Festo CMMP-AS-***-M3 Series Bedienungsanleitung

Description

Device profile

CiA 402

for motor controller

CMMP-AS-...-M3

via fieldbus:

– CANopen

– EtherCAT

with interface

CAMC-EC

for motor controller

CMMP-AS-...-M0

via fieldbus:

– CANopen

8046795

1510b

CMMP‐AS‐...‐M3/-M0

CiA 402 for motor controller

CMMP‐AS‐...‐M3/-M0

2 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b –

Translation of the original instructions

GDCP-CMMP-M3/-M0-C-CO-EN

CANopen®, CiA®, EthetCAT®, TwinCAT®are registered trademarks of the respective trademark owners

in certain countries.

Identification of hazards and instructions on how to prevent them:

Danger

Immediate dangers which can lead to death or serious injuries

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries or serious material damage

Other symbols:

Note

Material damage or loss of function

Recommendations, tips, references to other documentation

Essential or useful accessories

Information on environmentally sound usage

Text designations:

 Activities that may be carried out in any order

1. Activities that should be carried out in the order stated

– General lists

Result of an action/References to more detailed information

CMMP‐AS‐...‐M3/-M0

Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 3

Table of Contents – CMMP‐AS‐...‐M3/-M0

Instructions on this documentation 7.................................................

Target group 7...................................................................

Service 7.......................................................................

Information on the version 7........................................................

Documentation 8................................................................

1 Fieldbus interfaces 9........................................................

2 CANopen [X4] 10............................................................

2.1 General information on CANopen 10.............................................

2.2 Cabling and pin assignment 11.................................................

2.2.1 Pin allocations 11...................................................

2.2.2 Cabling instructions 11...............................................

2.3 Configuration of CANopen stations on the CMMP-AS-...-M3 13........................

2.3.1 Setting of the node number 14.........................................

2.3.2 Setting of the transmission rate with DIP switches 15.......................

2.3.3 Activation of CANopen communication with DIP switches 15.................

2.3.4 Setting the physical units (factor group) 15...............................

2.4 Configuration of CANopen participants on the CMMP-AS-...-M0 16.....................

2.4.1 Setting the node number via DINs and FCT 17.............................

2.4.2 Setting the transmission rate via DINs or FCT 17...........................

2.4.3 Setting the protocol (data profile) via DINs or FCT 18.......................

2.4.4 Activation of CANopen communication via DINs or FCT 18...................

2.4.5 Setting the physical units (factor group) 19...............................

2.5 Configuration CANopen master 19..............................................

3 CANopen access procedure 20.................................................

3.1 Introduction 20.............................................................

3.2 SDO Access 21..............................................................

3.2.1 SDO Sequences for Reading and Writing 22...............................

3.2.2 SDO Error Messages 23...............................................

3.2.3 Simulation of SDO access 24..........................................

3.3 PDO Message 25............................................................

3.3.1 Description of the Objects 26..........................................

3.3.2 Objects for PDO Parametrisation 29.....................................

3.3.3 Activation of PDOs 34................................................

3.4 SYNC message 35...........................................................

3.5 EMERGENCY Message 36.....................................................

3.5.1 Overview 36........................................................

3.5.2 Structure of the EMERGENCY Message 37................................

CMMP‐AS‐...‐M3/-M0

4 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English

3.5.3 Description of the Objects 37..........................................

3.6 Network Management (NMT Service) 39..........................................

3.7 Bootup 41.................................................................

3.7.1 Overview 41........................................................

3.7.2 Structure of the Bootup Message 41....................................

3.8 Heartbeat (Error Control Protocol) 42............................................

3.8.1 Overview 42........................................................

3.8.2 Structure of the Heartbeat Message 42..................................

3.8.3 Description of the Objects 42..........................................

3.9 Nodeguarding (Error Control Protocol) 43.........................................

3.9.1 Overview 43........................................................

3.9.2 Structure of the Nodeguarding Messages 43..............................

3.9.3 Description of the Objects 44..........................................

3.9.4 Object 100Dh: life_time_factor 45......................................

3.9.5 Table of Identifiers 45................................................

4 EtherCAT with CoE 46........................................................

4.1 Overview 46................................................................

4.2 EtherCat-Interface CAMC-EC 46.................................................

4.3 Installing the EtherCAT interface in the controller 48................................

4.4 Pin allocation and cable specifications 48.........................................

4.5 Configuration of EtherCAT participants 50........................................

4.5.1 Setting of the physical units of measure (Factor Group) 50...................

4.6 CANopen communication interface 51...........................................

4.6.1 Configuration of the Communication Interface 51..........................

4.6.2 New and revised objects under CoE 54...................................

4.6.3 Objects not supported under CoE 61....................................

4.7 Communication Finite State Machine 62..........................................

4.7.1 Differences between the finite state machines of CANopen and EtherCAT 64....

4.8 SDO Frame 65..............................................................

4.9 PDO Frame 66..............................................................

4.10 Error Control 68.............................................................

4.11 Emergency Frame 68.........................................................

4.12 XML Device Description File 69.................................................

4.12.1 Fundamental structure of the device description file 69.....................

4.12.2 Receive PDO configuration in the RxPDO node 71..........................

4.12.3 Transmit PDO configuration in the TxPDO node 73..........................

4.12.4 Initialisation commands via the “Mailbox” node 73.........................

4.13 Synchronisation (Distributed Clocks) 74..........................................

5 Setting parameters 75.......................................................

5.1 Loading and Saving Parameter Sets 75...........................................

CMMP‐AS‐...‐M3/-M0

Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 5

5.2 Compatibility settings 78......................................................

5.3 Conversion factors (factor group) 80.............................................

5.4 Output stage parameter 90....................................................

5.5 Current Regulator and Motor Adjustment 96......................................

5.6 Speed Control 103............................................................

5.7 Position Controller (Position Control Function) 105..................................

5.8 Setpoint value limitation 116....................................................

5.9 Encoder Adjustments 118......................................................

5.10 Incremental Encoder Emulation 122..............................................

5.11 Setpoint/Actual Value Activation 124.............................................

5.12 Analogue inputs 127..........................................................

5.13 Digital inputs and outputs 129..................................................

5.14 Limit Switch/Reference Switch 134...............................................

5.15 Sampling of Positions 137......................................................

5.16 Brake Activation 140..........................................................

5.17 Device Information 141........................................................

5.18 Error Management 148........................................................

6 Device Control 150............................................................

6.1 Status Diagram (State Machine) 150.............................................

6.1.1 Overview 150........................................................

6.1.2 Status diagram of the motor controller (state machine) 151...................

6.1.3 Control word (controlword) 156.........................................

6.1.4 Read-out of the motor controller status 159...............................

6.1.5 Status words (statuswords) 160.........................................

6.1.6 Description of the additional objects 170..................................

7 Operating modes 173.........................................................

7.1 Setting the operating mode 173.................................................

7.1.1 Overview 173........................................................

7.1.2 Description of the Objects 173..........................................

7.2 Operating mode reference travel (homing mode) 175................................

7.2.1 Overview 175........................................................

7.2.2 Description of the Objects 176..........................................

7.2.3 Reference Travel Processes 180.........................................

7.2.4 Control of Reference Travel 184.........................................

7.3 Positioning Operating Mode (Profile Position Mode) 186..............................

7.3.1 Overview 186........................................................

7.3.2 Description of the objects 187..........................................

7.3.3 Description of function 190.............................................

7.4 Synchronous position specification (interpolated position mode) 193...................

7.4.1 Overview 193........................................................

CMMP‐AS‐...‐M3/-M0

6 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English

7.4.2 Description of the Objects 193..........................................

7.4.3 Description of function 199.............................................

7.5 Speed Adjustment Operating Mode (Profile Velocity Mode) 201........................

7.5.1 Overview 201........................................................

7.5.2 Description of the Objects 203..........................................

7.6 Speed ramps 209.............................................................

7.7 Torque Regulation Operating Mode (Profile Torque Mode) 212.........................

7.7.1 Overview 212........................................................

7.7.2 Description of the Objects 213..........................................

A Technical appendix 218........................................................

A.1 Technical Data Interface EtherCAT 218............................................

A.1.1 General 218.........................................................

A.1.2 Operating and environmental conditions 218...............................

B Diagnostic messages 219......................................................

B.1 Explanations on the diagnostic messages 219......................................

B.2 Error codes via CiA 301/402 220.................................................

B.3 Diagnostic messages with instructions for fault clearance 223.........................

Index 282........................................................................

CMMP‐AS‐...‐M3/-M0

Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 7

Instructions on this documentation

This documentation describes the device profile CiA 402 (DS 402) for the motor controllers

CMMP‐AS‐...‐M3/-M0 conforming to the section “Information on the version” through the fieldbus

interfaces:

– CANopen – interface [X4] integrated into the motor controller.

– EtherCAT – optional interface CAMC-EC in the slot Ext2, only for CMMP-AS-...-M3.

This provides you with supplementary information about control, diagnostics and parametrisation of

the motor controllers via the fieldbus.

 Unconditionally observe the general safety regulations for the CMMP‐AS‐...‐M3/-M0.

The general safety regulations for the CMMP‐AS‐...‐M3/-M0 can be found in the hardware

description, GDCP-CMMP-AS-M3-HW-... or GDCP-CMMP-AS-M0-HW-..., see Tab. 2.

Target group

This description is intended exclusively for technicians trained in control and automation technology,

who have experience in installation, commissioning, programming and diagnosing of positioning

systems.

Service

Please consult your regional Festo contact if you have any technical problems.

Information on the version

This description refers to the following versions:

Motor controller Version

CMMP-AS-...-M3 Motor controller CMMP-AS-...-M3 from Rev 01

FCT plug-in CMMP-AS from Version 2.0.x.

CMMP-AS-...-M0 Motor controller CMMP-AS-...-M0 from Rev 01

FCT plug-in CMMP-AS from Version 2.0.x.

Tab. 1 Versions

This description does not apply to the older variants CMMP-AS-.... Use the assigned

CANopen description for the motor controller CMMP‐AS for these variants.

Note

With newer firmware versions, check whether there is a newer version of this descrip

tion available: www.festo.com/sp

CMMP‐AS‐...‐M3/-M0

8 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English

Documentation

You will find additional information on the motor controller in the following documentation:

User documentation on the motor controller CMMP-AS-...-M3/-M0

Name, type Contents

Hardware description,

GDCP-CMMP-M3-HW-...

Mounting and installation of the motor controller

CMMP-AS-...-M3 for all variants/output classes (1-phase,

3-phase), pin assignments, error messages, maintenance.

Description of functions,

GDCP-CMMP-M3-FW-...

Functional description (firmware) CMMP-AS-...-M3, instructions

on commissioning.

Hardware description,

GDCP-CMMP-M0-HW-...

Mounting and installation of the motor controller

CMMP-AS-...-M0 for all variants/output classes (1-phase,

3-phase), pin assignments, error messages, maintenance.

Description of functions,

GDCP-CMMP-M0-FW-...

Functional description (firmware) CMMP-AS-...-M0, instructions

on commissioning.

Description of FHPP,

GDCP-CMMP-M3/-M0-C-HP-...

Control and parameterisation of the motor controller via the

FHPP Festo profile.

– Motor controller CMMP-AS-...-M3 with the following

fieldbuses: CANopen, Modbus TCP, PROFINET, PROFIBUS,

EtherNet/IP, DeviceNet, EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbuses CANopen,

Modbus TCP.

Description of CiA 402 (DS 402),

GDCP-CMMP-M3/-M0-C-CO-...

Control and parameterisation of the motor controller via the

device profile CiA 402 (DS402)

– Motor controller CMMP-AS-...-M3 with the following

fieldbuses: CANopen and EtherCAT.

– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.

Description of CAM editor,

P.BE-CMMP-CAM-SW-...

Cam disc function (CAM) of the motor controller

CMMP-AS-...-M3/-M0.

Description of the safety module,

GDCP-CAMC-G-S1-...

Functional safety engineering for the motor controller

CMMP-AS-...-M3 with the safety function STO.

Description of the safety module,

GDCP-CAMC-G-S3-...

Functional safety engineering for the motor controller

CMMP-AS-...-M3 with the safety functions STO, SS1, SS2, SOS,

SLS, SSR, SSM, SBC.

Description of the safety function

STO, GDCP-CMMP-AS-M0-S1-...

Functional safety engineering for the motor controller

CMMP-AS-...-M0 with the integrated safety function STO.

Description for exchange and

project conversion

GDCP-CMMP-M3/-M0-RP-...

Motor controller CMMP-AS-...-M3/-M0 as a replacement device

for previous motor controller CMMP-AS. Changes to the

electrical installation and description of project conversion.

Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the

Festo Configuration Tool.

www.festo.com/sp

Tab. 2 Documentation on the motor controller CMMP-AS-...-M3/-M0

1 General remarks

Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 9

1 Fieldbus interfaces

Control and parameterisation via CiA 402 for the CMMP‐AS‐...‐M3/-M0 is supported correspondingly

through the fieldbus interfaces.Tab. 1.1 The CANopen interface is integrated into the motor controller;

through interfaces, the motor controller can be extended with additional fieldbus interfaces. The field

bus is configured with the DIP switches [S1].

Fieldbus Interface Description

CANopen [X4] – integrated Chapter 2

EtherCAT Interface CAMC-EC Chapter 4

Tab. 1.1 Fieldbus interfaces for CiA 402

M0 The motor controllers CMMP-AS-…-M0 are only equipped with the CANopen fieldbus

interface and do not feature any slots for interfaces, switches or safety modules.

1DIP switches [S1] for fieldbus settings

on the switch or safety module in slot Ext3

2Slots Ext1/Ext2 for interfaces

3CANopen terminating resistor [S2]

4CANopen interface [X4]

5CAN-LED

Fig. 1.1 Motor controller CMMP‐AS‐...‐M3: Front view, example with micro switch module in

Ext3

2 CANopen [X4]

10 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English

2 CANopen [X4]

2.1 General information on CANopen

CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manu

facturers are organised in this network. This standard has largely replaced the current manufacturer-

specific CAN protocols. As a result, the end user has a non-proprietary communication interface.

The following manuals, among others, can be obtained from this association:

CiA Draft Standard 201 … 207:

These documents cover the general basic principles and embedding of CANopen into the OSI layered

architecture. The relevant points of this book are presented in this CANopen manual, so procurement of

DS 201 … 207 is generally not necessary.

CiA Draft Standard 301:

This book describes the fundamental design of the object directory of a CANopen device and access to

it. The statements of DS201 … 207 are also made concrete. The elements of the object directory

needed for the CMMP motor controller families and the related access methods are described in this

manual. Procurement of DS 301 is recommended but not unconditionally necessary.

CiA Draft Standard 402:

This book deals with the specific implementation of CANopen in drive controllers. Although all imple

mented objects are also briefly documented and described in this CANopen manual, the user should

have this book available.

Source address: www.can-cia.de

The CANopen implementation of the motor controller is based on the following standards:

1CiA Draft Standard 301, Version 4.02, 13 February 2002

2CiA Draft Standard Proposal 402, Version 2.0, 26 July 2002

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