PNU 228: Configuration of diagnostic events Index Description Default 1 Diagnostic events filter 0x0000000F 2 Fault messages filter 0x0000007F 3 Configuration of fault messages 0x000000C0 Tab. 4/14: Configuration of the diagnostic messages Diagnostic events filter These settings allow you to determine which diagnostic ev ents should be recorded.
4. Faults and diagnostics Fault messages filter The fault messages filter allows you to exclude certain faults and warnings from the diagnostic memory records. This makes sense for faults that are part of the normal operating cycle because they are inherent to the process (load voltage errors) or because they occur frequently for other reasons.
4. Faults and diagnostics Not all faults can be configured individually, only selected ones for which configuration in the CMAX makes sense. PNU 228:03 configuration of fault messages Which faults do you want treated as a warning? Bit Description Specifica tion 1) 0 E27: Sequencing condition cannot be reached during the positioning task. In case of warning: Record is executed as if no record sequencing were parame trised. Subsequent record is not executed, error E28 is not reported.
4. Faults and diagnostics 4.5 Diagnostics via standard functions of the CPX terminal Faults in the CMAX or the connected modules are reported to the CPX node as CPX error messages. The following sections contain the special features of the representation for the CPX− specific diagnostic options. 4.5.1 I/O data module (control and status bytes, see section 2.2), Status bits (see section 4.5.1), I/O diagnostics interface (see section 4.5.2). Status bits of the CPX terminal Tab.
4. Faults and diagnostics 4.5.2 I/O diagnostic interface and diagnostic memory A range of different diagnostic information is accessible via the I/O diagnostic interface and the diagnostic memory of the CPX terminal. Diagnostic memory data (CPX−MMI and I/O diagnostic interface) The representation of diagnostic messages of the CMAX in the diagnostic memory of the CPX terminal occurs as shown in Tab. 4/19. Diagnostic memory data (10 bytes per entry, max. 40 entries) Function no.
4. Faults and diagnostics Example of diagnostic memory entry for error E50 Diagnostic memory data Value Byte Designation Description Dec Hex Bin 1 2 3 4 5 Days [day] Hours [h] Minutes [m] Seconds [s] Milliseconds [ms] Error was reported 22.66 ms after switching on the power supply (bit 7 in byte 5 is set if this is the first entry since Power ON).
4. Faults and diagnostics Diagnostic data of the module (I/O diagnostic interface) The specific representation of module diagnostic data (error messages) of the CMAX occurs as shown in Tab. 4/21 and Tab. 4/22. Module diagnostic data: Type of error and location where error arose Function no. 2008 + m * 4 + 0; Description Describes where the relevant error occurred. Bit Bit 0 ... 7 Values Bit 7 1 6 0 m = module number (0 ... 47) Type of error and location where error arose 5 ...
4. Faults and diagnostics 4.5.3 Split up: Parametrising via the I/O diagnostic interface In principle, parameters can also be changed via the CPX bus nodes or CPX−FEC−specific functions, such as acyclic services etc. The CMAX parameters are accessed via the I/O diagnostic interface, see Tab. 4/23. Information on the parametrisation can be found in the de scription of the CMAX communication profile. Function number 1) Parameter entry 4828 + m*64 + 0 ...
4. Faults and diagnostics Additional information Module code Function no: 16 + m*16 + 0: Module code CPX−CMAX−C1−1 = 176 Revision code Function no: 16 + m*16 + 13 Shows the module version: 0 ... 255 according to the name plate of the module. After a firmware update the name plate and the version no longer match. Serial number 784 + m*4 + 0 784 + m*4 + 1 784 + m*4 + 2 784 + m*4 + 3 Specifies the serial number of the module (8 digits).
Parameter Chapter 5 Festo P.
5. Parameter Contents 5.1 5.2 5.3 5.4 5−2 General parameter structure of the CMAX . . . . . . . . . . . . . . . . . . . . . . . . . . . Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 Password protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.2 Access via PLC and FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3 Status−dependent and operating mode dependent lock . .
5. Parameter 5.1 General parameter structure of the CMAX The CMAX contains a parameter set with the following structure. Group Indices Description Device data 100 ... 199 Device identification and device−specific settings, version numbers, identifier words, etc. Diagnostic data 200 ... 299 Memory for diagnostic events: fault numbers, fault time, current messages. Process data 300 ... 399 Current setpoint values and actual values, status data Record list 400 ...
5. Parameter Parameter classes Attribute / use Var Simple variable. Contains only one value. The subindex does not have a function. Array Contains multiple simple variables that all have the same signifi cance, the same limits, the same unit, etc. Example: Record list setpoint position (PNU 404). The elements in the array are addressed using the subindex. Struct (Record) Compilation of several single variables with different limit values etc. Tab.
5. Parameter 5.2 5.2.1 Access protection Password protection The password protection prevents unauthorised controlling or modifying of parameters, e.g. via a freely accessible MMI in a producing plant. The password only prevents write ac cess reading is always possible.
5. Parameter The following parameters can be modified despite password protection: PNU Parameter Description of the reason 116 Project identifier reserved for the FCT (synchronisation status). 130 Password Must be writable. 133 System password reserved for the FCT (reset CMAX in the event of Forgot password"). 204:05 Number of new entries Diagnostic memory display (status value, no parameter).
5. Parameter PNU 1192:04 Accept password Access Values Write = 0: Delete password = 1: Accept password Read = 0: No password set = 1: Password set and access free = 2: Password set and access blocked Tab. 5/5: Password access control The password must be entered when connecting with the FCT for the first time. It then remains active until the project is closed in the FCT. To change it, first enter and delete the old password. Then the new password can be entered and accepted.
5. Parameter 5.2.2 Access via PLC and FCT Simultaneous operation of the drive through PLC and FCT can be locked. This is done with the bits CCON.LOCK (FCT access blocked) and SCON.FCT_MMI (device control FCT). Preventing FCT operation: CCON.LOCK By setting the CCON.LOCK control bit (bit 5) the PLC prevents the FCT from taking over device control. So if the LOCK is set, FCT cannot write parameters or control the drive.
5. Parameter 5.2.3 Status−dependent and operating mode dependent lock This lock is designed to protect against maloperations during the operating phase. It is not permissible to modify para meters during operation that affect the controller. To do this, you must change to commissioning mode (or parametrisation, when using the cyclical I/O data). This data is documented as commissioning data. Each parameter also states which operating status is needed.
5. Parameter 5.2.4 Enable and stop with parametrisation The parametrisation in the cyclical I/O data requires that the CCON.STOP signal is not set, since operation enable is not possible. Commissioning parameters require that the controller is locked when writing. Transferring parameters has the following effects on the CCON.ENABLE and CCON.STOP signals Operating mode Read: CCON Write: CCON .ENABLE .STOP .ENABLE .
5. Parameter 5.3 Default values Default values can be used to globally specify positioning parameters (speed, acceleration, tolerance, ...) for record select mode and direct operating. They replace the individual record select or direct operating parameters. Record list PNU401 PNU402 PNU403 PNU404 PNU405 PNU406 PNU407 PNU408 PNU410 PNU411 RCB1 RCB2 RPC Setpoint value Preselect Speed Delay W mass Tolerance K ramp Acc.
5. Parameter Advantages: Simplifies parametrisation. The record and direct operating parameters are by default defined so that the respective default values are used instead of the parameters. If the default values are used for the parameters speed, acceleration, deceler ation, workpiece mass and tolerance, this amounts to 5 x 64 = 320 parameters for 64 records that do not need to be entered. Increased data transmission performance.
5. Parameter Parameter Control Bit PNU 403: RPC PNU 521: DMPC 31 = 0: Record is blocked = 1: Record is active is not evaluated 30 = 0: Record is not initialised or deleted = 1: Record is initialised by user is not evaluated 0 ... 29 Bitfield, controls acceptance of the default values, see Tab. 5/9. = 0: Using the default values = 1: Using the parameter from record select or direct mode Tab.
5. Parameter How is evaluation performed? Evaluation is performed upon start. When using the free pro file, the CMAX checks for each target parameter whether it should use the global setting or the individual parameter. Individual parameter values shall be used if the respective bit is set to 1 in the RPV (Record Parameter Control) or the MCPC (Direct Mode Parameter Control). Example Let’s assume 2 types of bulk goods are to be brought to a collection point and emptied there.
5. Parameter To perform this task, the following default values are defined first. Force control is not required, the values are not taken into account. Parameter PNU Value Comment Speed 600 1000 (= 1 m/s) Acceleration 602 1000 (= 1 m/s2) Do not use the maximum possible values from the identification data data. Braking ramp 603 1000 (= 1 m/s2) Workpiece mass 605 0 (= 0 kg) No workpiece mass in normal status Tolerance 606 50 (= 0.5 mm) Tolerance = 0.5 mm Tab.
5. Parameter With this record list and the default values the drive in fact performs the following movement. Step Start Target Speed Acc. Delay WP mass Tolerance 1 20.0 mm 75.0 mm 1.0 m/s 1.0 m/s2 1.0 m/s2 0.0 kg 0.5 mm 2 75.0 mm 145.5 mm 1.0 m/s 1.0 m/s2 1.0 m/s2 12.0 kg 0.5 mm 3 145.5 mm 205.2 mm 0.4 m/s 0.2 m/s2 0.2 m/s2 25.0 kg 0.5 mm 1.0 m/s 1.0 m/s2 1.0 m/s2 0.0 kg 0.5 mm 4 205.2 mm 20.0 mm Tab.
5. Parameter 5.4 Description of the parameters 5.4.1 Overview of parameters The following overview (Tab. 5/14) sho ws the FHPP’s parameters. The parameters are described in sections 5.4.2 to 5.4.16. PNU 1) PNU IND Name ((DE)) Max Properties1) Class Type Unit RW SH IB NB UL Device data, see section 5.4.
5. Parameter PNU 1) PNU IND Name (DE) Max Properties1) Class Type Unit RW SH IB NB UL Diagnostics, see section 5.4.3).
5. Parameter PNU 1) PNU IND Name (DE) Max Properties1) Class Type Unit RW SH IB NB UL Record list, see section 5.4.5 400 1 3 Setpoint record number Struct int32 0 R 400 2 3 Actual record number Struct int32 0 R 400 3 3 Record status byte Struct bitarray 0 R 401 X 64 Record control byte 1 Array bitarray 0 RW SH UL 402 X 64 Record control byte 2 Array bitarray 0 RW SH UL 403 X 64 Record param.
5. Parameter PNU 1) PNU IND Name (DE) Max Properties1) Class Type Unit RW SH IB NB UL Jog mode, see section 5.4.
5. Parameter PNU 1) PNU IND Name (DE) Max Properties1) Class Type Unit RW SH IB NB UL Axis configuration, see section 5.4.
5. Parameter PNU 1) PNU IND Name (DE) Max Properties1) Class Type Unit RW SH IB NB UL Force control, see section 5.4.14 1160 1 1 Force contr. gain factor Var int32 10 RW NB UL 1161 1 1 Force contr. dynamic gain Var int32 10 RW NB UL 1162 1 1 Force contr. filter factor Var int32 10 RW 1163 1 1 Force contr. timeout Var int32 9 RW SH NB UL 1164 1 1 Force contr.
5. Parameter The overview contains the following entries Index Physical value PNU Decimal parameter number IND Subindex (Array, Struct) decimal (X = all or several subindexes of the PNU) Max Max. index, largest index = array size/struct size Class Parameter class (Var, Array, Struct) Type Value type (int32, bitarray, char) Unit Index of the physical unit (see PNU 1193 and section B.
5. Parameter Representation of the parameter entries 1 Cylinder length 2 PNU PNU: 1101 Values Unit: Length (index = 2) Index: 1 Max. index: 1 Linear drive 3 Dimen sion Default SI 0.01 mm 0 imperial 0.01 ft 0 Class: Var Data type: int32 Semi−rotary drive Minimum Maximum Dimen sion Default Minimum Maximum 0 1.000.000 0,1 ° 0 0 100.000 0 1.000.000 0,1 ° 0 0 100.000 4 The cylinder length is stored in the sensor interface.
5. Parameter 5.4.2 Device data Manufacturer hardware version PNU PNU: 100 Values Without unit Index: 1 Default: 0x0100 Max index: 1 Class: Var Minimum: − Data type: int32 Maximum: − Coding of the CMAX hardware version. The version number is BCD−encoded, the upper 16 bits are not used. Format: 0x0000HHNN (HH = main version, NN = secondary version) ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Build date PNU PNU: 103 Values Default: Index: 1 ... 30 − Impermissible characters: − Max index: 30 Class: Array Data type: char Date of creation of the firmware. The date is implemented as a string. Format DD.MM.YYYY hh:mm:ss" Example: 03.07.2008 12:40:44 ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller.
5. Parameter Controller serial number PNU PNU: 114 Index: 1 Values Default: − Write: − Max index: 1 Class: Var Data type: bitarray CMAX serial number (CPX module serial number). It consists of 8 digits. Example: 37 12 34 56 37: Date=July 2003, (year: 0..F=2000...2015; month: 0..C) 23456: Continuous number ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Manufacturer device name PNU PNU: 120 Values Default: Index: 1 ... 30 CPX−CMAX−C1−1 Max index: 30 Impermissible characters: − Class: Array Data type: char CMAX designation (type). Unused characters are filled with zero (=00h=’0’). ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller.
5. Parameter HTTP drive catalog address PNU PNU: 123 Values Default: Index: 1 ... 30 www.festo.com Max index: 30 Impermissible characters: − Class: Array Data type: char Internet address of the manufacturer. Unused characters are filled with zero (=00h=’0’). ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller.
5. Parameter System password PNU PNU: 133 Index: 1 ... 2 Max index: 2 Class: Array Data type: int32 Internal password for the FCT. o The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. ý This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out. System time: count operating days .
5. Parameter Name of axis X PNU PNU: 180 Values Default: Index: 1 ... 30 Axis X Max index: 30 Class: Array Impermissible characters: ?@.,!:"§|$%&/ #‘’+~*’;°^<> Data type: char Name of the axis / the drive on the axis interface X. o The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out.
5. Parameter 5.4.3 Diagnostic memory The diagnostic memory and the diagnostic parameters are described in detail in the sections 4.3 and 4.4. Diagnostic event PNU PNU: 200 Values Without unit Default: 0 Index: 1 ... 100 Max index: 100 Class: Array Minimum: − Data type: int32 Maximum: − Type of diagnostic message, see section 4.3.2. Not only fault messages are entered into the diagnostic memory of the CMAX, but also switch−on operations, resets or configuration events.
5. Parameter Time stamp: time of the day PNU PNU: 202 Values ms Index: 1 ... 100 Max index: 100 Class: Array Default: 0 Minimum: − Data type: int32 Maximum: − Time of the current operating day in milliseconds at the time when the fault occurs. This time stamp is not a real−time clock. The time is read from the device data PNU 140 when the fault occurs. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Reserved PNU PNU: 204 Values Without unit Index: 2 Default: 2 Max index: 5 Minimum: − Class: Struct Data type: int32 Maximum: − Reserved. Is not used by the CMAX. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out.
5. Parameter Number of unread entries PNU PNU: 204 Values Without unit Index: 5 Default: 0 Max index: 5 Minimum: − Class: Struct Data type: int32 Maximum: − Number of new entries since switching on. FCT deletes the value after reading the diagnostic messages. Every new entry increments the value. o The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. ý This parameter can be written by FCT without higher−order controller.
5. Parameter Time stamp: day of operation . PNU PNU: 222 Values Days Index: 1 ... 100 Max index: 100 Class: Array Default: 0 Minimum: − Data type: int32 Maximum: − Time of the current operating day in milliseconds at the time when the fault occurs. This time stamp is not a real−time clock. The time is read from the device data PNU 140 when the fault occurs. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Current warning to be displayed in FCT PNU PNU: 226 Values Without unit Index: 1 Default: 0 Max index: 1 Minimum: − Class: Var Data type: int32 Maximum: − The PNU 226 contains the warning number the FCT is supposed to display. Warnings are not dis played on the CMAX display. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller.
5. Parameter Filter diagnostic message PNU PNU: 228 Index: 2 Values Default: 0000 0000 0000 0000 0000 0000 0000 0000 Write: 0000 0000 0000 0000 0000 0000 00xx xxxx Max index: 3 Class: Struct Data type: bitarray This filter allows you to exclude certain faults and warnings from the diagnostic memory records. This makes sense for faults that are part of the normal operating cycle because they are inherent to the process (load voltage errors) or because they occur frequently for other reasons.
5. Parameter 5.4.4 Process data Position values PNU PNU: 300 Values Unit: Position (index = 1) Index: 1 ... 3 Max index: 3 Linear drive Class: Array Data type: int32 Semi−rotary drive Dimension Default Minimum Maximum Dimension Default Minimum Maximum SI 0.01 mm − −1.000.000 1.000.000 0,1 ° − −100.000 100.000 Imperial 0.001 in − −393.701 0,1 ° − −100.000 100.000 393.
5. Parameter Pressure values PNU PNU: 302 Values Unit: Pressure (index = 4) Index: 1 ... 3 Max index: 3 Linear drive Imperial 1 psi Index 1 2 3 Data type: int32 Semi−rotary drive Dimension Default SI 0,1 bar Class: Array Minimum Maximum Dimension Default Minimum Maximum − −120 120 0,1 bar − −120 120 − −174 174 1 psi − −174 174 Value Pressure valve chamber 1 Pressure valve chamber 2 Calculated supply pressure ý The parameter value cannot be changed.
5. Parameter Cumulated stroke length PNU PNU: 305 Values Unit: Always in metres, irrespective of the system of measurement Index: 3 Default: 0 Max index: 4 Class: Struct Minimum: 0 Data type: int32 Maximum: 2.147.483.647 Total of movement changes of the drive since new state, the last data reset or a firmware download. Records all the movements performed by the drive, irrespective of control mode or enable. Warning: Specified in metres, not in the user system of measurement.
5. Parameter Additional axis status PNU PNU: 308 Index: 1 Values Default: − Write: − Max index: 1 Class: Var Data type: bitarray Additional status information of the controller. These are also valid in parametrising mode if SPOS is not available. Bit 0 Referenced SPOS.REF Bit 1 Motion Complete SPOS.MC Bit 2 Drive in motion SPOS.MOV Bit 3 Contouring error/tolerance error SPOS.DEV Bit 4 Bit 5 Bit 6 In tolerance Standstill warning Supply pressure in tolerance − SPOS.
5. Parameter 5.4.5 Record list Requested record number PNU PNU: 400 Values Without unit Index: 1 Default: 0 Max index: 3 Minimum: 0 Class: Struct Data type: int32 Maximum: 64 The record number that was accepted with the last starting edge. If no record was started yet, the value will be 0 (no permissible record number). ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Record control byte 1 PNU PNU: 401 Index: 1 ... 64 Values Default: 0000 0000 0000 0000 0000 0000 0000 0000 Write: 0000 0000 0000 0000 0000 0000 0xxx 0xxx Max index: 64 Class: Array Data type: bitarray The record control byte 1 (RCB1) controls the most important settings for the positioning task. It corresponds to the CDIR in direct mode, see section 2.2.4).
5. Parameter Record control byte 2 PNU PNU: 402 Index: 1 ... 64 Values Default: 0000 0000 0000 0000 0000 0000 0000 0000 Write: 0000 0000 0000 0000 0000 0000 xxxx xxxx Max index: 64 Class: Array Data type: bitarray Record control byte 2 (RCB2) controls conditional record sequencing. Bits 0 ...
5. Parameter Record setpoint value PNU PNU: 404 Values Unit depends on control mode: Position (index = 1) or force (index = 3) Default: 0 Index: 1 ... 64 Max index: 64 Class: Array Minimum: −1.000.000 Control mode position (RCB1.COM1 = 0): Control mode force (RCB1.COM1 = 1): Data type: int32 Maximum: 1.000.000 Position setpoint value in unit position (index 1) Force setpoint value in unit force (index 3) o The parameter value cannot be changed.
5. Parameter Record velocity PNU PNU: 406 Values Unit: Speed (index = 6) Index: 1 ... 64 Max index: 64 Linear drive Dimension SI 0,001 m/s Imperial 0.01 ft/s Class: Array Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 0 0 10.000 1 °/s 0 0 10.000 0 0 3.281 1 °/s 0 0 10.
5. Parameter Record acceleration PNU PNU: 407 Values Unit: Acceleration (index = 7) Index: 1 ... 64 Max index: 64 Linear drive Dimension Data type: int32 Semi−rotary drive Default SI 0,001 m/s2 0 Imperial 0.01 ft/s2 Class: Array 0 Minimum Maximum Dimension Default Minimum Maximum 0 100.000 1 °/s2 0 0 100.000 0 32.808 1 °/s2 0 0 100.
5. Parameter Record deceleration PNU PNU: 408 Values Unit: Acceleration (index = 7) Index: 1 ... 64 Max index: 64 Linear drive Dimension Data type: int32 Semi−rotary drive Default SI 0.001 m/s2 0 Imperial 0.01 ft/s2 Class: Array 0 Minimum Maximum Dimension Default Minimum Maximum 0 100.000 1 °/s2 0 0 100.000 0 32.808 1 °/s2 0 0 100.
5. Parameter Record workpiece mass PNU PNU: 410 Values Unit: Mass (index = 5) Index: 1 ... 64 Max index: 64 Linear drive Dimension SI 0.1 kg Imperial 1 lb Class: Array Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 0 0 20.000 1 kg cm2 0 0 2.000 0 0 4.409 0.1 lb in2 0 0 6.834 Current workpiece mass. Deviations from the actual mass load worsen the positioning behaviour. From mass changes of ap prox.
5. Parameter Record force ramp PNU PNU: 412 Values Unit: Force ramp (index = 8) Index: 1 Max index: 64 Linear drive Dimension SI 1 N/s Imperial 1 lbf/s Class: Array Data type: int32 Semi−rotary drive Default Minimum 0 10 Maximum Force control is not permissible p with semi− rotary drives. 100.000 0 2 22.481 The force ramp permits setting the increasing speed of the force.
5. Parameter 5.4.6 Project data General description of the dimensional reference system, see section B.2. Project zero point PNU PNU: 500 Index: 1 Values Unit: Position (index = 1) Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum SI 0.01 mm 0 −1.000.000 1.000.000 0,1 ° 0 −100.000 100.000 Imperial 0.001 in 0 −393.701 0,1 ° 0 −100.000 100.000 393.
5. Parameter Software end position PNU PNU: 501 Values Unit: Position (index = 1) Index: 1 ... 2 Max index: 2 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 0.01 mm 0 0 1.000.000 0,1 ° Dimension Default 0 Minimum Maximum 0 100.000 Imperial 0.001 in 0 0 393.701 0,1 ° 0 0 100.000 Permissible range for position setpoint values.
5. Parameter Permitted stroke during force control PNU PNU: 510 Values Unit: Position (index = 1) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 0.01 mm 5.000 100 1.000.000 0,1 ° Dimension Default 100 Minimum Maximum 10 100.000 Imperial 0.001 in 2.000 39 393.701 0,1 ° 100 10 100.000 Maximum permitted stroke with active force control.
5. Parameter Upper limit setpoint force PNU PNU: 512 Values Unit: Force (index = 3) Index: 1 Max index: 1 Linear drive Dimension SI 1 N Imperial 1 lbf Class: Var Data type: int32 Semi−rotary drive Default Minimum 0 0 Maximum Force control is not permissible p with semi− rotary drives. 100.000 0 0 22.481 Largest permitted setpoint value for a force control. A larger setpoint value leads to a fault or warning.
5. Parameter Jog mode parameter control PNU PNU: 521 Index: 1 Values Default: 0000 0000 0000 0000 0000 0000 0000 1101 Max index: 3 Class: Array Write: 0000 0000 0000 0000 0000 000x xxxx xxxx Data type: bitarray This parameter determines the use of the default values for jogging. A set bit means that the jog parameters (PNU 53x) are used instead of the default values (PNU 6xx), see section 5.3. o The parameter value cannot be changed.
5. Parameter FHPP: Control/Status bits: CPOS.HALT support (FHPP: Control/Status bits: CPOS.HALT support) PNU PNU: 522 Values Without unit Index: 1 Default: 0 Max index: 2 Minimum: 0 Class: Struct Data type: int32 Maximum: 1 Configuration of the intermediate stop (CPOS.HALT, reserved for future extensions). Value Function 0 Intermediate stop status is not supported. 1 Reserved o The parameter value cannot be changed.
5. Parameter FHPP: Setpoint and actual values . PNU PNU: 523 Values Without unit Default: 0 Index: 1 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 1 The setpoint and actual values in the cyclical I/O data can be defined for the various controller modes. See also section 2.2.
5. Parameter 5.4.7 Setpoint values for jog mode Jog mode slow speed PNU PNU: 530 Values Unit: Speed (index = 6) Index: 1 Max index: 1 Linear drive Dimension SI 0,001 m/s Imperial 0.01 ft/s Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 50 10 500 1 °/s 50 10 500 15 3 164 1 °/s 50 10 500 Slow speed for jogging. o The parameter value cannot be changed.
5. Parameter Jog mode acceleration PNU PNU: 532 Values Unit: Acceleration (index = 7) Index: 1 Max index: 1 Linear drive Dimension Imperial Data type: int32 Semi−rotary drive Default SI 0,001 m/s2 100 0.01 ft/s2 Class: Var 30 Minimum Maximum Dimension Default Minimum Maximum 10 100.000 1 °/s2 100 10 100.000 32.808 1 °/s2 100 10 100.000 3 Jogging acceleration. Depending on PNU 521:01, the corresponding default value is used instead, if necessary.
5. Parameter Jog mode time slow speed PNU PNU: 534 Values Unit: Time (index = 9) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 1 ms 3.000 0 1.000.000 1 ms Dimension Default 3.000 Minimum Maximum 0 1.000.000 Imperial 1 ms 3.000 0 1.000.000 1 ms 3.000 0 1.000.000 Duration of the slow speed phase. o The parameter value cannot be changed.
5. Parameter 5.4.8 Direct operating mode: Positioning Direct mode position base velocity PNU PNU: 540 Values Unit: Speed (index = 6) Index: 1 Max index: 1 Linear drive Dimension SI 0,001 m/s Imperial 0.01 ft/s Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 2.000 10 10.000 1 °/s 1.000 10 10.000 650 3 3.281 1 °/s 1.000 10 10.000 Base velocity in position control direct mode.
5. Parameter Direct mode position deceleration PNU PNU: 542 Values Unit: Acceleration (index = 7) Index: 1 Max index: 1 Linear drive Dimension Imperial Data type: int32 Semi−rotary drive Default SI 0,001 m/s2 2.000 0.01 ft/s2 Class: Var 650 Minimum Maximum Dimension Default Minimum Maximum 10 100.000 1 °/s2 1.000 10 100.000 32.808 1 °/s2 1.000 10 100.000 3 Deceleration in position control direct mode.
5. Parameter Direct mode position tolerance PNU PNU: 545 Values Unit: Position (index = 1) Index: 1 Max index: 1 Linear drive Dimension SI 0.01 mm Imperial 0.001 in Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 100 10 1.000 0,1 ° 10 1 100 40 4 394 0,1 ° 10 1 100 Tolerance in position control direct mode. Depending on PNU 521:02, the corresponding default value is used instead, if necessary.
5. Parameter 5.4.9 Direct operating mode: Force control Direct mode force base value force ramp PNU PNU: 550 Values Unit: Force ramp (index = 8) Index: 1 Max index: 1 Linear drive Dimension SI 1 N/s Imperial 1 lbf/s Class: Var Data type: int32 Semi−rotary drive Default Minimum 1.000 10 Maximum Force control is not permissible p with semi− rotary drives. 100.000 200 2 22.481 Base value for the force ramp in direct mode.
5. Parameter Direct mode force tolerance force PNU PNU: 552 Values Unit: Force (index = 3) Index: 1 Max index: 1 Linear drive Dimension SI 1 N Imperial 1 lbf Class: Var Data type: int32 Semi−rotary drive Default Minimum 10 1 Maximum Force control is not permissible p with semi− rotary drives. 1.000 3 0 225 Tolerance window in force control direct mode. Depending on PNU 521:03, the corresponding default value is used instead, if necessary. o The parameter value cannot be changed.
5. Parameter 5.4.10 Parameters of the default values Default value speed position mode PNU PNU: 600 Values Unit: Speed (index = 6) Index: 1 Max index: 1 Linear drive Dimension SI 0,001 m/s Imperial 0.01 ft/s Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 2.000 10 10.000 1 °/s 1.000 10 10.000 650 3 3.281 1 °/s 1.000 10 10.000 This value contains the speed preset by the user.
5. Parameter Default value acceleration PNU PNU: 602 Values Unit: Acceleration (index = 7) Index: 1 Max index: 1 Linear drive Dimension Imperial Data type: int32 Semi−rotary drive Default SI 0.001 m/s2 2.000 0.01 ft/s2 Class: Var 650 Minimum Maximum Dimension Default Minimum Maximum 10 100.000 1 °/s2 1.000 10 100.000 32.808 1 °/s2 1.000 10 100.000 3 This value contains the acceleration preset by the user.
5. Parameter Default value workpiece mass PNU PNU: 605 Values Unit: Mass (index = 5) Index: 1 Max index: 1 Linear drive Dimension SI 0.1 kg Imperial 1 lb Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 0 0 20.000 1 kg cm2 0 0 2.000 4.409 0.1 lb in2 0 0 6.834 0 0 This value contains the workpiece mass preset by the user. RPC−Bit = Bit 5 (= 0000.0020h) o The parameter value cannot be changed.
5. Parameter Default value tolerance force mode PNU PNU: 607 Values Unit: Force (index = 3) Index: 1 Max index: 1 Linear drive Dimension SI 1 N Imperial 1 lbf Class: Var Data type: int32 Semi−rotary drive Default Minimum 10 1 Maximum Force control is not permissible p with semi− rotary drives. 1.000 3 0 225 This value contains the tolerance for force control preset by the user. It is used in all records with force control where no individual tolerance is specified. RPC−Bit = Bit 7 (=0000.
5. Parameter 5.4.11 Drive configuration The hardware configuration is important for calculating the controller. The data is recognized automatically as much as possible. Data not recognized must be defined by the user, e.g. based on the name plate. If one of the following values was determined by the auto matic hardware recognition, only the value that was stored in the sensor or valve can be written. Writing any other value leads to a parameter error.
5. Parameter Cylinder length PNU PNU: 1101 Values Unit: Length (index = 2) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 0.01 mm 0 5.000 1.000.000 0,1 ° Dimension Default 0 Minimum Maximum 500 100.000 Imperial 0.01 mm 0 5.000 1.000.000 0,1 ° 0 500 100.000 The cylinder length is stored in the sensor interface.
5. Parameter Piston rod diameter PNU PNU: 1103 Values Unit: Diameter (index = 11) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum SI 0.01 mm 0 0 20.000 0.01 mm 0 0 20.000 Imperial 0.01 mm 0 0 20.000 0.01 mm 0 0 20.000 The piston rod diameter cannot be recognized automatically.
5. Parameter Measuring system length (sensor length) PNU PNU: 1111 Values Unit: Length (index = 2) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 0.01 mm 0 5.000 1.000.000 0,1 ° Dimension Default 0 Minimum Maximum 500 100.000 Imperial 0.01 mm 0 5.000 1.000.000 0,1 ° 0 500 100.000 With the DGCI and the DNCI the cylinder length and the measuring system length need to tally.
5. Parameter Valve type PNU PNU: 1120 Values Without unit Index: 1 Default: 0 Max index: 1 Minimum: 1 Class: Var Data type: int32 Maximum: 5 The valve type is read from the valve. The type is always recognized. If the valve delivers no known type, a fault (E04) is generated. The valve is not commissioned in this case. ID Valve type 0 Not configured 1 VPWP−2 2 VPWP−4 3 VPWP−6 4 VPWP−8 5 VPWP−10 o The parameter value cannot be changed.
5. Parameter Valve 2 type PNU PNU: 1125 Values Without unit Index: 1 Default: 0 Max index: 1 Class: Var Minimum: 1 Data type: int32 Maximum: 5 Reserved (see valve type 1 − parameter for second valve). o The parameter value cannot be changed. ý Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. ý After writing, controller recalculation is carried out.
5. Parameter 5.4.12 Application settings Offset axis zero point PNU PNU: 1130 Values Unit: Position (index = 1) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum SI 0.01 mm 0 −1.000.000 1.000.000 0,1 ° 0 −100.000 100.000 Imperial 0.001 in 0 −393.700 0,1 ° 0 −100.000 100.000 393.
5. Parameter Homing speed PNU PNU: 1132 Values Unit: Speed (index = 6) Index: 1 Max index: 1 Linear drive Dimension SI 0,001 m/s Imperial 0.01 ft/s Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 50 10 200 1 °/s 50 10 200 15 3 66 1 °/s 50 10 200 Speed at which the drive searches for the stop during homing. o The parameter value cannot be changed.
5. Parameter Supply pressure PNU PNU: 1141 Values Unit: Pressure (index = 4) Index: 1 Max index: 1 Linear drive Dimension SI 0,1 bar Imperial 1 psi Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum 60 30 100 0,1 bar 60 30 100 85 44 145 1 psi 85 44 145 Supply pressure applied to the valve. o The parameter value cannot be changed. ý Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Workpiece loaded at power−on PNU PNU: 1143 Values Without unit Index: 1 Default: 0 Max index: 4 Minimum: 0 Class: Var Data type: int32 Maximum: 1 If a controller is enabled, the last valid workpiece mass is always used. After the first enable after switching on, usually no workpiece is loaded, so CMAX only takes into account the basic mass with out a workpiece (PNU 1142). This parameter defines whether the workpiece should also be taken into account when switching on.
5. Parameter Clamp unit installed PNU PNU: 1143 Values Without unit Index: 3 Default: 0 Max index: 4 Minimum: 0 Class: Var Data type: int32 Maximum: 1 Defines whether or not a clamping unit is installed. The behaviour of the CMAX depends on the clamping unit. Upon start the clamping units needs to be released, for example, otherwise the CMAX will indicate a fault. 0 = not available 1 = available PNU 522 (FHPP settings) determines what effect the control bit CCON.BRAKE has.
5. Parameter 5.4.13 Controller data of position controller Position control gain factor PNU PNU: 1150 Values Unit: Amplification (index = 10) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum SI 0,01 100 10 1.000 0,01 100 10 1.000 Imperial 0,01 100 10 1.000 0,01 100 10 1.000 Position control amplification, see section B.7 o The parameter value cannot be changed.
5. Parameter Position control filter factor PNU PNU: 1152 Values Unit: Amplification (index = 10) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum SI 0,01 100 10 1.000 0,01 100 10 1.000 Imperial 0,01 100 10 1.000 0,01 100 10 1.000 Position control filter factor, see section B.7 o The parameter value cannot be changed.
5. Parameter Position control damping time for exact stop PNU PNU: 1154 Values Unit: Time (index = 9) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum Maximum Dimension Default Minimum Maximum SI 1 ms 30 10 1.000 1 ms 30 10 1.000 Imperial 1 ms 30 10 1.000 1 ms 30 10 1.000 This is the duration the actual value must be within the tolerance window without interruption before MC is generated.
5. Parameter 5.4.14 Force controller data Force control gain factor PNU PNU: 1160 Values Unit: Amplification (index = 10) Index: 1 Max index: 1 Data type: int32 Semi−rotary drive1) Linear drive Dimension Class: Var Default Minimum Maximum Dimension Default Minimum Maximum SI 0,01 100 10 1.000 0,01 100 10 1.000 Imperial 0,01 100 10 1.000 0,01 100 10 1.000 The gain factor is used to increase the control amplification.
5. Parameter Force control filter factor PNU PNU: 1162 Values Unit: Amplification (index = 10) Index: 1 Max index: 1 Data type: int32 Semi−rotary drive1) Linear drive Dimension Class: Var Default Minimum Maximum Dimension Default Minimum Maximum SI 0,01 100 10 1.000 0,01 100 10 1.000 Imperial 0,01 100 10 1.000 0,01 100 10 1.000 The signal filter factor can be used to influence the signal noise of the pressure sensors.
5. Parameter Force control damping time for exact stop PNU PNU: 1164 Values Unit: Time (index = 9) Index: 1 Max index: 1 Linear drive Dimension Class: Var Data type: int32 Semi−rotary drive Default Minimum SI 1 ms 100 10 Maximum Force control is not permissible p with semi− rotary drives. 1.000 Imperial 1 ms 100 10 1.000 This is the duration the actual value must be within the tolerance window without interruption before MC is generated.
5. Parameter 5.4.15 Identification Identification settings PNU PNU: 1170 Values Without unit Index: 1 Default: 0 Max index: 1 Class: Var Minimum: 0 Data type: int32 Maximum: 1 The parameter allows you to make certain settings that concern identification. = 0: Identification permits high accelerations = 1: Only perform the static identification (low accelerations) o The parameter value cannot be changed. ý Writing permissible only in commissioning/parametrising mode with disabled controller.
5. Parameter Identified maximum values PNU PNU: 1172 Values See description of the respective index. Index: 1 Default: 0 Max index: 6 Minimum: − Maximum values determined during identification.
5. Parameter Limit values PNU PNU: 1173 Values See description of the respective index. Default: 0 Index: 1 Max index: 14 Minimum: − Class: Array Data type: int32 Maximum: − Information on the limits for the positioning stroke carried out last, see section3.1.8.
5. Parameter Status movement test PNU PNU: 1174 Index: 1 Values Default: 0000 0000 0000 0000 0000 0000 0000 0000 Write: − Max index: 1 Class: Var Data type: bitarray Current status of the movement test.
5. Parameter Disable adaptation PNU PNU: 1175 Values Without unit Index: 1 Default: 0 Max index: 1 Minimum: 0 Class: Var Data type: int32 Maximum: 1 This parameter is used to deactivate adaptation. This is practically not required in any configuration, only in extremely rare cases does adaptation worsen the positioning behaviour. In most case adapta tion is useful. It improves the absolute reachable precision of the drive.
5. Parameter 5.4.16 System data Actual hardware configuration PNU PNU: 1190 Values see description of the respective index. Index: 1 Default: 0 Max index: 33 Minimum: − Class: Struct Data type: int32 Maximum: − Hardware configuration found after switching on (actual configuration). Value 0 means that the parameter could not be recognized automatically. The actual configuration contains the same parameters as the setpoint configuration (PNU 1100 to 1129). Units and values are identical.
5. Parameter Notes on PNU 1190: 5−94 Behaviour on delivery or after resetting the axis or device data: The recognized configuration is not auto matically included in the setpoint configuration. Instead the setpoint configuration is filled with 0. The setpoint configuration must be written in a way that is compatible with the actual configuration. Behaviour upon normal start: If the recognized hardware does not correspond with the setpoint configuration, this will trigger error handling.
5. Parameter Analysis data PNU PNU: 1191 Values Without unit Index: 1 Default: 0 Max index: 15 Minimum: − Class: Array Data type: int32 Maximum: − Internal data for controller qualification. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out.
5. Parameter Commissioning operation configuration status PNU PNU: 1192 Values Without unit Default: 0 Index: 2 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 4 When commissioning a certain number of parameters must be transmitted in a certain order. This parameter provides information about the status of parametrising and about the next commissioning step to be performed.
5. Parameter Commissioning function data reset PNU PNU: 1192 Values Without unit Index: 3 Default: 0 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 3 This parameter serves to delete axis and identification data. The axis data must be deleted if a new drive was connected to the CMAX or if the system of measure ment is to be changed. Deleting identification data can make sense if modifications were made in the system that lead to a significantly different positioning behaviour.
5. Parameter Commissioning function password status PNU PNU: 1192 Values Without unit Index: 4 Default: 0 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 2 PNU 130 contains a password. The parameter PNU 1192:04 controls the acceptance and delivers the current status.
5. Parameter Commissioning function system of measurement table PNU PNU: 1192 Values Without unit Index: 6 Default: 0 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 4 The system of measurement table corresponds to the selected table as per section B.1 (see specified table). The table contains the unit (millimetre or inch) used for every dimension and the scaling. The system of measurement table is derived from the system of units and the cylinder type.
5. Parameter Commissioning function valve and sensor status PNU PNU: 1192 Values Without unit Index: 8 Default: 0 Max index: 8 Minimum: 0 Class: Struct Data type: int32 Maximum: 0 Internal parameter. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out.
5. Parameter Start configuration PNU PNU: 1195 Values See description of the respective index. Index: 1 ... 5 Default: 0 Max index: 5 Minimum: − Class: Struct Data type: int32 Maximum: − These are important configuration data at the time of adopting the serial numbers. The current con figuration may only be modified within certain limits after this point in time. Index Value Setpoint configuration Unit Tolerance 1 Cylinder length PNU 1101 Length (index 2) 5.
5. Parameter Manufacturing data PNU PNU: 1199 Values Without unit Default: 0 Index: 1 ... 7 Max index: 7 Minimum: − Class: Array Data type: int32 Maximum: − Internal parameter. ý The parameter value cannot be changed. o Writing permissible only in commissioning/parametrising mode with disabled controller. o This parameter can be written by FCT without higher−order controller. o After writing, controller recalculation is carried out. 5−102 Festo P.
Parametrisation Chapter 6 Festo P.
6. Parametrisation Contents 6.1 6.2 6.3 6−2 Festo Parameter Channel (FPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Request identifiers, response identifiers and error numbers . . . . . 6.1.2 Special features of the system of measurement . . . . . . . . . . . . . . . Cyclic parametrising in parametrising mode . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.1 Example of parametrising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.
6. Parametrisation 6.1 Festo Parameter Channel (FPC) The FPC is used for transmitting parameters. The PLC sends a request to the CMAX consisting of a parameter number, a subindex, a value and a task identifier. The CMAX responds with the PNU, the subindex, the value and a response identifier. This process takes several bus cycles.
6. Parametrisation 6.1.1 Request identifiers, response identifiers and error numbers Description ReqID ResID (+) ResID ( ) Request with response in the event of an error No request 0 0 0 Read parameter value 6 5 7 Change parameter value 8 5 7 Tab. 6/4: Request identifiers and response identifiers Rules: 6−4 There are the data types integer, character (char) and bitfield. Each parameter value is transmitted as a 32−bit value.
6. Parametrisation Error Error description 0 Impermissible PNU. 1 Parameter value cannot be changed. 2 Lower or upper value limit exceeded. 3 Invalid subindex. 11 No higher−order controller. FCT must accept device control in order to write this parameter. This error can only be generated via the service interface. 12 The password entered is wrong. 17 Request cannot be carried out due to operating status. Please check operating mode, stop and enable signals. 101 Request ID is not supported.
6. Parametrisation 6.1.2 Special features of the system of measurement The following special rules apply to accessing the system of measurement. For detailed information on the system of measurement, see section B.1: 6−6 The system of measurement cannot be switched over at will. To change the system of measurement, the axis data must be reset. After defining the system of measurement (metric / im perial), the cylinder type must be transmitted.
6. Parametrisation 6.2 Cyclic parametrising in parametrising mode In parametrising mode the FPC can be used to transmit one parameter at a time in the cyclic I/O data. The PLC enters the request in the output data and waits until the CMAX has entered a response in the input data. This pro cess takes several bus cycles. FPC in the cyclic I/O data (see also I/O allocation in section 2.2.
6. Parametrisation 6.2.1 Example of parametrising Programmers can use the following example as an orientation for implementation. Example Wrote setpoint position Record 3 = 27.89 mm Parameter request (PLC output data) ReqID = 8 (= Write value) PNU = 404 (= Record list setpoint value) IND = 3 (= Record 3) Value = 27.89 * 100 = 2789 Parameter response (PLC input data) ResID = 5 (= Value has been transmitted) PNU = 404 (= Record list setpoint value) IND = 3 (= Record 3) Value = 2789 Fig.
6. Parametrisation Switch to parametrising mode Switching is permitted in the statuses Controller disabled", Controller enabled" or Fault". Example Controller enabled" status. Allocation of the control bytes (switch to parametrising mode) Bit B7 B6 B5 B4 B3 B2 B1 B0 CCON Byte 1 OPM2 1 Set to 0 OPM1 1 LOCK 1 x RESET x BRAKE x STOP 0 ENABLE 1 ... Byte 5...8 Feedback from the CMAX: Parametrising mode. SPOS.OPM1 and OPM2 must be 1.
6. Parametrisation Carry out parametrising 1. Step: Prepare parametrising with No request" Allocation of the control bytes (step 1) Bit B7 B6 B5 B4 B3 B2 B1 CCON Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP 1 1 1 x x x 0 Subindex Subindex of the parameter to be transmitted =0 Byte 2 0 0 0 0 0 0 0 Para PNU = 0 meter 0 0 0 0 0 0 0 identifier ReqID = 0 PNU = n. r. (0000 0000 0000b) Byte 3+4 0 0 0 0 0 0 0 Para Value of the parameter to be transmitted = 0 meter value Byte 5...
6. Parametrisation 2.
6. Parametrisation 6.2.2 Sequence chart Start Step 1 First send No request" to ensure that the previous parameter request has been reliably terminated. Set in output data: Send No Request" Value IND PNU ReqID Input data: (ResID <> 0) OR (PNU <> 0) OR (IND <> 0) =0 =0 =0 =0 Wait Answer Input data: (ResID = 0) AND (PNU = 0) AND (IND = 0) Step 2 Set the desired parameter request in the output data (request value, IND, PNU and ReqID).
6. Parametrisation 6.3 6.3.1 CPX module parameter and acyclic parametrising CPX function numbers Per module 64 byte module parameters (function no. 4828 + m*64 + 0...63) can be used in the system table. CPX module parameter of the CMAX Function no. Contents Description 4828 + m * 64 + 0 Module parameter 0 Standard module parameters, are not used by the CMAX (reserved) (reserved). 4828 + m * 64 + ... Module parameters ...
6. Parametrisation 6.3.2 Startup parameter The module parameters 0 ... 5 are not used and not trans mitted. The module configuration (byte 6 + 7) is transmitted from the master to CPX by means of startup parametrising. The para meters are reserved and described in the GSD file. Both bytes are currently not yet used and reserved for future functions.
6. Parametrisation 6.3.3 Acyclic parameter request Acyclic functions in the module parameters The CPX module parameters byte 8 to byte 61 are used to execute acyclic functions in the CMAX. The area is divided into a function head that serves request control and a data field of 50 bytes. Byte Description 8 ... 11 Function head for request control 12 ...
6. Parametrisation General procedure The module parameters byte 8 ... 11 contain a function head that controls the handshake between PLC and CMAX.
6. Parametrisation Sequence 1. The PLC compiles the request data according to the func tion number. The bytes in the data range that are not used must also be transmitted. They should be set to 0. 2. The PLC transmits the data into the module parameters byte 8 ... 61. When doing so it sets the PCB (byte 8) to 1. The status byte should be set to 0. 3. The CMAX processes the request as soon as byte 61 has been transmitted.
6. Parametrisation 6.3.4 Festo Parameter Channel FPC (function 1) Request control and data bytes Byte Contents 8 Function head Description Para. control byte PCB = 1 1= Request request for axis X 9 Para. status byte PSB = 0 Set status to 0 at start 10 Para. function byte PFB = 1 Function number = parameter channel 11 Para. length byte PLB = 0 (reserved) Number of parameters Number of parameters (permissible: 1 ... 7) 13 ... 19 Parameter 1 Byte 1 ... 7 of parameter 1 20 ...
Notes on commissioning and service Appendix A Festo P.
A. Notes on commissioning and service Contents A.1 A.2 A.3 A.4 A−2 Preparations and overview for commissioning . . . . . . . . . . . . . . . . . . . . . . . A.1.1 Checking the axis string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.2 Switching on the power supply, switch−on behaviour . . . . . . . . . . . Commissioning via the CPX node (fieldbus) . . . . . . . . . . . . . . . . . . . . . . . . . . A.2.1 C00: Basic parametrising . . . . . . . . . . . . . . . . . . . . . . .
A. Notes on commissioning and service A.1 A.1.1 Preparations and overview for commissioning Checking the axis string Prior to commissioning: · A.1.2 Check the complete system structure, especially the drive tubing and the electrical installation (see CMAX system description). Switching on the power supply, switch−on behaviour Warning High acceleration forces at the connected actuators! Unex pected motion can cause collisions and severe injuries.
A. Notes on commissioning and service Delivery status (after switching on for the first time or after data reset) The connected components (valve and measuring sys tem/ sensor interface) are automatically searched for at the axis interface, the information received are read. The recognized components are not automatically ac cepted as the setpoint configuration. Without complete parametrising 1) of the axis data, the controller cannot be activated. Actual values are not up dated in that case.
A. Notes on commissioning and service Data reset An axis data reset (see section A.3.4) resets the axis data of the CMAX to the delivery status. In this status the CMAX con tains no setpoint configuration. Parametrisation is required to activate the controller. The CMAX can be configured with or without connected com ponents ( in the office"). If the valve and the sensor interface have been connected, the CMAX will perform automatic hard ware recognition after switching it on.
A.
A. Notes on commissioning and service Description of the statuses Searching for valve and measuring system. This process takes max. 3 seconds. PNU 1192:02 = 0 The CMAX has found no setpoint configuration. The system of measurement units has not yet been defined. PNU 1192:02 = 0 The user must first define the system of measurement units.
A. Notes on commissioning and service The system of measurement units has been configured. The CMAX waits for the cylinder type to be defined. PNU 1192:02 = 1 It has now been defined whether the metric or the imperial system of units is used. However, the parameters can still not be scaled, because a distinction between translatory (linear drive) and rotatory (semi−rotary drive) needs to be made. For this, the cylinder type (PNU 1100) must be written.
A. Notes on commissioning and service Commissioning errors Fig. A/1 only shows the most impor tant paths, to explain the principle. If only one component is found, for example (sensor or valve), error E60 or E80 is generated, since it can be assumed that this point to a defect. Apart from that, there are also other possible errors prior to or during commissioning, e.g. insufficient operating voltage E52, memory error E7x, controller enable before reaching status C03 (causes E05).
A. Notes on commissioning and service A.2 A.2.1 Commissioning via the CPX node (fieldbus) C00: Basic parametrising This section contains step−by−step instructions for basic parametrisation. Fig. A/2 shows an o verview of the pro cedure. The description of the statuses C00 to C03 is required to understand the diagram (see section A.1.2, Fig. A/1). CMAX in delivery status 1) Activate commissioning mode Set system of measurement units: PNU 1192:05 = 1 ...
A. Notes on commissioning and service Commissioning operations (PNU 1192) The Commissioning operations" parameter controls important operations of commissioning. Writing the para meter triggers complex actions in the controller which are essential for commissioning. See section 5.4.16. The function data reset" (PNU 1192:03) offers the possibility to reset the controller to delivery status at any point in time. Resetting deletes the axis data and the identification data.
A. Notes on commissioning and service A.2.2 Step−for−step instructions for basic parametrising Step 1: 1. Check status (read PNU 1192:02 −> setpoint = 0). Switch on con troller. Status C00 is now active. 2. Recommendation: Write device names (PNU 121). Basically the default value CMAX1" can be used, but an individual name is recommendable in case you also in tend to access the controller with FCT. 3. Check version number of the firmware (read PNU 101).
A. Notes on commissioning and service Step 3: Define system of measurement units 5. Define a system of measurement units (PNU 1192:05). 1192:05 = 1 −> 1192:05 = 2 −> Metric / SI system (metre, kilogramme, Newton, ...) Imperial system (inch, pound, pound−force, ...) Writing the parameter sets the commissioning status C01. This can be checked by reading the PNU 1192:02. Step 4: Write cylinder type 6. Write cylinder type into the setpoint configuration (PNU 1100:01).
A. Notes on commissioning and service Step 5: Load axis data 8. Load axis data: Each parameter from the drive configuration group (also homing with the DNCI) must be appropriately initialised. All written parameters must correspond with the recognized parameters.
A. Notes on commissioning and service Step 5: 9. Switch off block download (write PNU 1192:01 = 0) Switch off block download When switching off block download, the controller is parametrised for the first time. If all the required parame ters were written during axis data writing, status C02 is quit. From this point in time the actual position can be read or any other function of the CMAX can be executed for the first time. The CMAX now waits for the movement test to be executed. A.2.
A. Notes on commissioning and service Example: With a DBCI−25−500 the effective length of 501.63 mm is read when commissioning with hardware and copied to the setpoint configuration. Without hardware a value of 500.00 mm must be programmed. When ultimately connecting the hardware, the user can adopt the effective length. This does not occur automati cally. If the projected nominal and effective length is not adjusted, the CMAX accepts a variation of 5.
A. Notes on commissioning and service A.2.4 C03: Movement test After parametrising, a movement test should be executed to check the drive’s control direction. During this, the system checks that the tubes are correctly connected. After parame trising, the CMAX expects the movement test to be executed and indicates this by issuing C03 on the display. The movement test must either be executed or skipped (not recommended). Information on executing the movement test can be found in section 3.2.1. A.2.
A. Notes on commissioning and service A.3 A.3.1 Operation and service Nominal/actual comparison When switching on, the CMAX compares the setpoint and actual configuration. How complex this comparison is de pends on whether the serial numbers of the components were adopted. Serial numbers have not been transferred yet. The actual configuration only needs to be compatible with the setpoint configuration. Deviations lead to error E01.
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A. Notes on commissioning and service Modifications outside of the specified tolerances are not per missible. To prevent an excessive extent of modifications through repeat downloads, a copy of the data is created at the time of serial number transfer and this is used as a basis for comparison (PNU 1195). After identification, modification of other parameters is re stricted.
A. Notes on commissioning and service A.3.2 Exchanging components Nominal/actual comparison of the hardware configuration With each new calculation of the controller, a nominal/actual comparison between the current hardware configuration (actual configuration) and the setpoint configuration is per formed. Setpoint configuration The setpoint configuration consists of the values for the drive configuration parametrised by the user.
A. Notes on commissioning and service Response of the CMAX to exchanging for the same type The identification data is not discarded. Operation is permissible without new parametrisation/ identification. A warning is generated. It remains active as long as no formal parametrisation/identification is performed. Response of the CMAX to exchanging for another type or size Cylinder length The identification data is not discarded.
A. Notes on commissioning and service Defined error codes Message E01 More than one component (cylinder and valve) were replaced for another. Cylinder (type, length, diameter) does not correspond to the setpoint configuration. Effect Identification must be reset and executed anew once the setpoint configuration has been adjusted. adjusted Or reset to previous status, as required. Measuring system (type, length) does not correspond to the setpoint configuration.
A. Notes on commissioning and service A.3.3 Reconfigure axis If a CMAX was connected to a certain axis via the serial number (see section A.3.1), the hardware configuration data can only be modified in a certain range. If the CMAX is oper ated at a different axis, this connection must be deactivated first. It is possible for the user to exchange an axis in the plant for an axis of a different size, e.g. to achieve greater force with a larger piston surface.
A. Notes on commissioning and service A.3.4 Data reset There are three ways of resetting data in the CMAX, see Tab. A/5. Reset Description Identification data reset This function can be performed with the FCT and by the PLC. Only the identification data and the adaptation data are reset. All the other data is retained. The data reset is triggered by writing on the commissioning parameter data reset" PNU 1192:03 = 2. Axis data reset This function can be performed with the FCT and by the PLC.
A. Notes on commissioning and service A.3.5 Firmware update Updating the CMAX firmware can be done with the FCT PlugIn CMAX via the diagnostic interface of the CPX node. If no valid firmware is loaded on the module at the time of switching on, the error E74 no firmware" is indicated. The bootloader is not overwritten in the event of a firmware update, switching off during download does therefore not cause the CMAX be become inoperative. The download can be started again.
A. Notes on commissioning and service A.3.6 Switch−on behaviour and power−down After switching on, not only initialisation is checked but also whether the data backup of the FMAM was performed without errors last time the system was switched off. In the event of an error, E76 (power−down error) is issued. If the operating voltage drops below 17.9 V, all retentive data (device and axis parameters, identification and adaptation data) are saved retentively.
A. Notes on commissioning and service A.4 Programming flow charts The following section provides flow charts for CMAX control via I/O for typical applications. A.4.1 Create ready status Requirements Valve operating voltage and load voltage OFF. Fieldbus master is ready for communication, so communi cation is established as soon as the CPX terminal is switched on. If this is not the case, additional time must be allowed for change of the byte order after establish ment of communication.
A. Notes on commissioning and service Operating voltage = 0 V Load voltage (valve) = 0 V CMAX is OFF [m] This action is mandatory. [o] This action is a recommendation. It does not have to be carried out The output data should in any case be specified Reset PLC output at the beginning to prevent control signals from data [m] the last operating phase from affecting the CMAX.
A. Notes on commissioning and service Page 1 CCON.ENABLE = 1 [m] [m] SCON.FAULT = 1 Cancel Error handling SCON.FAULT = 0 SCON.ENABLED = 0 [m] SCON.ENABLED = 1 CCON.BRAKE = 1 [m] Release clamping unit, if present CCON.STOP = 1 [m] [m] SCON.FAULT = 1 Cancel Error handling SCON.FAULT = 0 SCON.OPEN = 0 [m] SCON.OPEN = 1 Ready A−30 Festo P.
A. Notes on commissioning and service A.4.2 Start record Operation enabled SCON.ENABLED = 1 SCON.OPEN = 1 [m] This action is mandatory. [o] This action is a recommendation. It does not have to be carried out Output data byte 3 = Target record number [m] Delay time 1 bus cycle [o] CPOS.
A. Notes on commissioning and service A.4.3 Reset fault [m] This action is mandatory. Fault active [o] This action is a recommendation. It does not have to be carried out Wait until the fault response has ended. (Attention: not in parametrising mode) A reset was previously ignored. SPOS.MC = 0 [m] SPOS.MC = 1 Use reset counter (Integer type) in order to limit the maximum number of resets. The CMAX always tries to reset all active fault messages. Acknowledging several times is not necessary.
A. Notes on commissioning and service A.4.4 Switch over operating mode Old operating mode active [m] This action is mandatory. Assumed: CCNON. ENABLE = 1 and CCON.STOP = 1 This action is a recommendation. [o] It does not have to be carried out CCON.STOP = 0 [m] SCON.OPEN = 1 When switching between record select operating mode and direct operating mode, disable operation" is not necessary. This can be used to optimize the control function. [m] SCON.
A. Notes on commissioning and service A−34 Festo P.
Basic controlling principles Appendix B Festo P.
B. Basic controlling principles Contents B.1 B.2 B.3 B.4 B.5 B.6 B.7 B.8 B.9 B−2 CMAX system of measurement units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimension reference system for pneumatic drives . . . . . . . . . . . . . . . . . . . . B.2.1 Dimension reference system with absolute measuring system . . . B.2.2 Dimension reference system with incremental measuring system B.2.3 Calculating specifications for the measuring reference system . . . B.2.
B. Basic controlling principles B.1 CMAX system of measurement units The CMAX can either be operated in the metric (SI) or in the imperial system of measurement units. The system of measurement units needs to be defined in delivery status (after switching on for the first time or after data reset, status C00). The configuration of the drive type (in status C01) determines whether a translatory or a rotatory system of units will be used (refer to Appendix A.1.2, Fig. A/1).
B. Basic controlling principles Unit (PNU 1193) Index Physical variable Drive1) Type Unit Character Conversion 1 Position ( (angle) l ) L 10 Millimetre mm = 0.03937 in L 11 Inch in = 25.4 mm D 15 Degree ° A Foot 2) ft = 304.8 mm 3) mm = 0.03937 in ° N = 0.22481 lbf kN = 1000 N 2 3 4 L 10 Millimetre D 15 Degree Force ( (torque) ) L 20 Newton L 21 Kilonewton L 22 Pound−force lbf = 4.44822 N D 25 Newtonmetre Nm = 0.
B. Basic controlling principles Unit (PNU 1193) Index Physical variable Drive1) Type Unit Character Conversion 7 Acce− leration ( (Angular l acceler ation) L 60 Metre per second squared m/s2 L 61 Feet per second squared ft/s2 D 65 Degree per second squared °/s2 D 66 1,000 degrees per sec ond squared 1000 °/s2 L 70 Newton per second N/s = 0.
B. Basic controlling principles The 2 systems of units and the 2 movement types result in four tables with units and resolution for the 12 variables. Table no. System of measurement units Movement (drive) 1 è Tab. B/3 International / SI Translatory 2 è Tab. B/4 Imperial Translatory 3 è Tab. B/5 International / SI Rotatory 4 è Tab. B/6 Imperial Rotatory Tab. B/2: Possible system of units tables The table used in the CMAX is stored in PNU 1192:06.
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B. Basic controlling principles B.2 Dimension reference system for pneumatic drives B.2.
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B. Basic controlling principles B.2.2 Dimension reference system with incremental measuring system System of units with incremental measuring system 2 1 e d b Positions increasing in size, positive" travel, right−hand" travel c a REF CZ/AZ PZ LSE TP/AP USE a Offset axis zero point offset (increm.
B. Basic controlling principles B.2.3 Calculating specifications for the measuring reference system Point of reference Calculation rule Axis zero point AZ = SZ + a’ Project zero point PZ = AZ + b = SZ + a’ + b Lower software end position LSE = AZ + d = SZ + a’ + d Upper software end position USE = AZ + e = SZ + a’ + e Target/actual position TP, AP = PZ + c = AZ + b + c = SZ + a’ + b + c Tab.
B. Basic controlling principles B.2.4 Software end positions / Hardware end positions The software end positions may only be set within certain limits depending on the projected hardware. The parameters as shown in Fig. B/3 will be taken into account.
B. Basic controlling principles Case distinction for external measuring systems Description Layout PNU 1130 PNU 1101 Cylinder Measuring system PNU 1111 PNU 1130 PNU 1101 Cylinder Measuring system PNU 1111 PNU 1101 Cylinder Measuring system PNU 1130 PNU 1111 PNU 1101 Cylinder Measuring system PNU 1130 PNU 1111 The sensor projects above the cylinder on both sides Offset to the axis zero point: PNU 1130 >= 0 PNU 1130 + PNU 1101 <= PNU 1111 } Min. permissible lower software end position = 0 Max.
B. Basic controlling principles Configuration using FCT As a specification, the software end positions in FCT are deactivated. The specification of PNU 501:01 = PNU 501:02 = 0 will deactivate the software end positions. However, the CMAX limits setpoint specifications to the maximum or minimum permissible end positions. With the DGCI, the axis zero point cannot be edited. Numerical example Layout PNU Description Value PNU 1101 1130 Offset axis zero point 25.
B. Basic controlling principles B.3 Drives and measuring systems The CMAX supports the following combinations of drive and measuring system types. Selecting a different combination is not possible in the FCT and will lead to an error in the CMAX.
B. Basic controlling principles Swivel module DSMI Parameter Value Measuring system type Prescribed: = Potentiometer Cylinder length = 270° ... 275° Measuring system length Prescribed: = 290° Offset axis zero point Selectable within 5° ... 15° Cylinder diameter Selection: 25, 40 1) Piston rod diameter 0 1) In the CMAX drives with other diameters will lead to errors here. Rodless linear drive / Piston rod drive Parameter Value Measuring system type Selectable: 1. Potentiometer 2.
B. Basic controlling principles B.4 Taking into account the load The controller of the CMAX needs the specifications concern ing the moving masses to be as precise as possible. This must be taken into account by means of special parameters, see Tab. B/12. Parametrising the masses 2 1 1 Moving mass without workpiece (PNU 1142) This is the mass of the loading device fixed to the slide. This mass must always be moved by the drive (minimal mass to be moved).
B. Basic controlling principles B.5 Basic information on position control The basis for control of the pneumatic axes is a model control path stored in the CMAX. This model assumes a pneumatic axis which is built up in accordance with specifications, e.g. with regard to: the compressed air provided the valve−cylinder combination used the permitted mass load tube sizes and lengths, etc.
B. Basic controlling principles Auto−profile With auto−profile positioning, setpoint value curves for path, speed and acceleration are generated by the CMAX. These should enable reproducible, fast and overswing−free move ment towards the setpoint position. Unassigned profile When positioning with unassigned profile, the setpoint value curves are calculated on the basis of the setpoint values pro grammed by the user for position, speed and acceleration.
B. Basic controlling principles 3 4 2 1 5 6 7 1 Programmed speed 8 5 Setpoint value curve with unassigned 2 Identified maximum speed 3 Acceleration ramp profile 6 Acceleration phase (t1) 7 Consistent movement (t3) 4 Deceleration ramp 8 Braking phase (t2) Fig. B/1: Speed setpoint value curve, unassigned profile With dynamic identification, the maximum speed and the maximum acceleration values of the positioning system con cerned are ascertained.
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B. Basic controlling principles B.6 Optimisation of the mechanical structure and the pneumatic installation Check the system structure: Check whether using a greater basic load (mass without workpiece) improves the behaviour. Check whether the mechanical connections: Drive moving mass, Drive measuring system, Drive machine frame are backlash−free. Check whether the pneumatic installation fulfils the de mands listed in the CMAX system description.
B. Basic controlling principles B.6.1 Proceed as follows if the compressed air supply is unstable: If your compressed air supply does not reliably fulfil the re quirements (tolerance of +/− 1 bar in operation), although a compressed air reservoir has been installed (see CMAX sys tem description), the maximum values for acceleration and deceleration ascertained during identification may, under circumstances, not be reached. This may result e.g.
B. Basic controlling principles B.7 Optimisation of the controller From the basic parameters the CMAX ascertains various con troller parameters. These determine the dynamics (speed) as well as transition behaviour (cushioning) of the controller. The aim is to guarantee fast, overswing−free positioning with little contouring error (dynamic deviation). The controller factors are standardised to 1.0 by the CMAX.
B. Basic controlling principles Cushioning factor Cushioning is a measure for the transition behaviour of the system from the actual to the setpoint status, especially when there are fast modifications to the setpoint value. As a rule the system should guarantee low−vibration behaviour with setpoint specifications and movement into the target position without overswing. By modifying the factor for cushioning, you can influence the transition behaviour of the system.
B. Basic controlling principles B.7.2 Optimize positioning behaviour During identification the positioning behaviour is auto−opti mised. If the quality of the positioning behaviour still does not fulfil expectations, proceed as follows: Check the parametrising (FCT). Check the controller settings. Note Incorrect parameters may destroy the drive. · Be very careful when setting the parameters.
B. Basic controlling principles However, before you begin to optimize the positioning behav iour of your axis, proceed at first as follows: · Make sure that the pneumatic axis is designed in accord ance with the regulations (see CMAX system description). · Make sure that all axis and application data are set cor rectly. · Always carry out the identification. · Then always have several positioning cycles carried out. This is to guarantee that the adaptation is effective.
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B. Basic controlling principles B.7.3 Description of the controller factors for force control Amplification gain Dynamic amplification B−32 The amplification gain is used to increase or reduce the con trol amplification. It makes the controller respond to deviations more slowly or faster. The time up to reaching the static final value can be optimised. The amplification gain is used to influence path accuracy over the entire force record.
B. Basic controlling principles Signal filter factor Derived signals (e.g. force ramp from the pressure signal) are filtered to improve the signal quality. If filtering is too strong or too weak it may destabilise control. The signal filter factor can be used to influence the signal noise that, originating from the pressure sensors, affects the force value. When increasing the factor, the filter becomes faster and consequently the noise louder. At the same time the phase shift decreases.
B. Basic controlling principles B.8 Basic principles of force control/standstill control Definition 3 8 4 1 2 60 50 7 40 30 20 6 10 0 5 α Cylinder chamber 1: 5 Mounting position (α) 1 Chamber pressure p1 6 Position values become smaller, 2 Piston surface A1 Cylinder chamber 2: 3 Chamber pressure p2 4 Piston surface A2 Force values become smaller (Prefix ) 7 Position values become larger, Force values become larger (Prefix +) 8 Moving mass Fig.
B. Basic controlling principles Force during force control F + p 1 < A 1 − p 2 < A 2 − g < m < sin a P1 Pressure in cylinder chamber 1: no piston rod, on measuring system zero point (smaller position values, blue connection) P2 Pressure in cylinder 3, poss. piston rod, on measuring sys tem end (larger position values, black connection) A1, A2 The two piston surfaces of the cylinder: they are calculated by the CMAX based on the cylinder type and cylinder diam eter.
B. Basic controlling principles B.8.1 Influence of the mass on force control The moving mass consists of the workpiece mass and the tool mass (or basic load). Often the exact basic load is not known. m = mtotal = mcurrent tool mass + mcurrent workpiece mass As with any other positioning process, the workpiece mass needs to be specified for the identification, too. mident. = mtool mass ident. + mworkpiece mass ident.
B. Basic controlling principles mdelta = mcurrent tool mass + mcurrent workpiece mass mident. mdelta = mcurrent tool mass + mcurrent workpiece mass (mworkpiece mass ident. + mworkpiece mass ident.) Fpiston = Fsetpoint + F0 + mdelta * g * sin α In the simplest case, the following applies: mcurrent tool mass = mtool mass ident. mworkpiece mass ident.
B. Basic controlling principles B.8.2 Influence of the mass on standstill control After completion of a positioning task, on−the−fly switch−over from positioning control to force control occurs so as to en sure safe standstill of the drive. The standstill force Fstill, to which controlling is done, corresponds to the force on the piston after the drive has reached its target position.
B. Basic controlling principles B.8.3 Behaviour of the force control A force task is treated like any positioning task. As soon as the force task begins, the MC signal goes to 0 level, when the force setpoint value has been reached, the MC signal =1. As long as there is no new positioning task, the axis remains in force control. With the force ramp, the user specifies the increase in force per time unit. The unit is [N/s]. The permissible value range is 10 N/s ... 10.000 N/s.
B. Basic controlling principles The maximum force applied to the piston is referred to as nominal force FN , and it is calculated as follows: FN [N] = AN * poperation The maximum forces applied to the drive for both direc tions of movement are calculated as follows: With non− horizontal mounting position ( α š 0 for linear drives, refer to Fig. B/2) they are dependent on direction and mass: Fmax+ [N] = + 0.9 * AN * poperation mcurrent * g * sin α Fmax [N] = 0.
B. Basic controlling principles The controller contains appropriate default settings. During parameter download, the CMAX only checks the absolute limit values of the parameters. The parameters maximum setpoint force and tolerance are not limited dependent on other project data (cylinder diameter etc.). In the CMAX the controller limits the setpoint values to reachable maximum values. In this, the piston surface, the moving mass and the mounting position are taken into account.
B. Basic controlling principles B−42 A force task can always be started from a position−con trolled or force−controlled status. Depending on the initial status, different types of behaviour are possible: The axis is positioned force−controlled or position−con trolled (MC=1): A new force task is started immedi ately. The axis is carrying out a positioning task (MC=0): On−the−fly change of controller": the current position ing task is ended with the set stop ramp.
B. Basic controlling principles B.8.4 Behaviour of standstill control After completion of a positioning task, position control is switched to force control to keep the drive at a standstill. Reversing does not occur at the time of reaching the standstill condition, but: 200 ms later or when the change in the actual force after reaching the standstill condition is more than 25% of the friction hys teresis.
B. Basic controlling principles B.8.5 Individual value mode The individual value mode can be used in record select oper ating mode and in direct mode. After the force command has started, the controller starts to build up the force according to the specified target force and force ramp. If the drive is not faced with any counteracting force, the force initiates a drive movement. This can be the case when the workpiece is movable or yielding, or if there is no workpiece.
B. Basic controlling principles If the axis is in the process of performing positioning, it is stopped first. Only then does force control begin. 1 Path 2 Force Path/speed/force Stroke monitoring Slim 1 3 Velocity 4 Feed phase (Vvor) 5 Force ramp 6 MC 2 Target force F Velocity monitoring Vlim Vvor 3 4 5 6 Time Fig.
B. Basic controlling principles Notes: Stroke monitoring and velocity monitoring are activated each time a force task is started, provided they have not been disabled by the user. Stroke monitoring and speed monitoring is also active after MC, i.e. delayed limit value violations are recog nised. Vlim must always be sufficiently larger than Vvor in order to prevent velocity monitoring from being triggered dur ing positioning. Recommendation: Vlim = (2 ...
B. Basic controlling principles B.8.6 Position control during a force task If during a force task the drive exceeds the setpoint speed Vvor in the active direction of the force, e.g. because the drive is still at a small distance to the workpiece and the drive starts to move due to the missing counteracting force, then the system switches to position control. This occurs indepen dently of an MC being available or not.
B. Basic controlling principles B.8.7 Force ramp When a force task starts, calculation of a ramp−shaped signal is started as the basis of the force control setpoint specifica tion. This signal begins with the actual force at the start of the force task and runs linearly to the pitch of the force ramp up to the desired force setpoint value.
B. Basic controlling principles B.8.8 Controller amplifications The possible controller amplifications in the context of force control depend on the design of the pneumatic system. An unnecessarily long tubing connection has a negative effect, the system may then tend to hum. Exchanging the valve may also result in differences in the control behaviour. The controller amplifications are calculated based on the parameters that describe the pneumatic system.
B. Basic controlling principles B.8.9 Influence of the static identification on force control Key parameters for force control are determined during static identification. These are: Friction hysteresis Standstill force F0 If no static identification is carried out, these parameters will be assigned default values. The control quality is limited in this case, and the following effect may occur: B−50 The real standstill force deviates from the calculated de fault value.
B. Basic controlling principles B.8.10 Monitoring function With active force control, there are three permanent monitor ing functions: Stroke monitoring, speed monitoring and moni toring of the software end positions. In the event of an error, the CMAX responds as follows: the message is added to the diagnostic memory as a fault, position control is activated and the axis is stopped, after the standstill, the CMAX changes to Fault" or Ready" status, depending on the fault, the bit SDIR.
B. Basic controlling principles Notes: The starting position is always the actual position on the starting edge, so the stroke limit value also comprises the stroke during the speed control of a force task. If the task is started by record sequencing, the starting position is the actual position at the time of reversing. If the stroke limit value is outside of the software end position, reaching the software end position has priority.
B. Basic controlling principles Monitoring of the software end positions If a software end position is reached during force control, the axis is stopped and a fault is reported. Setting both software end positions = 0 deactivates this monitoring. MC (Motion Complete) In compliance with the MC conditions, Motion Complete re ports that the setpoint force has been reached.
B. Basic controlling principles B.9 Notes on application, special operating statuses B.9.1 Changing an external force Changes in an external force may cause vibration or even bouncing on a stop. Example: Cylinder1: DNCI−32−250 horizontal 16 kg Cylinder2: for counteracting force from 160 mm of approx.
B. Basic controlling principles Explanation: Cylinder1 has kinetic energy during transition from the fault force. The setpoint force counteracts the direction of move ment, the inert system needs to be braked and accelerated in the opposite direction. Then the inert mass hits an elastic stop. Festo P.
B. Basic controlling principles B−56 Festo P.
Configuration with CPX node Appendix C Festo P.
C. Configuration with CPX node Contents C.1 C.2 C.3 C−2 CPX−FB13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 General configuration information . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.2 Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.3 Start parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.4 Addressing . . . . . . . . . . . . . . .
C. Configuration with CPX node C.1 CPX−FB13 General information on the CPX−FB13 are found in the de scription on the P.BE−CPX−FB13−... C.1.1 General configuration information Identifier Module (order code) CPX−CMAX−C1−1 (T21) Module identifiers Occupied bytes CMAX 8 bytes I, 8 bytes O Identifier Siemens / EN 50170 192 / C0h, 87h, 87h Device master file (GSD file) and icon files Sources of supply Current GSD files and icon files can be found on the Festo Internet pages at: è www.festo.
C. Configuration with CPX node C.1.2 Configuration with STEP 7 This description refers to software version V 5.3. An appropriate device master file (GSD file) must be installed for configuration. Proceed as follows for configuration (see Fig. C/1): 1. Add a DP master system 1 and the CPX terminal 2 to the CPX−FB13, as per the description. 2. Fill the configuration table with the modules of your CPX system. Open the module Festo CPX terminal" (folder\PROFIBUS− DP\Additional FIELD DEVICES\Valves\...
C. Configuration with CPX node 1 2 3 4 Fig. C/1: Configuration with STEP7 Hardware catalogue Festo P.
C. Configuration with CPX node C.1.3 Start parametrisation When setting the System start with default parametrisation (factory settings) and current CPX structure" CPX system parameter, the parameters stored at the master are trans ferred to the CPX−FB13. Observe the general instructions in section 1.3. Start parametrisation 1 Master loads the start parameter set into the node PLC/ IPC 1 PROFI− BUS−DP Master 2 The node distributes parameter set to the modules 2 Fig.
C. Configuration with CPX node Note CPX terminals with the CMAX always require new parame trisation and commissioning after exchanging the CPX ter minal or the CMAX, since the parameters and the data as certained during commissioning are only stored in the CMAX, see section 1.1.2. The CMAX cannot be parametrised via the start−up parame trisation. This must always be done via the FCT or via the special parametrisation function. Fig. C/3: No specific parameters Festo P.
C. Configuration with CPX node Data format The CMAX evaluates the setting for the data format of ana logue values (32 bit values) of the CMX−FB13, see section 1.2. Please take this into account in your application programs. Fail Safe parametrising Check your application to see if Fail Safe parametrisation is required. In the example as per Tab. C/1, the drive should be stopped and the brake activated (emergency stop). The brake is high−active and the controller is enabled.
C. Configuration with CPX node Fig. C/4: Fail Safe parametrising In order for the settings to take effect, the global system parameter must be set to Output fault mode". Festo P.
C. Configuration with CPX node C.1.4 Addressing 8DI 3 4DO 4 A19.0...A19.7 2 A18.0...A18.7 E10.0...E17.7 A10.0...A17.7 1 E18.0...E21.7 A9.0...A9.3 Module no.: 0 E9.0...E9.7 I/O−Diag.Interf. E7.0...E8.7 A7.0...A8.7 Example: Addresses used as from input/output word 7 5 6 8A 8A 2AI MPA Fig. C/5: CPX−FB13 address assignment example No. Module DP identifier Addresses Si Siemens Input ad dress Output ad dress 0 CPX−FB13 (FB13: DPV1, I/O−Diag.Interface) 192 7 ... 8 7 ...
C. Configuration with CPX node Example of address assignment (record selection) Module output data AB Contents AB10 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 0 7 OPM2 = 0 AB11 Module input data Address EB Contents Address EB10 SCON: Bit Name 0 ENABLED 1 OPEN 2 WARN 3 FAULT 4 24VL 5 FCT_MMI 6 OPM1 = 0 7 OPM2 = 0 E10.0 E10.1 E10.2 E10.3 E10.4 E10.5 E10.6 E10.7 SPOS: Bit Name 0 (reserved) 1 ACK 2 MC 3 TEACH 4 MOV 5 DEV 6 STILL 7 REF E11.0 E11.1 E11.2 E11.
C. Configuration with CPX node If the actual values are supposed to be treated as marker double−words, the byte structure must be taken into account according to the CPX parameter Data format for analogue values...", see section 1.2. C−12 Festo P.
C. Configuration with CPX node C.1.5 Acyclical parametrisation with DPV1, parameter READ/WRITE When using the FB13, there are two ways of accessing the data. A direct task for reading/writing the module parameters is possible, but only for modules 0...9 (data record number (FB52/53) = 5 + 72 + 15*module number) Generally valid is an indirect task via the command box, which has the additional advantage of being able to write the data as of a certain offset. In this way the bytes 0...
C. Configuration with CPX node Sequence: 1. Ensure that the command box is currently not being used. In case several modules are parametrised via the com mand box in a PLC program, you must apply an appropri ate method to ensure that only one module is accessed at a time. Since the command box is set permanently", a PLC program should allocate data to the box, transfer the data and then enable it again. A global flag may be suffi cient for this purpose. 2. Allocate data to the command box.
C. Configuration with CPX node Note There can be other CPX modules which other modules of the PLC access. These could modify the command box. There can be other PROFIBUS masters (class 2 masters) that access the CPX data at the same time as the PLC, modifying the command box without the PLC knowing of this, for example. The programmer(s) of the overall application must apply ap propriate measures to ensure they always access the correct data. Festo P.
C. Configuration with CPX node C.2 CPX−FB11 (DeviceNet) General information on the CPX−FB11 are found in the de scription on the P.BE−CPX−FB11−... C.2.1 Configuring DeviceNet station properties (EDS) When starting up a new DeviceNet station for the first time, you must inform your configuration program about certain properties of the station. The features of the various slaves are usually administered by the configuration program in a list or library e. g. E DS library (EDS for electronic data sheets).
C. Configuration with CPX node Installing a modular EDS file You will require the following files for the CPX terminal: File type File name Language Description EDS cpx_chassis.eds English Base file for modular EDS. EDS cpx_fb11...eds English Provides the communication adapter in the con figuration program. EDS cpx_...eds English There is an EDS file for every module type. It contains the information needed for configur ation and parametrisation. ICO cpx_...
C. Configuration with CPX node C.2.2 Parametrisation (RSNetworx example) When modular EDS is used, you can set the parameters by module with RSNetWorx. Note the general instructions on CPX parametrising in section 1.3. Make sure that parameters cannot be unintentionally over written. If necessary, carry out an upload. The following diagram shows the Module Configuration" register of the CPX terminal.
C. Configuration with CPX node Module parameters · Double−click on the CPX modules in the configuration table. Set the module parameters in the displayed window in the Advanced Parameters" register. Confirm twice with OK. 1 1 CMAX parameters Fig. C/7: Example of parametrising the CMAX with RSNetworx The settings saved in the project are displayed in offline mode. Festo P.
C. Configuration with CPX node Fail Safe and Idle Mode parametrising Check your application to see if Fail Safe or Idle Mode parametrisation is required. Example In the example as per Tab. C/5, the drive should be stopped and the brake activated (emergency stop). The brake is high−active and the controller is enabled. Allocation CMAX inputs Module output data Bit Value CCON Value CPOS Value Control bytes 2 ...
C. Configuration with CPX node C.2.3 Addressing Assign the I/O addresses of the slave (RSNetworx example) 1. Double−click on the scanner in the network. A dialog box will open. 2. With the registers Input" and Output", you assign the I/O addresses of the CPX terminal to the PLC operands. Fig. C/8: Input address assignment Festo P.
C. Configuration with CPX node Fig. C/9: Output address assignment C−22 Festo P.
C. Configuration with CPX node Example: scanner 1747−SDN (SLC 500 series) Addressing for example of terminal with: 1 2 input bytes for status bits (strobed data) 11 input bytes, input address from I:1.1.0 9 output bytes, output address from O:1.1.0 2 Module no.: 0 3 1 8DI 2 4DO 4 3 5 5 6 8A 8A 4 2A0 MPA 1 CPX−FB11 (with status bits) 4 Analogue I/O modules 2 Digital I/O modules 5 MPA pneumatics 3 Technology module CMAX (2 pneumatic modules) Fig.
C. Configuration with CPX node Module no. Module Addressing Input address Output address 0 Fieldbus node CPX−FB11 I:1.1.0 ... I:1.1.15 (for status bits) 1 Digital 8−input module CPX−8DE I:1.8.0 ... I:1.8.7 2 Digital 4−output module CPX−4DA O:1.5.0 ... O:1.5.3 3 Axis controllers CPX−CMAX−C1−1 I:1.4.0 ... I:1.4.15 I:1.5.0 ... I:1.5.15 I:1.6.0 ... I:1.6.15 I:1.7.0 ... I:1.7.15 O:1.1.0 ... O:1.1.15 O:1.2.0 ... O:1.2.15 O:1.3.0 ... O:1.3.15 O:1.4.0 ... O:1.4.
C. Configuration with CPX node Module output data AB Contents OW:1.4 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 0 7 OPM2 = 0 CPOS: Bit Name 0 (reserved) 1 START 2 HOME 3 JOGP 4 JOGN 5 TEACH 6 (reserved) 7 (reserved) OW:1.5 Record No. Reserved OW:1.6 Reserved OW:1.7 Module input data Address EB Contents Address IW:1.1 O:1.4.0 O:1.4.1 O:1.4.2 O:1.4.3 O:1.4.4 O:1.4.5 O:1.4.6 O:1.4.
C. Configuration with CPX node DeviceNet does not provide for consistent data transmission. Therefore, always take into account the cycle time to ensure consistent setpoint values. C.2.4 Examples of error display with RSNetWorx Fig. C/11: Error via strobe byte 104 − E43 Fig. C/12: Error via remote I/O operating mode (I/O diagnostics interface) 105 − E50 C−26 Festo P.
C. Configuration with CPX node C.3 CPX−FEC General information on the CPX−FEC can be found in the description of the P.BE−CPX−FEC−.... Detailed information on operating the FST can be found in the FST manual P.BE−FST... C.3.1 Configuration Use Festo Software Tools (FST 4.1 or higher) with the Hard ware Configurator in order to configure your CPX terminal with CPX−FEC. To configure the CMAX, this must be in the catalogue of the CPX configurator (CPX terminal / Technology modules / CPX−CMAX...).
C. Configuration with CPX node The first two methods require the CPX terminal to be con nected and ready for operation. The hardware configuration with the CMAX is automatically recognised. With manual configuration, the CMAX can initially be confi gured without a connection to the CPX terminal. 2 1 1 Configuration with drag & drop 2 Configured modules in the configuration table Fig. C/13: Manual configuration of the CPX terminal in the Hardware Configurator C−28 Festo P.
C. Configuration with CPX node Input word / Output word addresses Set the start address of the input word and output word of the CMAX. Module Module identifiers Allocated address space Remarks CPX−CMAX T21 CMAX−1 4 Input words (8 bytes) 4 Output words (8 bytes) For assignment of the addresses depending on the operating mode, see section 2.2. For an example, see section C.3.4. Tab. C/8: Technology module CMAX C.3.2 CMAX parametrisation The CMAX has no module parameters. Fig.
C. Configuration with CPX node Note CPX terminals with the CMAX always require new parame trisation and commissioning after exchanging the CPX ter minal or the CMAX, since the parameters and the data as certained during commissioning are only stored in the CMAX, see section 1.1.2. Idle mode parametrisation Check your application to see if parametrisation of the idle mode is required. Example In the example as per Tab. C/9, the drive should be stopped and the brake activated.
C. Configuration with CPX node Fig. C/15: Idle mode parametrisation for example Tab. C/9 In order for the settings to take effect, the global system parameter must be set to Use idle mode". C.3.3 Save actual configuration as the nominal configuration In order to save the changes permanently, after the changes: the actual configuration must be saved as the nominal configuration, or the project must be loaded into the CPX−FEC (a pro gram must exist for this).
C. Configuration with CPX node C.3.4 Address assignment Address assignment example 1 2 8DI 3 4 4DO 5 2AI MPA 8A 1 CPX−FEC 4 Analogue I/O modules 2 Digital I/O modules 5 MPA1 pneumatics 8A (2 pneumatic modules) 3 Technology module CMAX Fig. C/16: CPX−FEC address assignment example Loca tion Module Input address Output address Remarks 0 CPX−FEC 128 128 The outputs are not used.
C. Configuration with CPX node Example of I/O assignment record select mode Module output data AW Contents AW129 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 0 7 OPM2 = 0 AW130 AW131 AW132 Module input data EW Contents Address EW129 A129.0 A129.1 A129.2 A129.3 A129.4 A129.5 A129.6 A129.7 SCON: Bit Name 0 ENABLED 1 OPEN 2 WARN 3 FAULT 4 24VL 5 LOCK 6 OPM1 = 0 7 OPM2 = 0 E129.0 E129.1 E129.2 E129.3 E129.4 E129.5 E129.6 E129.
C. Configuration with CPX node Example of I/O assignment direct mode Module output data AW Contents AW129 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 1 7 OPM2 = 0 CPOS: Bit Name 0 (reserved) 1 START 2 HOME 3 JOGP 4 JOGN 5 TEACH 6 (reserved) 7 (reserved) AW130 AW131 AW132 Module input data Address EW Contents Address EW129 A129.0 A129.1 A129.2 A129.3 A129.4 A129.5 A129.6 A129.
C. Configuration with CPX node Example of I/O assignment commissioning Module output data AW Contents AW129 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 0 7 OPM2 = 1 AW130 AW131 AW132 Module input data Address EW Contents Address EW129 A129.0 A129.1 A129.2 A129.3 A129.4 A129.5 A129.6 A129.7 SCON: Bit Name 0 ENABLED 1 OPEN 2 WARN 3 FAULT 4 24VL 5 LOCK 6 OPM1 = 0 7 OPM2 = 1 E129.0 E129.1 E129.2 E129.3 E129.4 E129.5 E129.6 E129.
C. Configuration with CPX node Example of I/O assignment parametrisation Module output data AW Contents AW129 CCON: Bit Name 0 ENABLE 1 STOP 2 BRAKE 3 RESET 4 (reserved) 5 LOCK 6 OPM1 = 1 7 OPM2 = 1 Module input data EW Contents Address EW129 A129.0 A129.1 A129.2 A129.3 A129.4 A129.5 A129.6 A129.7 SCON: Bit Name 0 ENABLED 1 OPEN 2 WARN 3 FAULT 4 24VL 5 LOCK 6 OPM1 = 1 7 OPM2 = 1 E129.0 E129.1 E129.2 E129.3 E129.4 E129.5 E129.6 E129.7 Subindex A129.8...15 Subindex E129.8...
C. Configuration with CPX node C.3.5 Diagnostics Diagnostics with the Hardware Configurator With the Hardware Configurator you can carry out complete diagnostics of the CPX terminal. For this the CPX terminal must be connected online to your PC: Diagnostic messages of the modules are displayed directly in the Hardware Configurator with an icon on the appropriate module: 2 1 1 1 View current diagnostic message (Properties or module entry) 2 View diagnostic memory (context menu) Fig.
C. Configuration with CPX node · Display the Diagnostic" tab of the Module..." dialog, by double−clicking or via the [Properties] context menu. Fig. C/18: Diagnostic message in the properties dialog C−38 Festo P.
C. Configuration with CPX node Diagnostic memory · Display the Diagnostic memory" dialog via the [Diagnos tic memory] context menu of the Hardware Configurator. Fig. C/19: Diagnostic memory Diagnostics with the online control panel · Select [Online] [Control panel]. Coded diagnostic information is displayed under Error": Error type, CPX error number, module number Fig. C/20: FST online control panel Festo P.
C. Configuration with CPX node Diagnostics in the user program You can read out diagnostic information in your user program via function modules (CFM). Modules Description C_STATUS Query diagnostic status C_TR_rd Read entries in diagnostic memory C_MD_rd Read module diagnostic data Tab. C/15: CFM for diagnosing the CPX terminal Error program If a fault occurs during running time, an error number will be entered in the error word (FW).
Index Appendix D Festo P.
D. Index D−2 Festo P.
D. Index A Abbreviations, product−specific . . . . . . . . . . . . . . . . . . . XVI Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22 Absolute (position measuring system) . . . . . . . . . . . . . . . XVI Acceleration, maximum, ascertain (identification) . . . . . B−19 Adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVI Adaptation (explanation) . . . . . . . . . . . . . . . . . . . . . . . . . B−19 Amplification gain Definition .
D. Index D Data format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C−8 Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . 4−48 , C−39 Diagnostics In the user program . . . . . . . . . . . . . . . . . . . . . . . . . . . C−40 With the Hardware Configurator . . . . . . . . . . . . . . . . . C−37 Diagnostics options, overview . . . . . . . . . . . . . . . . . . . . . 4−3 Dimension reference system . . . . . . . . . . . . . . . . . . . . . . . B−9 Direct mode . . . .
D. Index H Handheld, Diagnostic memory . . . . . . . . . . . . . . . . . . . . 4−48 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII Reference point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVIII I I/O data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−7 I/O diagnostic interface, Diagnostic memory . . . . . . . . . 4−48 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. Index O Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XVII Operating mode Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direct mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Record selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−11 2−11 2−11 2−11 Optimising the positioning behaviour . . . . . . . . . . . . . .
D. Index S Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X SCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−8 SDIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2−22 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI Signal filter factor Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B−26 , B−33 Examples . . . . . . . . . . . .
D. Index V Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV W Warnings, Warning numbers . . . . . . . . . . . . . . . . . . . . . . . 4−9 D−8 Festo P.
