Festo Handling and Positioning Profile Description FHPP Motor controller Type CMMP-AS CMMS-ST CMMS-AS CMMD-AS Festo handling and positioning profile Description 555 696 en 1011b [757 714]
Contents and general safety instructions Original... de Edition... en 1011b Designation... P.BE-CMM-FHPP-SW-EN Order no.... 555 696 (Festo AG & Co. KG, D-73726 Esslingen, 2010) Internet: http://www.festo.com E-Mail: service_international@festo.com The copying, distribution and utilization of this document as well as the communication of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights are reserved, in particular the right to carry out patent, registered design or ornamental design registration. I
Contents and general safety instructions CANopen, DeviceNet,EtherCAT,andPROFIBUS are registered trademarks of the respective trademark owners in certain countries. II
Contents and general safety instructions Contents Intended use... Safety instructions... Target group... Service... Important user instructions... Information about the version... Terms and abbreviations... VII VIII IX IX X XII XIII 1. I/O data and sequence control... 1-1 1.1 Overview of Festo Handling and Positioning Profile (FHPP)... 1-3 1.2 Setpoint specification (FHPP operating modes)... 1-5 1.2.1 Switching FHPP operating modes... 1-5 1.2.2 Record selection... 1-6 1.2.3 Direct mode... 1-7 1.3 Configuration of the I/O data... 1-8 1.3.1 Concept... 1-8 1.3.2 Assignment of the I/O data for CMMD... 1-9 1.3.3 I/O data in the various FHPP operating modes (control view)... 1-10 1.4 Assignment of the control bytes and status bytes (overview)... 1-11 1.5 Description of the control bytes... 1-12 1.5.1 Control byte 1 (CCON)... 1-12 1.5.2 Control byte 2 (CPOS)... 1-13 1.5.3 Control byte 3 (CDIR) Direct mode... 1-14 1.5.4 Bytes 4 and 5... 8 Direct mode... 1-15 1.5.5 Bytes 3 and 4... 8 Record selection... 1-15 1.6 Description of the status bytes... 1-16 1.6.1 Status byte 1 (SCON)... 1-16 1.6.2 Status byte 2 (SPOS)... 1-17 1.6.3 Status byte 3 (SDIR) Direct mode... 1-18 1.6.4 Bytes 4 and 5... 8 Direct mode... 1-19 1.6.5 Bytes 3, 4 and 5... 8 Record selection... 1-20 III
Contents and general safety instructions 1.7 FHPP finite state machine... 1-22 1.7.1 Establishing the ready status... 1-24 1.7.2 Positioning... 1-25 1.7.3 Special features dependent on FHPP operating mode... 1-27 1.7.4 Examples of control and status bytes... 1-27 2. Drive functions... 2-1 2.1 Reference system for electric drives... 2-3 2.2 Calculation rules for the reference system... 2-5 2.3 Homing... 2-5 2.3.1 Homing for electric drives... 2-7 2.3.2 Homing methods... 2-8 2.4 Jog mode... 2-13 2.5 Teaching via fieldbus... 2-15 2.6 Carry out record (Record selection)... 2-17 2.6.1 Record selection sequence charts... 2-18 2.6.2 Record structure... 2-22 2.6.3 Conditional record chaining (PNU 402)... 2-23 2.7 Direct mode... 2-27 2.7.1 Sequence for discrete setpoint value... 2-29 2.7.2 Sequence for Profile Torque mode (torque and current control).. 2-30 2.7.3 Sequence for Profile Velocity mode... 2-32 2.8 Standstill control... 2-34 2.9 On-the-fly measurement (position sampling)... 2-36 3. Fault reaction and diagnosis... 3-1 3.1 Classifying the faults... 3-3 3.1.1 Warnings... 3-4 3.1.2 Fault type 1... 3-5 3.1.3 Fault type 2... 3-6 3.2 Diagnostic memory (faults)... 3-7 3.3 Warning memory (CMMP only)... 3-8 IV
Contents and general safety instructions 3.4 Fault numbers... 3-9 3.4.1 CMMP fault numbers... 3-9 3.4.2 CMMS/CMMD fault numbers... 3-47 3.5 Diagnosis using FHPP status bytes... 3-53 4. Parameters... 4-1 4.1 FHPP general parameter structure... 4-3 4.2 Access protection... 4-4 4.2.1 Access via PLC and FCT... 4-4 4.3 Overview of FHPP parameters... 4-5 4.4 Descriptions of FHPP parameters... 4-12 4.4.1 Representation of the parameter entries... 4-12 4.4.2 PNUs for the telegram entries for FHPP+... 4-13 4.4.3 Device data Standard parameters... 4-15 4.4.4 Device data Extended parameters... 4-16 4.4.5 Diagnostics... 4-19 4.4.6 Process data... 4-23 4.4.7 On-the-fly measurement... 4-28 4.4.8 Record list... 4-29 4.4.9 Project data General project data... 4-41 4.4.10 Project data Teaching... 4-42 4.4.11 Project data Jog mode... 4-43 4.4.12 Project data Direct mode, Profile Position mode... 4-44 4.4.13 Project data Direct mode, Profile Torque mode... 4-45 4.4.14 Project data Direct mode, Profile Velocity mode... 4-46 4.4.15 Function data Camming function... 4-47 4.4.16 Function data Position triggers and rotor position triggers... 4-49 4.4.17 Axis parameters for electric drives 1 Mechanical parameters... 4-52 4.4.18 Axis parameters for electric drives 1 Homing parameters... 4-55 4.4.19 Axis parameters for electric drives 1 Closed-loop controller parameters... 4-57 4.4.20 Axis parameters for electric drives 1 Electronic rating plate... 4-60 4.4.21 Axis parameters for electric drives 1 Standstill control... 4-61 V
Contents and general safety instructions 4.4.22 Axis parameters for electric drives 1 Drag error monitoring... 4-62 4.4.23 Axis parameters for electric drives 1 Other parameters... 4-62 4.4.24 Function parameters for digital I/Os... 4-63 5. Parametrisation with FPC... 5-1 5.1 Parametrisation with FHPP... 5-3 5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data)... 5-3 5.1.2 Task identifiers, response identifiers and error numbers... 5-5 5.1.3 Rules for task-response processing... 5-7 A. Technical appendix... A-1 A.1 Conversion factors (factor group)... A-3 A.1.1 Overview... A-3 A.1.2 Objects in the factor group... A-5 A.1.3 Calculating the positioning units... A-6 A.1.4 Calculating the units of velocity... A-9 A.1.5 Calculating the units of acceleration... A-13 B. FHPP+ and cam disk expansions... B-1 B.1 FHPP+ overview... B-3 B.1.1 Structure of the FHPP+ telegram... B-4 B.1.2 Examples... B-5 B.1.3 Configuration of the fieldbuses with FHPP+... B-6 B.1.4 Telegram editor for FHPP+... B-6 B.1.5 Overview of FHPP+ parameters... B-6 B.2 CMMP-AS - operation of cam disks... B-7 B.2.1 Camming function in Direct mode... B-8 B.2.2 Camming function in Record selection mode... B-10 B.2.3 Parameters for the camming function... B-10 B.2.4 Extended finite state machine with camming function... B-11 C. Index... C-1 VI
Contents and general safety instructions Intended use This description includes the Festo Handling and Position Profile (FHPP) for the CMMx product family corresponding to Tab. 0/1 in the Version information section. This provides you with supplementary information about controlling, diagnosing and parametrising the motor controllers via the fieldbus. The complete set of information can be found in the documentation for the motor controller in question: Description P.BE-CMM...-HW-...: Mechanical system - Electrical system - Overview of the function range. Note Always follow the safety-related instructions listed in the product manual for the motor controller in question. Depending on which fieldbus is used, you can find further information in the following manuals for the CMMx product family: Description P.BE-CMM...-CO-...: Description of the implemented CANopen protocol as per DSP 402. Description P.BE-CMM...-PB-...: Description of the implemented PROFIBUS-DP protocol. Description P.BE-CMM...-DN-...: Description of the implemented DeviceNet protocol. Description P.BE-CMM...-EC-...: Description of the implemented EtherCAT protocol. VII
Contents and general safety instructions Safety instructions When commissioning and programming positioning systems, you must always observe the safety regulations in this manual as well as those in 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. Warning Axes can move with high force and at high speed. Collisionscanleadtoseriousinjuriesanddamagetocomponents. 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. Warning Errors in the parametrisation can cause injuries and damage to property. Enable the controller only if the axis system has been correctly installed and parametrised. VIII
Contents and general safety instructions Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. Service Please consult your local Festo Service department or write to the following e-mail address if you have any technical problems: service_international@festo.com IX
Contents and general safety instructions Important user instructions Danger categories This description contains instructions on the possible dangers which can arise 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 material damage. Caution... means that failure to observe this instruction may result in personal injury or material damage. Note... means that failure to observe this instruction may result in material damage. Additionally, the following pictogram designates text passages, which describe activities with electrostatically sensitive devices: Electrostatically sensitive devices: inappropriate handling can result in damage to components. X
Contents and general safety instructions Identification of special information The following pictograms designate text passages 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 the environmentally-friendly use of Festo products. Text designations Bullet points indicate activities that may be carried out in any sequence. 1. Numerals indicate activities that must be carried out in thesequencespecified. Arrowheads indicate general listings. XI
Contents and general safety instructions Information about the version This manual refers to versions set out in Tab. 0/1. Controller Firmware Description CMMP-AS-... Version 3.5.1501.4.1 and higher Premium motor controller for servo motors Note: This description does not apply to the variants CMMP-AS-...-M3.Usethespecial FHPP description for these variants. CMMS-ST-... Version 1.3.0.1.14 and higher Standard motor controller for stepper motors. CMMS-AS-... Version 1.3.0.1.15and higher Standard motor controller for servo motors. CMMD-AS-... Version 1.4.0.3.1and higher Standard double motor controller for servo motors. Tab. 0/1: Controller and firmware versions For older versions: You may need to use the corresponding older version of this document. Note With newer firmware versions, check whether there is a newer version of this description available: www.festo.com XII
Contents and general safety instructions Terms and abbreviations The following terms and abbreviations are used in this manual: Term/abbreviation Axis Axis zero point (AZ) Controller Drive Encoder Festo Configuration Tool (FCT) Festo Handling and Positioning Profile (FHPP) Festo Parameter Channel (FPC) FHPP standard HMI Homing Homing method Meaning Mechanical component of a drive that transfers the drive force for the motion. An axis enables the attachment and guiding of the work load and the attachment of a reference switch. Point of reference for the software end positions and the project zero point PZ. The axis zero point AZ is defined by a preset distance (offset) from the reference point REF. Contains power electronics + closed-loop controllers + position controller, evaluates sensor signals, calculates movements and forces and provides the power supply for the motor via the power electronics. Complete actuator, consisting of motor, encoder and axis, optionally with a gearbox, if applicable with controller. Electrical pulse generator (generally a rotor position transducer). The controller evaluates the electrical signals that are generated and uses them to calculate the position and speed. Software with standardised project and data management for supported device types. The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plug-ins. Uniform fieldbus data profile for position controllers from Festo Parameter access as per the Festo Handling and Positioning Profile (I/O messaging, optionally additional 8-byte I/O) Defines the sequence control as per the Festo Handling and Positioning Profile (I/O messaging, 8-byte I/O) Human-Machine Interface, e.g. control panel with LCD screen and operating buttons. Positioning procedure in which the reference point and therefore the origin of the measuring reference system of the axis are defined. Method for defining the reference position: against a fixed stop (overload current evaluation/speed evaluation) or with reference switch. XIII
Contents and general safety instructions Term/abbreviation Homing mode I O IO Jog mode Load voltage, logic voltage Logic 0 Logic 1 Operating mode PLC Positioning record Profile Position mode Profile Torque mode Project zero point (PZ) Reference point (REF) Meaning Defines the measuring reference system of the axis Input. Output. Input and/or output. Manual positioning in positive or negative direction. Function for setting positions by approaching the target position, e.g. by teaching positioning records (Teach mode). The load voltage supplies the power electronics of the controller and thereby the motor. The logic voltage supplies the evaluation and control logic of the controller. 0Vpresentatinputoroutput (positivelogic, correspondstolow). 24Vpresentatinputoroutput (positivelogic, correspondstohigh). Type of control, or internal operating mode of the controller. Type of control: Record selection, Direct mode Operating mode of the controller: Profile Position mode, Profile Torque mode, Profile Velocity mode Predefined sequences: Homing mode... Programmable logic controller; control system for short (also IPC: industrial PC). Positioning command defined in the positioning record table, consisting of target position, positioning mode, positioning speed and accelerations. Operating mode for executing a positioning record or a direct positioning task with closed-loop position control. Operating mode for executing a direct positioning task with force control (open-loop transmission control) by regulation of the motor current. Point of reference for all positions in positioning tasks. The project zero point PZ forms the basis for all absolute position specifications (e.g. in the positioning record table or with direct control via a control interface). The project zero point PZ is defined by a preset distance (offset) from the axis zero point. Point of reference forthe incrementalmeasuringsystem. The reference point defines a known orientation or position within the positioning path of the drive. XIV
Contents and general safety instructions Term/abbreviation Reference switch Software end position Speed adjustment (Profile Velocity mode) Teach mode Meaning External sensor used for ascertaining the reference position and connected directly to the controller. Programmable stroke limitation (point of reference = axis zero point) Software end position, positive: max. limit position of the stroke in positive direction; must not be exceeded during positioning. Software end position, negative: min. limit position in negative direction; must not be fallen short of during positioning. Operating mode for executing a positioning record or a direct positioning task with closed-loop control of the speed/velocity. Operatingmodeforsettingpositionsbymovingto thetarget position, e.g. when creating positioning records. Tab. 0/2: Index of terms and abbreviations XV
Contents and general safety instructions XVI
I/O data and sequence control Chapter 1 I/O data and sequence control 1-1
1. I/O data and sequence control Contents 1.1 Overview of Festo Handling and Positioning Profile (FHPP)... 1-3 1.2 Setpoint specification (FHPP operating modes)... 1-5 1.2.1 Switching FHPP operating modes... 1-5 1.2.2 Record selection... 1-6 1.2.3 Direct mode... 1-7 1.3 Configuration of the I/O data... 1-8 1.3.1 Concept... 1-8 1.3.2 Assignment of the I/O data for CMMD... 1-9 1.3.3 I/O data in the various FHPP operating modes (control view)... 1-10 1.4 Assignment of the control bytes and status bytes (overview)... 1-11 1.5 Description of the control bytes... 1-12 1.5.1 Control byte 1 (CCON)... 1-12 1.5.2 Control byte 2 (CPOS)... 1-13 1.5.3 Control byte 3 (CDIR) Direct mode... 1-14 1.5.4 Bytes 4 and 5... 8 Direct mode... 1-15 1.5.5 Bytes 3 and 4... 8 Record selection... 1-15 1.6 Description of the status bytes... 1-16 1.6.1 Status byte 1 (SCON)... 1-16 1.6.2 Status byte 2 (SPOS)... 1-17 1.6.3 Status byte 3 (SDIR) Direct mode... 1-18 1.6.4 Bytes 4 and 5... 8 Direct mode... 1-19 1.6.5 Bytes 3, 4 and 5... 8 Record selection... 1-20 1.7 FHPP finite state machine... 1-22 1.7.1 Establishing the ready status... 1-24 1.7.2 Positioning... 1-25 1.7.3 Special features dependent on FHPP operating mode... 1-27 1.7.4 Examples of control and status bytes... 1-27 1-2
1. I/O data and sequence control 1.1 Overview of Festo Handling and Positioning Profile (FHPP) Festo has developed an optimised data profile especially tailored to the target applications for handling and positioning tasks, the Festo Handling and Positioning Profile (FHPP). The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo. In addition, it defines the following so that they are largely uniform for the user: The operating modes, I/O data structure, Parameter objects, Sequence control.... Fieldbus communication Record selection Direct mode Parametrisation > 1 2 3... Position Velocity Torque Free access to all parameters read and write n... Fig. 1/1: The FHPP principle 1-3
1. I/O data and sequence control Control and status data (FHPP Standard) Communication over the fieldbus is effected by way of 8-byte control and status data. Functions and status messages required in operation can be written and read directly. Parametrisation (FPC) The control system can access all parameter values of the controller via the fieldbus by means of the parameter channel. A further 8 bytes of I/O data are used for this purpose. Note on the controllers Each controller has specific features and tasks. They therefore each have their own finite state machine and a separate database. The Festo Handling and Positioning Profile (FHPP) provides users with information about a controller s individual characteristics. The profile is implemented as independently as possible from each controller and fieldbus. 1-4
1. I/O data and sequence control 1.2 Setpoint specification (FHPP operating modes) The FHPP operating modes differ in the content and meaning of thecyclici/odataandinthefunctionsthatcanbeaccessedin the controller. Operating mode Record selection Direct mode Description A specific number of positioning records can be saved in the controller. A record contains all the parameters which are specified for a positioning task. The record number is transmitted in the cyclic I/O data as the setpoint or actual value. The positioning task is transmitted directly in the I/O telegram. The most important setpoint values (position, velocity, torque) are transmitted here. Supplementary parameters (e.g. acceleration) are defined by the parametrising. Tab. 1/3: Overview of FHPP operating modes in CMM... 1.2.1 Switching FHPP operating modes The FHPP operating mode is switched by the CCON control byte (see below) and indicated in the SCON status word. Switching between record selection and direct mode is only permitted in the Ready state; see section 1.7, Fig. 1/2. 1-5
1. I/O data and sequence control 1.2.2 Record selection Each controller has a specific number of records, which contain all the information needed for one positioning task. The maximum number of records is specified separately for each controller. The record number that the controller is to process at the next start is transmitted in the PLC s output data. The input data contains the record number that was processed last. The positioning task itself does not need to be active. The controller does not support any automatic mode, i.e. no user program. Records cannot be processed automatically with a programmable logic. The controller cannot accomplish any useful tasks in a stand-alone state; close coupling to the PLC is necessary. However, depending on the controller, it is also possible to concatenate various records and execute them one after the other with the help of a start command. It is also possible (again, dependent on the controller) to define record chaining before the target position is reached. It is only possible to set all of the parameters for the record chaining ( route program ) (e.g. the following record) using the FCT. In this way, positioning profiles can be created without the inactive times (which arise from the transfer in the fieldbus and the PLC s cycle time) having an effect. 1-6
1. I/O data and sequence control 1.2.3 Direct mode In the direct mode, positioning tasks are formulated directly in the PLC s output data. The typical application calculates dynamically the target setpoint values for each task or just for some tasks. This makes it possible to adjust the system to different workpiece sizes, for example, without having to re-parametrise the record list. The positioning data is managed completely in the PLC and sent directly to the controller. 1-7
1. I/O data and sequence control 1.3 Configuration of the I/O data 1.3.1 Concept The FHPP protocol stipulates 8 bytes of input data and 8 bytes of output data. Of these, the first byte is fixed (the first two bytes in the FHPP operating modes Record selection and Direct mode). It remains intact in each operating mode and controls the enabling of the controller and the FHPP operating modes. The other bytes are dependent on the FHPP operating mode that was selected. Additional control or status bytes and setpoint and actual values can be transmitted here. In the cyclic data, a further 8 bytes of input data and 8 bytes of output data are permissible to transmit parameters according to the FPC protocol. A PLC exchanges the following data with the FHPP: 8-byte control and status data: Control and status bytes Record number or setpoint position in the output data Feedback of actual position and record number in the input data Additional mode-dependent setpoint and actual values If required, an additional 8 bytes of input and 8 bytes of output data for FPC parametrisation, see section 5.1. If required, up to 24 (without FPC) or 16 (with FPC) additional bytes support I/O data for parameter transfer via FHPP+, see Appendix B.1. If applicable, observe the specification in the bus master for the representation of words and double words (Intel/ Motorola). E.g. in the little endian representation when transmitted via CAN (lowest-value byte first). 1-8
1. I/O data and sequence control 1.3.2 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 then has its own I/O data corresponding to section 1.3.1 or 1.3.3. Assignment of the I/O data over the fieldbus depends on the control interface used: CANopen: The two axes have a separate CAN address, each with 8 (withoutfpc)or16i/obytesdata(withfpc). Theaddressofaxis1issetattheDIPswitches.Axis2is always assigned the subsequent address: CAN address axis 2 = CAN address axis 1 + 1 PROFIBUSandDeviceNet: 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 1... 8: control/status bytes axis 1 Byte 9... 16: FPC axis 1 Byte 17... 24: control/status bytes axis 2 Byte 25... 32: FPC axis 2 Note: With PROFIBUS and 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-AS. 1-9
1. I/O data and sequence control 1.3.3 I/O data in the various FHPP operating modes (control view) Record selection 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. RSB Actual position Direct mode Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data Input data CCON CPOS CDIR Setpoint value 1 SCON SPOS SDIR Actual value 1 Setpoint value 2 Actual value 2 Festo FPC Further 8 bytes of I/O data for FPC parametrisation (see section 5.1): Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output data Input data Reserved Subindex Task identifier (ReqID) + parameter number (PNU) Reserved Subindex Response identifier (ResID) + parameter number (PNU) Parameter value Parameter value 1-10
1. I/O data and sequence control 1.4 Assignment of the control bytes and status bytes (overview) Assignment of the control bytes (overview) CCON (all) B7 OPM2 B6 OPM1 B5 LOCK B4 B3 RESET B2 BRAKE B1 STOP B0 ENABLE Select FHPP operating mode Software access locked Reset fault Open brake Stop Drive enable CPOS (Record selection and Direct mode) B7 B6 CLEAR Clear remaining position B5 TEACH Teach actual value B4 JOGN Jog negative B3 JOGP Jog positive B2 HOM Start homing B1 START Start positioning task B0 HALT Halt CDIR (Direct mode) B7 FUNC Execute function B6 FGRP2 B5 FGRP1 B4 FNUM2 B3 FNUM1 B2 COM2 B1 COM1 Functiongroup Functionnumber Control mode (position, torque, velocity,...) B0 ABS Absolute/ Relative Assignment of the status bytes (overview) SCON (all) SPOS (Record selection and Direct mode) SDIR (Direct mode) B7 OPM2 B6 OPM1 Display FHPP operating mode B7 REF B7 FUNC Function is executed B6 STILL Standstill control B6 FGRP2 B5 LOCK Drive control by software B5 DEV Drag (deviation) error B5 FGRP1 Function group feedback B4 24VL Supply voltage is applied B4 MOV Axis is moving B4 FNUM2 B3 FAULT B2 WARN B1 OPEN Fault Warning Operation enabled B3 TEACH Axis is referenced Acknowledge teach/ sampling B3 FNUM1 Function number feedback B2 MC Motion complete B2 COM2 B1 ACK Acknowledge start B1 COM1 Control mode feedback (position, torque, velocity) B0 ENABLED Drive enabled B0 HALT Halt B0 ABS Absolute/ Relative 1-11
1. I/O data and sequence control 1.5 Description of the control bytes 1.5.1 Control byte 1 (CCON) Control byte 1 (CCON) Bit EN Description B0 ENABLE B1 STOP B2 BRAKE B3 RESET Drive Enable Stop Open Brake Reset Fault = 1: Enable drive (controller) = 0: Drive (controller) disabled = 1: Operation enabled. Any error will be deleted. = 0: STOP active (cancel emergency ramp + positioning task). The drive stops with maximum braking ramp, the positioning task is reset. = 1: Release brake =0: Activatebrake Note: it is only possible to release the brake if the controller is disabled. As soon as the controller is enabled, it has priority over the brake s control system. With a rising edge a fault is acknowledged and the fault value is deleted. B4 Reserved,mustbeat0. B5 LOCK B6 OPM1 B7 OPM2 Software Access Locked Select Operating Mode Controls access to the controller s local (integrated) diagnostic interface. = 1: The software can only observe the controller; the software cannot take over device control (HMI control) from the software. = 0: The software may take over the device control (in order to modify parameters or to control inputs). Bit 7 6 Operating mode 0 0 Record selection 0 1 Directmode 1 0 Reserved 1 1 Reserved CCON controls statuses in all FHPP operating modes. For more information, see the description of the drive functions in Chapter 2. 1-12
1. I/O data and sequence control 1.5.2 Control byte 2 (CPOS) Control byte 2 (CPOS) Bit EN Description B0 HALT B1 START B2 HOM B3 JOGP B4 JOGN B5 TEACH B6 CLEAR Halt Start Positioning Task Start Homing Jog positive Jog negative Teach Actual Value Clear Remaining Position = 1: Halt is not active = 0: Halt activated (do not cancel braking ramp + positioning task). The axis stops with a defined braking ramp, the positioning task remains active (with B6 the remaining positioning distance can be deleted). With a rising edge the current setpoint values will be transferred and positioning started (even if record 0 = homing, for example). With a rising edge homingisstartedwith the set parameters. The drive moves at the specified velocity or rotational speed in the direction of larger actual values, providing the bit is set. The movement begins with the rising edge and ends with the falling edge. The drive moves at the specified velocity or rotational speed in the direction of smaller actual values, see B3. At a falling edge the current actual value is imported into the setpoint register of the currently addressed positioning record; see section 2.5. The teach target is defined with PNU 520. The type is determined by the record status byte (RSB). See also section 2.5. In the Halt status a rising edge causes the positioning task to be deleted and transfer to the status Ready. B7 Reserved,mustbeat0. CPOS controls the positioning sequences in the Record selection and Direct mode FHPP operating modes, as soon as the drive is enabled. 1-13
1. I/O data and sequence control 1.5.3 Control byte 3 (CDIR) Direct mode Control byte 3 (CDIR) Direct mode Bit EN Description B0 ABS Absolute/ Relative = 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value B1 COM1 B2 COM2 Control Mode Bit 2 1 Control mode 0 0 Profile Position mode 0 1 Profile Torque mode (torque, current) 1 0 Profile Velocity mode (speed) 1 1 Reserved Only Profile Position mode can be used for the camming function. B3 FNUM1 B4 FNUM2 B5 FGRP1 B6 FGRP2 B7 FUNC Function Number Function Group Function Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 4 3 Function number 1) 0 0 0 Reserved 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function Without camming function (CDIR.B7, FUNC = 0): no function, = 0! If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1... 3) are reserved. =0: Normaltask = 1: Execute camming function (only permissible with CMMP, Bit 3... 6 = function number and group) 1) With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2 are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 determine the reference and the closed-loop control mode of the master. In Direct mode, CDRI specifies the type of positioning task more precisely. 1-14
1. I/O data and sequence control 1.5.4 Bytes 4 and 5... 8 Direct mode Control byte 4 (setpoint value 1) Direct mode Bit EN Description B0... B7 Velocity Velocity ramp preselection depends on the closed-loop control mode (CDIR.B1/B2): Profile Position mode: Velocity as percentage of base value (PNU 540) Profile Torque mode: No function, = 0! Profile Velocity mode: Velocity ramp as percentage of base value (PNU 560) Control bytes 5... 8 (setpoint value 2) Direct mode Bit EN Description B0...B31 Position Torque Velocity Preselection depends on closed-loop control mode (CDIR.B1/B2), in each case a little-endian 32-bit number: Profile Position mode: Position in positioning unit (see appendix A.1) Profile Torque mode: Torque setpoint as percentage of the rated torque (PNU 1036) Profile Velocity mode: Speed in unit of velocity (see appendix A.1) 1.5.5 Bytes 3 and 4... 8 Record selection Control byte 3 (record number) Record selection Bit EN Description B0... B7 Record number Preselection of record number for record selection. Control bytes 4... 8 Record selection Bit EN Description B0... B7 Reserved (= 0) 1-15
1. I/O data and sequence control 1.6 Description of the status bytes 1.6.1 Status byte 1 (SCON) Status byte 1 (SCON) Bit EN Description B0 ENABLED B1 OPEN B2 WARN B3 FAULT B4 24VL B5 LOCK B6 OPM1 B7 OPM2 Drive Enabled Operation Enabled Warning Fault Supply Voltage is Applied Drive Control by Software Display Operating Mode = 0: Drive disabled, controller not active = 1: Drive (controller) enabled =0: STOPactive = 1: Operation enabled, positioning possible = 0: Warning not registered = 1: Warning registered =0: Nofault = 1: There is a fault or fault reaction is active. Fault code in the diagnostic memory. = 0: No load voltage = 1: Load voltage applied Control sovereignty, meaning which device or system has higher control priority (see PNU 125, section 4.4.4) = 0: Device control unassigned (software, fieldbus, DIN) = 1: Device control by software (FCT or DIN) (PLC control is Locked) Bit 7 6 Operating mode acknowledgment 0 0 Record selection 0 1 Directmode 1 0 Reserved 1 1 Reserved 1-16
1. I/O data and sequence control 1.6.2 Status byte 2 (SPOS) Status byte 2 (SPOS) Bit EN Description B0 HALT B1 ACK B2 MC B3 TEACH B4 MOV B5 DEV B6 STILL B7 REF Halt Acknowledge Start Motion Complete Acknowledge Teach / Sampling Axis is moving Drag (deviation) Error Standstill control Axis is referenced =0: HALTisactive = 1: HALT is not active, axis can be moved = 0: Ready for start (homing, jog) = 1: Start carried out (homing, jog) = 0: Positioning task active = 1: Positioning task completed, where applicable with error Note: MC is set for the first time after switch-on (status Drive disabled ). Depending on the setting in PNU 354: PNU 354 = 0: Display of the teach status SPOS.B3 = 0: Ready for teaching SPOS.B3 = 1: Teaching carried out, actual value is transferred PNU 354 = 1: Display of the sampling status SPOS.B3 = 0: No edge. SPOS.B3 = 1: An edge has appeared. New position value available. For position sampling: see section 2.9. = 0: Speed of the axis < limit value = 1: Speed of the axis >= limit value = 0: No drag error (also called following error ) = 1: Drag error active = 0: After MC, axis remains in tolerance window = 1: Axis has left the tolerance window after MC = 0: Homing must be carried out = 1: Reference information present, homing not necessary 1-17
1. I/O data and sequence control 1.6.3 Status byte 3 (SDIR) Direct mode The SDIR status byte acknowledges the positioning mode. Status byte 3 (SDIR) Direct mode Bit EN Description B0 ABS B1 COM1 B2 COM2 B3 FNUM1 B4 FNUM2 B5 FGRP1 B6 FGRP2 B7 FUNC Absolute/ Relative Control Mode feedback Function Number feedback Function Group feedback Function feedback = 0: Setpoint value is absolute = 1: Setpoint value is relative to last setpoint value Bit 2 1 Control mode feedback 0 0 Profile Position mode 0 1 Profile Torque mode (torque, current) 1 0 Profile Velocity mode (speed) 1 1 Reserved Only if the camming function is used (SDIR.B7, FUNC = 1): No. Bit 4 3 Function number 0 0 0 CAM-IN / CAM-OUT / Change active 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function Only if the camming function is used (SDIR.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1... 3) are reserved. =0: Normaltask = 1: Camming function is executed (bits 3... 6 = function number and group) 1-18
1. I/O data and sequence control 1.6.4 Bytes 4 and 5... 8 Direct mode Status byte 4 (actual value 1) Direct mode Bit EN Description B0... B7 Velocity Torque Feedback depends on the closed-loop control mode (CDIR.B1/B2): Profile Position mode: Velocity as percentage of base value (PNU 540) Profile Torque mode: Torque as percentage of the rated torque (PNU 1036) Profile Velocity mode: no function, = 0 Status bytes 5... 8 (actual value 2) Direct mode Bit EN Description B0... B31 Position Torque Velocity Feedback depends on closed-loop control mode (CDIR.B1/B2), in each case a little-endian 32-bit number: Profile Position mode: Position in positioning unit, see appendix A.1 Profile Torque mode: Position in positioning unit, see appendix A.1 Profile Velocity mode: Speed as an absolute value in unit of velocity 1-19
1. I/O data and sequence control 1.6.5 Bytes 3, 4 and 5... 8 Record selection Status byte 3 (record number) Record selection Bit EN Description B0... B7 Record number Acknowledgement of record number for record selection. Status byte 4 (RSB) Record selection Bit EN Description B0 RC1 B1 RCC 1st Record Chaining Done Record Chaining Complete = 0: A step enabling condition was not configured or not achieved. = 1: The first step enabling condition was achieved. Valid as soon as MC applies. = 0: Record chaining cancelled. At least one step enabling condition has not been met. = 1: Record chain was processed to the end of the chain. B2 Reserved B3 FNUM1 B4 FNUM2 B5 FGRP1 B6 FGRP2 B7 FUNC Function Number feedback Function Group feedback Function feedback Only if the camming function is used (RSB.B7, FUNC = 1): No. Bit 4 3 Function number 0 0 0 CAM-IN / CAM-OUT / Change active 1 0 1 Synchronisation with an external input 2 1 0 Synchronisation with an external input with camming function 3 1 1 Synchronisation with a virtual master with camming function Only if the camming function is used (RSB.B7, FUNC = 1): No. Bit 6 5 Function group 0 0 0 Synchronisation with/without cam disk All other values (No. 1... 3) are reserved. =0: Normaltask = 1: Camming function is executed (bits 3... 6 = function number and group) 1-20
1. I/O data and sequence control Status bytes 5... 8 (position) Record selection Bit EN Description B0...B31 Position,... Acknowledgment of the position: Position in positioning unit, see appendix A.1 (32-bit number, low byte first) 1-21
1. I/O data and sequence control 1.7 FHPP finite state machine T7* always has the highest priority. Switched off S1 Controller switched on From all states T7* S5 Reaction to fault T1 T8 T11 S2 Drive disabled T9 S6 Fault T6 T5 T2 S3 Drive enabled T10 T4 T3 SA5 Jog positive TA9 SA1 SA6 Jog negative TA10 TA11 Ready TA7 TA8 SA4 Homing is being carried out TA12 TA2 TA1 SA2 Positioning task active TA5 TA6 TA4 TA3 S4 Operation enabled SA3 Intermediate stop Fig. 1/2: Finite state machine 1-22
1. I/O data and sequence control Notes on the Operation enabled state The transition T3 changes to state S4, which itself contains its own sub-state machine, the states of which are marked with SAx and the transitions of which are marked with TAx ; see Fig. 1/2. This enables an equivalent circuit diagram (Fig. 1/3) to be used, in which the internal states SAx are omitted. Switched off From all states T7* S1 Controller switched on S5 S5 Reaction to fault T1 S2 Drive disabled T9 S6 T8 Fault T11 T5 T2 S3Drive enabled T10 T6 T4 T3 S4 Fig. 1/3: Operation enabled Finite state machine equivalent circuit diagram Transitions T4, T6 and T7* are executed from every sub-state SAx and automatically have a higher priority than any transition TAx. Reaction to faults T7 ( Fault recognised ) has the highest priority (and receives the asterisk * ). T7 is executed from S5+S6 if an fault of higher priority occurs. This means that a serious fault can displace a simple fault. 1-23
1. I/O data and sequence control 1.7.1 Establishing the ready status To create the ready status, additional input signals are required, depending on the controller, at DIN 4, DIN 5, DIN 13, etc., for example. For more detailed information about this, see the description of the controller in question. T Internal conditions Actions of the user T1 T2 Drive is switched on. There is no fault detected. Load voltage applied. Control sovereignty with PLC. Drive enable = 1 CCON = xxx0.xxx1 T3 Stop = 1 CCON = xxx0.xx11 T4 Stop = 0 CCON = xxx0.xx01 T5 Drive enable = 0 CCON = xxx0.xxx0 T6 Drive enable = 0 CCON = xxx0.xxx0 T7* Fault detected. T8 T9 T10 Reaction to fault completed, drive stopped. There is no longer a fault. Itwasaseriousfault. There is no longer a fault. It was a simple fault. Reset fault = 0 1 CCON = xxx0.pxxx Reset fault = 0 1 CCON = xxx0.pxx1 T11 Fault still exists. Reset fault = 0 1 CCON = xxx0.pxx1 Key: P = positive edge, N = negative edge, x = any 1-24
1. I/O data and sequence control 1.7.2 Positioning As a general rule: Transitions T4, T6 and T7* always have priority. TA Internal conditions Actions of the user TA1 Homing has beencarried out. Start positioning task = 0 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.00P1 TA2 Motion Complete = 1 The current record is completed. The next record is not to be carried out automatically Halt status is any CCON = xxx0.xx11 CPOS = 0xxx.xxxx TA3 Motion Complete = 0 Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN TA4 Halt = 1 Start positioning task = 0 1 Clear remaining position = 0 CCON = xxx0.xx11 CPOS = 00xx.xxP1 TA5 Record selection: A single record is finished. The next record is to be carried out automatically. CCON = xxx0.xx11 CPOS = 0xxx.xxx1 Direct mode: A new positioning task has arrived. CCON = xxx0.xx11 CPOS = 0xxx.xx11 TA6 Clear remaining position = 0 1 CCON = xxx0.xx11 CPOS = 0Pxx.xxxx TA7 Start homing = 0 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.0Px1 TA8 Homing finished or Halt. Only for Halt: Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN Key: P = positive edge, N = negative edge, x = any 1-25
1. I/O data and sequence control TA Internal conditions Actions of the user TA9 Jog positive = 0 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.Pxx1 TA10 Either Jogpositive=1 0 CCON = xxx0.xx11 CPOS = 0xxx.Nxx1 or Halt=1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN TA11 Jog negative = 0 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xxP.0xx1 TA12 Either Jognegative=1 0 CCON = xxx0.xx11 CPOS = 0xxN.xxx1 or Halt=1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN Key: P = positive edge, N = negative edge, x = any There are additional transitions if the camming function is used; see appendix B.2. 1-26
1. I/O data and sequence control 1.7.3 Special features dependent on FHPP operating mode FHPP operating mode Recordselection Direct mode Notes on special features No restrictions. TA2: The condition that no new record may be processed no longer applies. TA5: A new record can be started at any time. 1.7.4 Examples of control and status bytes On the following pages you will find typical examples of control and status bytes: 0. Safeguard device control 1. Create readiness to operate Record selection 2. Create readiness to operate Direct mode 3. Fault handling 4. Homing 5. Positioning with record selection 6. Positioning with direct mode For information about the state machine, see section 1.7. For all examples: Additional digital I/Os are required for CMM... controller enabling and closed-loop controller enabling; see manual forthecmm...controllerused. 1-27
1. I/O data and sequence control 0. Safeguard device control Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 0.1 Drive control by software = on Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge Tab. 1/4: Control and status bytes for Device control active Description of 0. Safeguard device control: 0.1 Device control via software (e.g. Festo Configuration Tool) is activated. To control using the fieldbus interface, device control via the software has to be deactivated first. 1-28
1. I/O data and sequence control 1. Create readiness to operate Record selection Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 1.1 Basic status (Drive control by software = off) 1.2 Disable device control by software Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON x x 1 0 x x x x SCON x x 0 x x x x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 x x x x x x x SPOS x x x x x x x x 1.3 Enable drive, enable operation Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1 (Record selection) CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT Tab. 1/5: Control and status bytes for Create readiness to operate Record selection Description of 1. Create readiness to operate: 1.1 Basic status of the drive when the supply voltage has been switched on. } Step 1.2 or 1.3 1.2 Disable device control by software. Optionally, assuming of device control by the software can be disabled with CCON.B5 = 1 (LOCK). } Step 1.3 1.3 Enable drive in Record selection mode. } Homing: example 4, Tab. 1/8. If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 1/7. 1-29
1. I/O data and sequence control 2. Create readiness to operate Direct mode Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 2.1 Basic status (Drive control by software = off) 2.2 Disable device control by software Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON x x 1 0 x x x x SCON x x 0 x x x x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 x x x x x x x SPOS x x x x x x x x 2.3 Enable drive, enable operation Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1 (Direct mode) CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT Tab. 1/6: Control and status bytes for Create readiness to operate Direct mode Description of 2. Create readiness to operate: 2.1 Basic status of the drive when the supply voltage has been switched on. } Step 2.2 or 2.3 2.2 Disable device control by software. Optionally, assuming of device control by the software can be disabled with CCON.B5 = 1 (LOCK). } Step 2.3 2.3 Enable drive in Direct mode. } Homing: example 4, Tab. 1/8. If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 1/7. 1-30
1. I/O data and sequence control 3. Fault handling Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL 3.1 Fault CCON x x x 0 x x x x SCON x x x x 1 x x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 x x x x x x x SPOS x x x x x 0 x x Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL 3.2 Warning CCON x x x 0 x x x x SCON x x x x x 1 x x Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 x x x x x x x SPOS x x x x x 0 x x 3.3 Reset fault with CCON.B3 (RESET) Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 x x 0 F x x 1 SCON 0 x 0 1 0 0 0 0 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; N: negative edge Tab. 1/7: Control and status bytes for Fault handling 1-31
1. I/O data and sequence control Description of 3. Fault handling 3.1 A fault is shown with SCON.B3 (FAULT). } Positioning can no longer be undertaken. 3.2 A warning is shown with SCON.B2 (WARN). } Positioning can still be undertaken. 3.3 Reset fault with positive edge at CCON.B3 (RESET). } Fault bit SCON.B3 (FAULT) or SCON.B3 (WARN) is reset } SPOS.B2 (MC) is set } Drive is ready to operate Faults and warnings can be also reset using DIN5 (closedloop controller enable), see manual for the controller used. 1-32
1. I/O data and sequence control 4. Homing (requires status 1.3 or 2.3) Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL 4.1 Start homing CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL 4.2 Homing running CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1 4.3 Homing finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge Tab. 1/8: Control and status bytes for Homing 1-33
1. I/O data and sequence control Description for 4. Homing: 4.1 A positive edge at CPOS.B2 (HOM, Start homing) starts the homing. The start is confirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B2 (HOM) is set. 4.2 Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving). 4.3 After successful homing SPOS.B2 (MC, Motion Complete) and SPOS.B7 (REF) will be set. If there are faults during homing: } Fault handling: see example 3, Tab. 1/7. 1-34
1. I/O data and sequence control 5. Positioning with record selection (requires status 1.3/2.3 and possibly 4.3) Step/Description 5.1 Preselect record number (control byte 3) Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte 3 Record number Byte 3 Record number Record No. Record no. (0...) Record No. Previous record no. (0...) 5.2 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1 5.3 Task running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1 Byte 3 Record number Byte 3 Record number Record No. Record no. (0...) Record No. Current record no. (0...) 5.4 Task finished Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1 Byte 5...8 Reserved Byte 5...8 Position Reserved Act. pos. Actual position (positioning units) 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge Tab. 1/9: Control and status bytes for Positioning with record selection 1-35
1. I/O data and sequence control Description of 5. Positioning with record selection: (steps 5.1... 5.4 conditional sequence) When the readiness to operate is created and homing has been carried out, a positioning task can be started. 5.1 Preselect record number: Byte 3 of the output data 0 =Homing 1... = Programmable positioning records 5.2 With CPOS.B1 (START, Start positioning task) the preselected positioning task will be started. The start is confirmed with SPOS.B1 (Acknowledge start) as long as CPOS.B1 (START) is set. 5.3 Movement of the axis is shown with SPOS.B4 (MOV,Axisismoving). 5.4 At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set. If there are faults during positioning: } Fault handling: see example 3, Tab. 1/7. 1-36
1. I/O data and sequence control 6. Positioning with direct mode (requires status 1.3/2.3 and possibly 4.3) Step/Description Control bytes Status bytes Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0 6.1 Preselect position and speed (bytes 4 and 5...8) Byte 4 Velocity Byte 4 Velocity Speed preselect (0...100 %) Velocity Velocity Speed feedback (0...100 %) Byte 5...8 Position Byte 5...8 Position Setpoint pos. Setpoint position (positioning units) Act. pos. Actual position (positioning units) 6.2 Start task Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1 Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S 6.3. Task running Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1 Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL 6.4 Task finished CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1 Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1 0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; S: positioning condition: 0= absolute; 1 = relative Tab. 1/10: Control and status bytes for Positioning with direct mode 1-37
1. I/O data and sequence control Description of positioning with direct mode: (step 6.1... 6.4 conditional sequence) When the readiness to operate is created and homing has been carried out, a setpoint position must be preselected. 6.1 The setpoint position is transferred in positioning units in bytes 5...8 of the output word. The setpoint speed is transferred in % in byte 4 (0 = no speed; 100 = max. speed). 6.2 With CPOS.B1 (START, Start positioning task) the preselected positioning task is started. The start is confirmed with SPOS.B1 (Acknowledge start) as long a scpos.b1(start)isset. 6.3 Movement of the axis is shown with SPOS.B4 (MOV,Axisismoving). 6.4 At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set. If there are faults during positioning: } Fault handling: see example 3, Tab. 1/7. 1-38
Drive functions Chapter 2 Drive functions 2-1
2. Drive functions Contents 2.1 Reference system for electric drives... 2-3 2.2 Calculation rules for the reference system... 2-5 2.3 Homing... 2-5 2.3.1 Homing for electric drives... 2-7 2.3.2 Homing methods... 2-8 2.4 Jog mode... 2-13 2.5 Teaching via fieldbus... 2-15 2.6 Carry out record (Record selection)... 2-17 2.6.1 Record selection sequence charts... 2-18 2.6.2 Record structure... 2-22 2.6.3 Conditional record chaining (PNU 402)... 2-23 2.7 Direct mode... 2-27 2.7.1 Sequence for discrete setpoint value... 2-29 2.7.2 Sequence for Profile Torque mode (torque and current control).. 2-30 2.7.3 Sequence for Profile Velocity mode... 2-32 2.8 Standstill control... 2-34 2.9 On-the-fly measurement (position sampling)... 2-36 2-2
2. Drive functions 2.1 Reference system for electric drives Reference system for electric linear drives 2 1 d a b c e LES REF LSE AZ PZ TP/AP Positions increasing in size, positive travel USE HES REF Homingpoint (reference point) a Axis zero point offset AZ Axis zero point b Project zero point offset PZ Project zero point c Target/actual position offset LSE Lowersoftware end position d, e Software end position offsets USE Upper software end position 1 Effective stroke LES Lower end switch (lower limit switch) 2 Nominal stroke HES TP, AP Higher end switch (higher limit switch) Target/actual position Tab. 2/1: Reference system for electric drives 2-3
2. Drive functions Reference system for electric rotary drives Rotation axis: example with negative reference switch homing method REF 1 AZ PZ d a b e REF AZ PZ a b Reference point: point ascertained during homing: reference switch, limit switch or stop, with index pulse where applicable. Axis zero point: point of reference for the project zero point and the software end positions. Project zero point: point of reference (= zero point) for actual position and absolute positions in the positioning record table. Axis zero point offset: distance of axis zero point AZ from reference point REF Project zero point offset: distance from AZ d, e Software end position offsets: limit the permitted positioning range (usable stroke). Optional: endless positioning possible 1 Effective stroke: permitted positioning range Tab. 2/2: Reference system for electric rotary drives 2-4
2. Drive functions 2.2 Calculation rules for the reference system Reference point Calculation rule Axis zero point AZ =REF+ a Project zero point PZ =AZ+ b =REF+ a + b Lower software end position LSE =AZ+ d =REF+ a + d Upper software end position USE =AZ+ e =REF+ a + e Target/actual position TP, AP =PZ+ c =AZ+ b + c =REF+ a + b+c Tab. 2/3: Calculation rules for the reference system with incremental measuring systems 2.3 Homing In the case of drives with incremental measuring system, homing must always be carried out when the device is switched on. This is defined drive-specifically with the parameter Homing required (PNU 1014). Various homing modes are permitted, depending on the controller and drive. An overview is shown in Tab. 2/4. For a description of the homing modes, see section 2.3.2. 2-5
2. Drive functions Homing mode Controller Hex Dec Description CMMP-AS CMMS-AS/ CMMD-AS CMMS-ST 01h 1 Negative limit switch with index pulse x x x 1) 02h 2 Positive limit switch with index pulse x x x 1) 07h 7 Reference switch in positive direction with index pulse 0Bh 11 Reference switch in negative direction with index pulse x x 11h 17 Negative limit switch x x x 12h 18 Positive limit switch x x x 17h 23 Reference switch in positive direction x 1Bh 27 Reference switch in negative direction x 21h 33 Index pulse in negative direction x x x 1) 22h 34 Index pulse in positive direction x x x 1) 23h 35 Current position x x x FFh -1 Negative stop with index pulse x x x 1) FEh -2 Positive stop with index pulse x x x 1) EFh -17 Negative stop x x x 1) EEh -18 Positive stop x x x 1) E9h -23 Reference switch in positive direction with travel to stop or limit switch E5h -27 Reference switch in negative direction with travel to stop or limit switch x x 1) Only possible for motors with an encoder Tab. 2/4: Permissible homing modes, as of August 2007 2-6
2. Drive functions 2.3.1 Homing for electric drives The drive homes against a stop, a limit switch or a reference switch. An increase in the motor current indicates that a stop has been reached. As the drive must not continuously reference against the stop, it must move at least one millimetre back into the stroke range. Sequence: 1. Search for the reference point in accordance with the configured method. 2. Travel the distance of the axis zero point offset relative to the reference point. 3. Setataxiszeropoint: Current position = 0 project zero point offset. Overview of parameters involved (see also section 4.4.17) Parameters involved Description PNU Axis zero point offset 1010 Homing method 1011 Homing speeds 1012 Homing accelerations 1013 Homing required 1014 CMMP only: Homing maximum torque 1015 Start (FHPP) Feedback (FHPP) Requirement CPOS.B2 = positive edge: Start homing SPOS.B1 = positive edge: Acknowledge start SPOS.B7 = Axis is referenced Device control by PLC/fieldbus Controller must be in status Operation enabled There must not be any command for jogging Tab. 2/5: Parameters involved in homing 2-7
2. Drive functions 2.3.2 Homing methods The homing methods are oriented towards CANopen DS 402. Homing methods Hex Dec Description With some motors (those with absolute encoders, single/ multi-turn) the drive may be permanently referenced. In such cases, methods involving homing to an index pulse (= zero pulse) might not cause homing to be carried out; rather the drive will move directly to the axis zero point (if it has been entered in the parameters). 01h 1 Negative limit switch with index pulse 1) 1. If the negative limit switch is inactive: run at search speed in negative direction to negative limit switch. 2. Run at crawl speed in positive direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. 02h 2 Positive limit switch with index pulse 1) 1. If the positive limit switch is inactive: run at search speed in positive direction to positive limit switch. 2. Run at crawl speed in negative direction until the limit switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse Negative limit switch Index pulse Positive limit switch 1) Only possible for motors with an encoder. 2-8
2. Drive functions Homing methods Hex Dec Description 07h 7 Reference switch in positive direction with index pulse 1) 1. If reference switch is inactive: run at search speed in positive direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in negative direction to reference switch. 2. Run at crawl speed in positive direction until the reference switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse Reference switch 0B 11 Reference switch in negative direction with index pulse 1) 1. If reference switch is inactive: run at search speed in negative direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in positive direction to reference switch. 2. Run at crawl speed in positive direction until the reference switch becomes inactive, then on to first index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. 11h 17 Negative limit switch 1. If the negative limit switch is inactive: run at search speed in negative direction to negative limit switch. 2. Run at crawl speed in positive direction until limit switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse Reference switch Negative limit switch 1) Only possible for motors with an encoder. 2-9
2. Drive functions Homing methods Hex Dec Description 12h 18 Positive limit switch 1. If the positive limit switch is inactive: run at search speed in positive direction to positive limit switch. 2. Run at crawl speed in negative direction until limit switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. 17h 23 Reference switch in positive direction 1. If reference switch is inactive: run at search speed in positive direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in negative direction to reference switch. 2. Run at crawl speed in negative direction until reference switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Positive limit switch Reference switch 1Bh 27 Referenceswitchinnegativedirection 1. If reference switch is inactive: run at search speed in negative direction to reference switch. If the stop or limit switch is reached in the process: run at search speed in positive direction to reference switch. 2. Run at crawl speed in positive direction until reference switch becomes inactive. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Reference switch 1) Only possible for motors with an encoder. 2-10
2. Drive functions Homing methods Hex Dec Description 21h 33 Index pulse in negative direction 1) 1. Run at crawl speed in negative direction to index pulse. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse 22h 34 Index pulse in positive direction 1) 1. Run at crawl speed in positive direction to index pulse. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse 23h 35 Current position 1. The current position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. Note: if the reference system is shifted, runs to a limit switch or fixed stop are possible. This is therefore generally used for axes of rotation. FFh -1 Negative stop with index pulse 1) 2) 1. Run at search speed in negative direction to stop. 2. Run at crawl speed in positive direction to next index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse FEh -2 Positive stop with index pulse 1) 2) 1. Run at search speed in positive direction to stop. 2. Run at crawl speed in negative direction to next index pulse. This position is saved as the reference point. 3. If this has been entered in the parameters: run at travel speed to axis zero point. Index pulse 1) Only possible for motors with an encoder. 2) Limit switches are ignored during the run to the stop. 2-11
2. Drive functions Homing methods Hex Dec Description EFh -17 Negative stop 1) 2) 3) 1. Run at search speed in negative direction to stop. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. EEh -18 Positive stop 1) 2) 3) 1. Run at search speed in positive direction to stop. This position is saved as the reference point. 2. If this has been entered in the parameters: run at travel speed to axis zero point. E9h -23 Reference switch in positive direction with travel to stop or limit switch. 1. Run at search speed in positive direction to stop or limit switch. 2. run at search speed in negative direction to reference switch. 3. Run at crawl speed in negative direction until reference switch becomes inactive. This position is saved as the reference point. 4. If this has been entered in the parameters: run at travel speed to axis zero point. Reference switch E5h -27 Reference switch in negative direction with travel to stop or limit switch. 1. Run at search speed in negative direction to stop or limit switch. 2. Run at search speed in positive direction to reference switch. 3. Run at crawl speed in positive direction until reference switch becomes active. This position is saved as the reference point. 4. If this has been entered in the parameters: run at travel speed to axis zero point. Reference switch 1) Only possible for motors with an encoder. 2) Limit switches are ignored during the run to the stop. 3) Since the axis is not intended to stay at the stop, the run to the axis zero point has to parametrised and the axis zero point offset has to be 0. Tab. 2/6: Overview of homing methods 2-12
2. Drive functions 2.4 Jog mode In the Operation enabled state, the drive can be moved by jogging in the positive/negative directions. This function is usually used for: Moving to teaching positions Movingthedriveoutoftheway(e.g.afterasystemfault) Manual traversing as a normal operating mode (manually operated feed). Procedure 1. When one of the signals Jog positive / Jog negative is set, the drive starts to move slowly. Due to the slow speed, a position can be defined very accurately. 2. If the signal remains set for longer than the configured phase 1 time, the speed is increased until the configured maximum velocity is reached. In this way large strokes can be traversed quickly. 3. If the signal changes to 0, the drive is braked with the pre-set maximum deceleration. 4. Only if the drive is referenced: If the drive reaches a software end position, it will stop automatically. The software end position is not exceeded, the path for stopping depends on the ramp set. The jog modecanbeexitedherewithjog=0. 2-13
2. Drive functions 1 Low speed, phase 1 (slow travel) 2 2 Maximum speed for phase 2 3 Acceleration 4 Deceleration 5 Phase 1 time Velocity v(t) CPOS.B3 or CPOS.B4 (Jog positive/negative) 1 0 1 3 4 t[s] 5 Fig. 2/1: Sequence chart for jog mode Overview of parameters involved (see section 4.4.9) Parameters involved Description PNU Jog mode velocity phase 1 530 Jog mode velocity phase 2 531 Jog mode acceleration 532 Jog mode deceleration 533 Jogmodetimephase1(T1) 534 Start (FHPP) Feedback (FHPP) Requirement CPOS.B3 = positive edge: Jog positive (towards increasing actual values) CPOS.B4 = positive edge: Jog negative (towards decreasing actual values) SPOS.B4 = 1: Drive is moving SPOS.B2 = 0: (Motion Complete) Device control by PLC/fieldbus Controller must be in status Operation enabled Tab. 2/7: Parameters involved in jog mode 2-14
2. Drive functions 2.5 Teaching via fieldbus Position values can be taught via the fieldbus. Previously taught position values will then be overwritten. Procedure 1. The drive is moved to the desired position by jog mode or manually. This can be accomplished in jog mode by positioning (or by moving manually in the Drive disabled status in the case of motors with an encoder). 2. The user must make sure that the desired parameter is selected. For this, the parameter Teach target and, if applicable, the correct record address must be entered. Teach target (PNU 520) Is taught = 1 (default) Setpoint position in the positioning record. Record selection: Positioning record according to control byte 3 Direct mode: Positioning record according to PNU=400 = 2 Axis zero point =3 Project zero point =4 Lower software end position =5 Upper software end position Tab. 2/8: Overview of teach targets 3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS: 2-15
2. Drive functions 1 PLC: Prepare teaching 2 Controller: Ready for teaching 3 PLC: Teach now 4 Controller: Value transferred Teach actual value CPOS.B5 Acknowledgement SPOS.B3 1 0 1 0 1 2 3 4 Fig. 2/2: Handshake during teaching Note: The drive does not need to be at a standstill for teaching. However, with the usual cycle times of the PLC + fieldbus + controller there will be inaccuracies of several millimetres even at a speed of only 100 mm/s. Overview of parameters involved (see sections 4.4.8 and 4.4.9) Parameters involved Description PNU Teach target 520 Record number 400 Project zero point offset 500 Software end positions 501 Axis zero point offset (electric drives) 1010 Start (FHPP) Feedback (FHPP) Requirement CPOS.B5 = falling edge: Teach actual value SPOS.B2 = 1: Value transferred Device control by PLC/fieldbus Controller must be in status Operation enabled Tab. 2/9: Parameters involved in teach mode 2-16
2. Drive functions 2.6 Carry out record (Record selection) A record can be started in the Drive enabled state. This function is usually used for: Moving to any position in the record list by the PLC Processing a positioning profile by linking records Known target positions that seldom change (recipe change) Procedure 1. Set the required record number in the PLC s output data. Until the start, the controller replies with the number of the record last processed. 2. With a rising edge at CPOS.B1 (START) the controller accepts the record number and starts the positioning task. 3. The controller signals with the rising edge at Acknowledge start that the PLC output data has been accepted and that the positioning task is now active. The positioning command continues to be executed, even if CPOS.B1 (START) is reset to zero. 4. When the record is concluded, SPOS.B2 (MC) is set. Causes of errors in application: No homing was carried out (where necessary; see PNU 1014). The target position and/or the preselect position cannot be reached. Invalid record number. Record not initialised. 2-17
2. Drive functions In the event of conditional record chaining (see section 2.6.3): If a new speed and/or a new target position is specified in the movement, the remaining path to the target position must be large enough to reach a standstill with the braking ramp that was set. Overview of parameters involved (see section 4.4.8) Parameters involved Description PNU Record number 400 All parameters of the record data, see sections 2.6.2, Tab. 2/11 401... 421 Start (FHPP) Feedback (FHPP) Requirement CPOS.B1 = positive edge: Start Jogging and homing have priority. SPOS.B2 = 0: Motion Complete SPOS.B1 = positive edge: Acknowledge start SPOS.B4 = 1: Drive is moving Device control by PLC/fieldbus Controller must be in status Operation enabled Record number must be valid Tab. 2/10: Parameters involved in record selection 2.6.1 Record selection sequence charts Fig. 2/3, Fig. 2/4 and Fig. 2/5 show typical sequence charts for starting and stopping a record. 2-18
2. Drive functions Start/stop record Target record number Output data 1 0 N-1 N N+1 Stop CCON.B1 (STOP) 1 0 Start CPOS.B1 (START) 1 0 3 6 Acknowledge start SPOS.B1 (ACK) 1 0 1 2 4 5 Motion Complete SPOS.B2 (MC) 1 0 Axis is moving SPOS.B4 (MOV) 1 0 Actual record number Input data 1 0 N-1 N N+1 1 Prerequisite: Acknowledge start = 0 2 Rising edge at Start causes the new record number N to be accepted and Acknowledge start to be set 3 As soon as Acknowledge start is recognised by the PLC, Start may be set to 0 again 4 The controller reacts with a falling edge at Acknowledge start 5 As soon as Acknowledge start is recognised by the PLC, the next record number may be started 6 A currently running positioning task can be stopped with Stop Fig. 2/3: Sequence chart for Start/Stop record 2-19
2. Drive functions Stop record with Halt and continue Target record number Output data 1 0 N-1 N N+1 Halt CPOS.B0 (HALT) 1 0 1 Start CPOS.B1 (START) 1 0 2 Confirm Halt SPOS.B0 (HALT) 1 0 Acknowledge start SPOS.B1 (ACK) 1 0 Motion Complete SPOS.B2 (MC) 1 0 Axis is moving SPOS.B4 (MOV) 1 0 Actual record number Input data 1 0 N-1 N 1 Record is stopped with Halt, actual record number N is retained, Motion Complete remains reset 2 Rising edge at Start starts record N again, Confirm Halt is set Fig. 2/4: Sequence chart for Stop record with Halt and Continue 2-20
2. Drive functions Stop record with Halt and Clear remaining position Target record number Output data 1 0 N-1 N N+1 Halt CPOS.B0 (HALT) 1 0 1 Start CPOS.B1 (START) 1 0 Clear remaining position CPOS.B6 (CLEAR) 1 0 2 Confirm Halt SPOS.B0 (HALT) 1 0 Acknowledge start SPOS.B1 (ACK) 1 0 Motion Complete SPOS.B2 (MC) 1 0 Axis is moving SPOS.B4 (MOV) 1 0 Actual record number Input data 1 0 N-1 N N+1 1 Stop record 2 Clear remaining position Fig. 2/5: Sequence chart for Stop record with Halt and Clear remaining position 2-21
2. Drive functions 2.6.2 Record structure PNU Name Description A positioning task in record selection 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. 401 Record control byte 1 Setting for positioning task: absolute/relative, position/torque control,... 402 Record control byte 2 Record control: Settings for conditional record chaining 404 Setpoint value Setpoint value as per record control byte 1. 405 Preselection value CMMS/CMMD only: preselection value as per record control byte 2. 406 Velocity Auxiliary setpoint: nominal speed. 407 Acceleration Auxiliary setpoint: nominal acceleration during start up. 408 Deceleration Auxiliary setpoint: nominal acceleration during braking. 413 Jerk-free filter time Auxiliary setpoint: filter time for smoothing the profile ramps. 414 Record profile CMMS/CMMD only: numberof the record profile. The record profile defines the PNUs 405, 406, 407, 408, 413 for all the assigned records, along with other shared settings; see section 4.4.8. 415 Reserved (not supported by CMM...) 416 Record following position/record control Record number to which record chaining jumps when the step enabling condition is met. 418 Torque limitation CMMP only: limitation of the maximum torque. 419 Cam disk number CMMP only: number of the cam disk to be executed with this record. Requires configuration of PNU 401 (virtual master). 420 Remaining distance message CMMP only: distance in front of the target position where a display can be triggered via a digital output to show it has been reached. 421 Record control byte 3 CMMP only: settings for specific behaviour of the record. Tab. 2/11: Record parameters 2-22
2. Drive functions 2.6.3 Conditional record chaining (PNU 402) Record control byte 2 (PNU 402) Record selection mode allows multiple positioning tasks to be linked. This means that, starting at CPOS.B1, various records are automatically executed one after the other. This allows a positioning profile to be defined, e.g. switching to another speed after a position is reached. To do this, the user sets a (decimal) condition in RCB2 to define that the following record is automatically executed after the current record. It is only possible to set all of the parameters for the record chaining ( route program ) (e.g. the following record) using the FCT. If a condition was defined, it is possible to prohibit automatic continuation to the following record by setting the B7 bit. This function should be used for debugging using FCT and not for normal control purposes. Bits 0... 6 Numerical value 0 to 128: step enabling condition as a list, see Tab. 2/13 Bit 7 = 0: record chaining (bits 0 to 6) is not disabled (default) = 1: record chaining disabled Tab. 2/12: Settings for conditional record chaining 2-23
2. Drive functions Step enabling conditions Value Condition Description 0 No automatic continuation 1 1) MC The preselection value is interpreted as a delay in milliseconds. The chain continues to the next record once the target setpoint value is reached, i.e. once the MC condition is fulfilled (MC=1) and a delay time has expired as well. Note: Thustheaxisisata standstill for a moment during positioning. Not necessarily the case with torque control (Profile Torque mode). 2 1) Position The preselection value is interpreted as the position value 2. The chain continues to the next record as soon as the current actual position exceeds the preselection value in the direction of travel 1. As there is no need to stop, the drive reaches its target position quicker. 3 1) Torque The preselection value is interpreted as the torque. The chain continues to the next record once the current actual torque exceeds the preselection value in the direction of travel. It is not absolutely necessary for a torque command to be specified here. It is also possible to position to the end point. When a specific actual torque is reached, torque control is activated. 1) Not supported by CMM... 2-24
2. Drive functions Step enabling conditions Value Condition Description 4 Standstill The chain continues to the next record once the drive comes to a standstill and then the time T1 specified as the preselection value has expired. (Travel to end point) 5 2) Time The preselection value is interpreted as time in milliseconds. The chain continues to the next record once this time has expired (after the start). 6 Input Pos. edge 7 Input Neg. edge 8 1) Velocity profile 9 Input Pos. edge waiting 10 Input Neg. edge waiting The chain continues to the next record if a rising edge is identified at the local input. The preselection value includes the input s bit address. Preselection value = 1: NEXT1 Preselection value = 2: NEXT2 The chain continues to the next record if a falling edge is identified at the local input. The preselection value includes the input s bit address. Preselection value = 1: NEXT1 Preselection value = 2: NEXT2 The setpoint generator calculates the trajectory so that the record s setpoint speed is active in the target position. The final speed is therefore not 0. The preselection value is ignored. Note: in type 1, the user only defines the chaining position; the user has no influence over the speed. The chain continues to the next record after the current record ends if a rising edge is identified at the local input. The preselection value includes the input s number: Preselection value = 1: NEXT1 Preselection value = 2: NEXT2 The chain continues to the next record after the current record ends if a falling edge is identified at the local input. The preselection value includes the input s number: Preselection value = 1: NEXT1 Preselection value = 2: NEXT2 1) Not supported by CMM... 2) Not supported by CMMP 2-25
2. Drive functions Step enabling conditions Value Condition Description 11 2) Position (relative) 12 Internal MC condition This chaining is the same as type 2 except that the specified position is not specified absolutely but relative to the last setpoint position 2. The chain continues to the next record as soon as the current actual position exceeds the preselection value in the direction of travel 1. Important: For the chaining position to be reproducible, the specification must be calculated relative to the last target position; in other words, not relative to the actual position. Like condition 1, but without an external MC signal between the individual records. An externalmcsignal(spos.b2) is only set after the last record in the chain. 2) Not supported by CMMS/CMMD Tab. 2/13: Step enabling conditions 2-26