PROFIBUS for motor controller CMMS/CMMD

Transcription

1 Trimming: On top: 61.5 mm Underneath: 61.5 mm Left: 43.5 mm Right: 43.5 mm PROFIBUS for motor controller CMMS/CMMD Description DeviceNet CMMS-ST CMMS-AS CMMD-AS Description en 1103a [ ]

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3 Edition en 1103a Designation P.BE-CMMS-FHPP-DN-SW-EN Order no (Festo AG & Co KG., D Esslingen, Germany, 2011) Internet: The reproduction, distribution and utilisation of this document as well as the communication of its contents to others without explicit authorisation is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 3

4 Index of revisions Author: Name of manual: P.BE-CMMS-FHPP-DN-SW-EN File name: File saved at: Consec. no. Manual Index of revisions Date of amendment 001 Creation 0708NH Revision 1103a Trademarks DeviceNet is registered trademark of the respective trademark owner in certain countries. 4 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

5 TABLE OF CONTENTS 1. General remarks Intended use Safety instructions Target group Service Important user instructions Festo Handling and Positioning Profile (FHPP) Data exchange in the DeviceNet Mounting and installation Mounting Installation Activating and configuring DeviceNet Activation of DeviceNet Setting the MAC ID Setting the bit rate Assignment of the I/O data for CMMD Overview Overview of DeviceNet I/O connection Explicit Messaging Electronic data sheet (EDS) Configuration in the DeviceNet network Parameters Device data Process Data Project Data Jog Mode Direct mode position Direct Mode Speed Axis parameter Homing Controller Parameters Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 5

6 7.10 Electronical identification plate Standstill Error record Record List Object Module/network status LED DeviceNet error codes Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

7 1. General remarks 1. General remarks 1.1 Intended use This documentation describes how to connect the fieldbus to the CMMS/CMMD motor controller in a DeviceNet network. It describes how to activate the DeviceNet and represents the user protocol FHPP of the DeviceNet. For a detailed description of the FHPP parameters please refer to the FHPP documentation. This manual is intended for people who are already familiar with this motor controller series and the DeviceNet protocol. The documentation contains safety instructions which must be observed. The complete set of information can be found in the documentation for the motor controller in question: - Description P.BE-CMM...-HW-...: - Mechanics - electrical engineering - overview of the function range Please note Always follow the safety-related instructions listed in the product manual for the motor controller used. 1.2 Safety instructions When commissioning and programming positioning systems, you must always observe the safety regulations in the descriptions and operating instructions for the 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. Warning Axes can move with high force and at high speed. Collisions can lead to serious injury to people and damage to components. Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 7

8 1. General remarks Warning Errors in parametrisation can cause injury to people and damage to property. Enable the controller only if the axis system has been correctly installed and parametrised. 1.3 Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. 1.4 Service Please consult your local Festo Service or write to the following address if you have any technical problems: 1.5 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 pictogram. A distinction is made between the following danger warnings: Warning means that failure to observe this instruction may result in serious personal injury or damage to property. Caution means that failure to observe this instruction may result in personal injury or damage to property. Please note... means that failure to observe this instruction may result in damage to property. 8 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

9 1. General remarks The following pictogram marks passages in the text which describe activities with electrostatically sensitive devices: Electrostatically sensitive devices: Incorrect handling can result in damage to components. Identification of specific information The following pictograms designate texts that contain special information. Pictograms Information: Recommendations, tips and references to other sources of information. Accessories: Information on necessary or useful accessories for the Festo product. Environment: Information on environmentally friendly use of Festo products. Text markings Bullet points indicate activities that may be carried out in any order. 1. Numerals denote activities which must be carried out in the numerical order specified. - Indents indicate general lists. About the Version This manual refers to versions set out in Table 1.1 Controller and firmware versions You can find the specifications on the version status as follows: - Hardware version and firmware version in the Festo Configuration Tool (FCT) with active device connection under "Device Data" Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 9

10 1. General remarks Controller Firmware EDS Comment CMMS-ST-... Version and up CMMS-AS-... Version and up CMMS-ST_2p2 CMMS-AS_2p3 Standard motor controller for stepper motors Standard motor controller for servo motors CMMD-AS-... Version and CMMD-AS_2p3 Standard double motor controller for servo motors up Table 1.1 Controller and firmware versions For older versions: If necessary, use the associated older version of this document. Please note With newer firmware versions, check whether there is a newer version of this description available: } 10 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

11 2. Festo Handling and Positioning Profile (FHPP) 2. Festo Handling and Positioning Profile (FHPP) Festo has developed an optimised data profile, the Festo Handling and Positioning Profile (FHPP), tailored to the target applications for handling and positioning tasks. The FHPP enables uniform control and programming for the various field bus systems and controllers from Festo. In addition it defines the following for the user operating modes, I/O data structure, parameter objects, sequence control. Fieldbus communication Record selection Direct mode Parametrisation 1 Position Speed Torque 2. Free access to all parameters - read and write n Table 2.1 The FHPP principle 2.1 Data exchange in the DeviceNet DeviceNet was developed by Rockwell Automation and the ODVA (Open DeviceNet Vendor Association) as an open fieldbus standard based on the CAN protocol. DeviceNet belongs to the CIP based networks. CIP (Common Industrial Protocol) forms the user interface of DeviceNet and defines the exchange of: explicit messages with low priority, e.g. for configuration or diagnosis I/O messages, e.g. time-critical processing data Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 11

12 2. Festo Handling and Positioning Profile (FHPP) Please note The Open DeviceNet Vendor Association (ODVA) is the user organisation for DeviceNet. Publications on the DeviceNet/CIP specification can be found under: ODVA (Open DeviceNet Vendor Association) CI (ControlNet International ) 12 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

13 3. Mounting and installation 3. Mounting and installation 3.1 Mounting Caution The motor controller must be disconnected from all current carrying cables before an additional module is fitted. After switching off the operating voltage, you must wait 1 minute before the capacitors in the motor controller are fully discharged. Caution Make sure that measures for ESD protection are taken when handling the additional module. Use a suitable screwdriver to remove the front cover over module shaft Ext1 of the motor controller. The additional module is now placed in the open module shaft so that the printed circuit board slides into the guides on the sides of the module shaft. Push the board in as far as possible. The front plate of the additional modue is then screwed to the motor controller housing with a Philips screw. Make sure that the front plate fits flush with the front in order that it has conductive contact with the housing. 3.2 Installation 1 Pin 1: V- 2 Pin 2: CAN_L 3 Pin 3: Drain / Shield 4 Pin 4: CAN_H 5 Pin 5: V+ 6 MNS LED Fig. 3.1 DeviceNet module - pin assignment On the CMMS/CMMD motor controllers the DeviceNet interface has been designed in the form of an optional additional module. An open connector with 5 connections is accessible Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 13

14 3. Mounting and installation on the front plate in accordance with the DeviceNet specification. A two-colour LED shows information about the device and the communication status. It has been designed as a combined module/network status (MSN) LED. Next to the contacts CAN_L and CAN_H for the network connection, 24 V DC must be connected to V+ and V- in order to supply the den CAN transceiver. The cable screening is connected with the contact Drain/Shield. In order to connect the DeviceNet interface correctly with the network, refer to the very detailed "Planning and Installation Manual" on the ODVA homepage: The different types of network supply are represented in detail there. For the best results we recommend that you use ready-made components. 14 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

15 4. Activating and configuring DeviceNet 4. Activating and configuring DeviceNet 4.1 Activation of DeviceNet The inserted DeviceNet module will be recognized automatically when the motor controller is switched on. n order to activate, you must deactivate the CAN interface with DIP switch 11 at the CMMS/CMMD motor controller. A unique MAC ID must be assigned to each device in the network. The MAC ID must be set with DIP switches 1 6 on the motor controller. The baud rate must be set with DIP switches 9 and DIP switch (MAC-ID) 2 DIP switch 11 3 CAMC-DN slot Fig. 4.1 DIP switch DIP switch 1 2 Meaning MAC ID. See example Reserved 8 Bootloader (If the switch is set to ON, the system searches for new firmware on the SD card) 9 Transmission rate Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 15

16 4. Activating and configuring DeviceNet DIP switch Meaning Activation of the CAN interface, must be set to OFF for operation of the PROFIBUS card 12 Terminating resistor of the CAN interface Table 4.1 Assignment of the DIP switches 4.2 Setting the MAC ID DIP switch 1 is the lower-value bit. The following example shows the setting MAC-ID 60= DIP switch ON / OFF 1 OFF 2 OFF 3 ON 4 ON 5 ON 6 ON Table 4.2 Example MAC ID Please note If a MAC-ID greater than 63 is set with the DIP switch, the MAC-ID 63 will be set automatically. 4.3 Setting the bit rate The bit rate is set with DIP switches 9 and 10, whereby DIP switch 9 is the lower-value bit. The possible bit rate depends on the cable used, the cable length and the capabilities of the higher-order controller. If the DeviceNet is still active, the selected bit rate may differ from the bit rate actually used. he actual bit rate is therefore displayed in the commissioning tool. DIP switch DIP switch 9 = 0 DIP switch 10 = 0 DIP switch 9 = 1 DIP switch 10 = 0 Baud rate 125 kbit 250 kbit DIP switch 9 = 0 DIP switch 10 = kbit 16 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

17 4. Activating and configuring DeviceNet DIP switch DIP switch 9 = 1 DIP switch 10 = 1 Baud rate 500 kbit Table 4.3 Assignment of DIP switches 9 and 10 When the MAC-ID und the bit rate have been set, the DeviceNet communication can be activated. Please note that the above mentioned parameters can only be modified when the protocol is deactivated. All parameters are only valid when the DeviceNet communication is deactivated and then re-activated. Please note that the DeviceNet communication can only be activated when the parameter records have been saved and a Reset has been carried out. 4.4 Assignment of the I/O data for CMMD With CMMD, control via FHPP for axis 1 and axis 2 always takes place over a shared fieldbus interface. If an interface is activated, it is always valid for both axes. Each axis has its own I/O data. Assignment of the I/O data over the fieldbus depends on the control interface used: DeviceNet The two axes have a shared bus address, which is set via the DIP switches. The I/O data for the two axes are transferred in a shared telegram of double length. Example (with FPC): Byte : control/status bytes axis 1 Byte : FPC axis 1 Byte : control/status bytes axis 2 Byte : FPC axis 2 Please note With DeviceNet, the I/O data for axis 2 are read by axis 1, passed on to axis 2 and evaluated there. The answer is returned to axis 1 with the next internal communication task (every 1.6 ms) at the earliest. Only then can the answer be returned via the fieldbus. This means that the processing time of the fieldbus protocol is twice as long as with CMMS. Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 17

18 5. Overview 5. Overview 5.1 Overview of DeviceNet DeviceNet is a machine-orientated network which enables connections between simple industrial devices (sensors, actuators) and higher-order devices (controllers). DeviceNet is based on the CIP protocol (Common Industrial Protocol) and shares all common aspects of CIP with adaptions which enable the frame size of messages to be adapted to that of DeviceNet. Fig. 5.1 DeviceNet network shows an exanple of a typical DeviceNet network. Fig. 5.1 DeviceNet network DeviceNet offers: An economic solution for networks at the device level Access to information in devices at a lower level Possibility for master/slave and peer-to-peer DeviceNet pursues two main aims: Transporting control-orientated information which is in connection with devices of the lower level (I/O connection). Transporting further information which is indirectly connected with the closed-loop system such as configuration parameters (Explicit Messaging Connection). 5.2 I/O connection Some types of I/O connection are defined by DeviceNet. At present only Poll Command / Response Message with 16 bytes input data and 16 bytes output data are supported. This means that the master periodically sends 16 bytes of data to the slave and the slave also replies with 16 bytes. 18 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

19 5. Overview The meaning of the data is determined by the FHPP user protocol. Please refer to the FHPP manual for detailed information. 5.3 Explicit Messaging The Explicit Messaging Protocol is used for transporting configuration data and for configuring a system. Explicit Messaging is also used for setting up an I/O connection. Explicit Messaging connections are always point-to-point connections. An end point sends a request, the other end point replies with an answer. The answer may be a success message or an error message. Explicit messaging makes various services possible. The most common services are: opening the explicit messaging connection closing the explicit messaging connection get single attribute (read parameter) get single attribute (save parameter) 5.4 Electronic data sheet (EDS) In order to make commissioning fast and simple, the abilities of the DeviceNet interface of the motor controller are described in an EDS file. By using a suitable configuration tool you can configure a device within a network. The EDS for DeviceNet is contained on the CD supplied with the product. The latest version can be downloaded from our home page ( Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 19

20 6. Configuration in the DeviceNet network 6. Configuration in the DeviceNet network The way in which you configure your network depends on the configuration software used. Follow the instructions of the controller manufacturer for registring the EDS file of the motor controller. 20 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

21 7. Parameters 7. Parameters This chapter deals only with the implemented DeviceNet object model, i.e. how you can access the FHPP parameters via DeviceNet. For a detailed description of the FHPP parameters please refer to the FHPP manual. The following data types in accordance with the DeviceNet specification are used: Type Signed Unsigned 8 bit SINT USINT 16 bit INT UINT 32 bit DINT UDINT Table 7.1 Data types 7.1 Device data This object supplies information on identifying a device. Object Class ID: 100 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Version Manufacturer hardware version 1 100,1 UINT Firmware version 2 101,1 UINT FHPP version 3 102,1 UINT Identification Project identifier 7 113,1 UDINT I/O Control + FCT Control ,1 USINT Data memory control (CMMS- AS/CMMD-AS) Data Memory Control: Load default ,1 USINT Data Memory Control: Save ,2 USINT Data Memory Control: SW-Reset ,3 USINT Table 7.2 Device data 7.2 Process Data This object supplies demand and actual values for position, speed and torque. The digital inputs and outputs can also be controlled. Object Class ID: 103 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type position Position: Actual value 1 300,1 DINT Position: Setpoint 2 300,2 DINT Position: Actual deviation 3 300,3 DINT Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 21

22 7. Parameters Allocation Name Attribute FHPP-PNU Type Torque Torque: Actual value 4 301,1 DINT Torque: Setpoint 5 301,2 DINT Torque: Actual deviation 6 301,3 DINT Digital inputs/outputs Digital Inputs: DIN ,1 USINT Digital Inputs: DIN ,2 USINT Digital Outputs: DOUT ,1 USINT Date record control Demand record number ,1 USINT Actual record number ,2 USINT Record status byte ,3 USINT (maintenance parameter) Speed Operating hour meter ,3 UDINT Velocity: Actual value ,1 DINT Velocity: Demand value ,2 DINT Velocity: Actual deviation ,3 DINT Notification of remaining distance Remaining distance for message ,1 UDINT Table 7.3 Process Data 7.3 Project Data This object supplies project information, i.e.common parameters for all devices of a machine. Object Class ID: 105 Number of Instances: 1 Assignment Name Attribute FHPP-PNU Type General project data Project zero point 1 500,1 DINT Negative position limit 2 501,1 DINT Positive position limit 3 501,2 DINT Max. speed 4 502,1 UDINT Max. acceleration 5 503,1 UDINT Max. jerkfree filter time 7 505,1 UDINT Teach Teach target ,1 USINT Table 7.4 Project Data 22 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

23 7. Parameters 7.4 Jog Mode This object supplies project information, i.e.common parameters for all devices of a machine. Object Class ID: 105 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Inching mode Jog mode: Speed slow (phase 1) ,1 DINT Jog mode: Speed fast (phase 2) ,1 DINT Jog mode: Acceleration ,1 UDINT Jog mode: Deceleration ,1 UDINT Jog mode: Time for phase ,1 UDINT Table 7.5 Jog Data 7.5 Direct mode position This object supplies project information concerning jog mode. Object Class ID: 105 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Direct mode position Direct mode pos.: Base speed ,1 DINT Direct mode pos.: Acceleration ,1 UDINT Table 7.6 Direct mode position Direct mode pos.: Deceleration ,1 UDINT Direct mode pos.: Jerk-free filter time ,1 UDINT 7.6 Direct Mode Speed This object supplies project information concerning direct mode speed regulation. Object Class ID: 105 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Direct mode speed: Direct mode speed: Base ramp ,1 UDINT Table 7.7 Direct Mode Speed Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 23

24 7. Parameters 7.7 Axis parameter This object supplies axis information, i.e. parameters for an individual device in a machine. Object Class ID: 107 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Mechanics Position factor: Numerator ,1 UDINT Position factor: Divisor ,2 UDINT Velocity encoder factor: Numerator ,1 UDINT Velocity encoder factor: Divisor ,2 UDINT Acceleration factor: Numerator ,1 UDINT Acceleration factor: Divisor ,2 UDINT Gear ratio: Motor revolutions ,1 UDINT Gear ratio: Shaft revolutions ,2 UDINT Feed constant: Feed ,1 UDINT Feed constant: Shaft revolutions ,2 UDINT Polarity ,1 USINT Encoder resolution: Increments ,1 UDINT Encoder resolution: Motor revolutions ,2 UDINT Axis parameter: X2A gear numerator ,2 DINT Axis parameter: X2A gear divisor ,3 DINT Table 7.8 Axis Parameter Object 7.8 Homing This object supplies project information concerning homing movement. Object Class ID: 107 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Homing Table 7.9 Homing Offset axis zero point ,1 DINT Homing method ,1 SINT Homing: Speed (Search for switch) ,1 UDINT Homing: Speed (Search for zero) ,2 UDINT Homing: Acceleration ,1 UDINT Homing required ,1 USINT 24 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

25 7. Parameters 7.9 Controller Parameters This object supplies project information concerning the motor controller. Object Class ID: 107 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Controller parameters Hold option code ,1 UINT Position window ,1 UDINT Position Window Time ,1 UINT Gain position controller ,18 UINT Gain speed controller ,19 UINT Time speed controller ,20 UINT Gain current controller ,21 UINT Time current controller ,22 UINT Save position ,32 UINT Motor data Festo serial number + motor serial number ,1 UDINT I²t time motor ,3 UINT Drive data Power stage temperature ,1 UDINT Nominal motor current ,3 UDINT Controller serial number ,7 UDINT Current limit ,4 UDINT Table 7.10 Controller parameter 7.10 Electronical identification plate This object supplies project information concerning the electronic identification plate. Object Class ID: 107 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Motor data Torque constant ,1 UDINT Motor rated current ,1 UINT Motor rated torque ,1 UDINT Max. current ,1 UINT Table 7.11 Electronical identification plate Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 25

26 7. Parameters 7.11 Standstill This object supplies project information concerning standstill monitoring. Object Class ID: 107 Number of Instances: 1 Allocation Name Attribute FHPP-PNU Type Standstill monitoring Position demand value ,1 DINT Position actual value ,1 DINT Standstill position window ,1 UDINT Standstill timeout ,1 UINT Table 7.12 Electronical identification plate 7.12 Error record This object supplies error information. All PNUs marked with..,x have subindices 1 4. Object Class ID: 101 Number of Instances: N Allocation Name Attribute FHPP-PNU Type Fault Number Error number 2 201,x UINT Table 7.13 Error record 7.13 Record List Object This object represents the data record list. Data records can be processed automatically and also linked to each other. All PNUs marked with..,x have subindices Object Class ID: 104 Number of Instances: N Allocation Name Attribute FHPP-PNU Type Record data Record Control Byte ,x USINT Record Control Byte ,x USINT Setpoint 4 404,x DINT Preselection value 5 405,x DINT Velocity 6 406,x UDINT Acceleration 7 407,x UDINT Deceleration 8 408,x UDINT Jerk-free filter time ,x UDINT Following Position ,x USINT Table 7.14 Record List Object 26 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

27 8. Module/network status LED 8. Module/network status LED The combined module and network status LED supplies limited information on the device and the communication status. LED is Status Shows: Off Device is not online. The device has not yet finished initialisation or has no power supply. Flashes green Green flashes red-green flashes red Red Ready to operate and online, not connected or online and requires commissioning Ready to operate and online, connected Communication failed and receives an Identify Comm Fault Request Minor error or connection interrupted (Time-Out) Critical error or critical connection error The device works in a normal status and is online without connection The device works in a normal status and is online with connections The device has ascertained a network access error and is in the status "Communication Fault." The device has received and accepted an "Identify Communication Faulted Request." Normal behaviour during commissioning. Correctable error and / or at least one I/O connection is in the Time Out status. The device has an error which cannot be corrected. The device has ascertained an error which makes communication in the network impossible (e.g. Bus- Off, double MAC-ID). Table 8.1 Status LED Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 27

28 9. DeviceNet error codes 9. DeviceNet error codes The following faults can occur if the DeviceNet module is used: Code Name Manual Action 64-1 DeviceNet: Bus Power lost 64-2 DeviceNet: RX queue overrun 64-3 DeviceNet TX queue overrun 64-4 DeviceNet IO send error 64-5 DeviceNet Bus Off 64-6 DeviceNet CAN controller overrun 65-0 DeviceNet active, but no module 65-1 DeviceNet Timeout I/0 connection The DeviceNet module is not supplied with 24 V DC. Too many messages received within a short period. Not sufficient free space on the CAN bus for sending messages. Error in sending I/O data The CAN controller is BUS OFF The CAN controller has an overrun. The DeviceNet communication is activated in the parameter set of the motor controller, but no module is available. Interrupting an I/O connection In addition to the motor controller the DeviceNet module must be connected to 24 V DC. Reduce the scan rate. Increase the bit rate, reduce the number of nodes or reduce the scan rate. Check that the network is connected correctly and has no faults. Check that the network is connected correctly and has no faults. Increase the bit rate, reduce the number of nodes or reduce the scan rate. Deactivate the DeviceNet communication or connect a module. No I/O message received within the expected time. Table 9.1 DeviceNet error codes The following faults concern FHPP, but can also occur if the DeviceNet module is used: Please refer to the FHPP manual for detailed information. Code Name Manual Action 70-2 FHPP: Factor Group invalid 70-3 FHPP: Operation mode change failure Table 9.2 FHPP error codes Calculation of the factor group leads to invalid internal values. Changing from the current to the desired operating mode is not permitted. Check the factor group. Check your application. It may be that not every change is permitted. 28 Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a

29 9. DeviceNet error codes Error messages can be acknowledged by: - The configuration interface, - via the fieldbus (FHPP control word CCON), - a falling edge at DIN5 (controller enable). Festo P.BE-CMMS-FHPP-DN-SW-EN en 1103a 29