Festo CMMT-ST-SW Original Instructions Manual
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Festo CMMT-ST-SW Original Instructions Manual

Servo drive
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CMMT-ST-SW
Servo drive
Description | Software,
Function, Fieldbus,
Device profile
8097136
8097136
2019-02
[8097138]

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Summary of Contents for Festo CMMT-ST-SW

  • Page 1 CMMT-ST-SW Servo drive Description | Software, Function, Fieldbus, Device profile 8097136 8097136 2019-02 [8097138]...

  • Page 2: Festo — Cmmt-St-Sw

    Translation of the original instructions ® ® ® ® ® ® BISS , CANopen , CODESYS , CiA , EtherCAT , PI PROFIBUS PROFINET are registered trademarks of the respective trademark owners in certain countries. Festo — CMMT-ST-SW — 2019-02...

  • Page 3: Table Of Contents

    2.2.3.3 Setting application data..................41 2.2.3.4 Activating the hardware switch................43 2.2.3.5 Setting the referencing................... 43 2.2.3.6 Setting the software limit positions................ 44 Parameterisation......................46 2.3.1 Interface......................... 46 2.3.2 Entering parameters....................49 2.3.3 Drive configuration....................51 Festo — CMMT-ST-SW — 2019-02...
  • Page 4 2.4.8 Auto tuning (evaluation)..................93 Control...........................95 2.5.1 Interface........................ 95 2.5.2 Manual movement....................95 2.5.3 Record list......................97 Integrating a device in a Festo controller............... 98 Product configuration....................101 Controllers........................101 3.1.1 Communication interfaces..................101 3.1.2 Firmware........................ 101 3.1.2.1 CiA 402........................103 3.1.3 Parameter set......................
  • Page 5 CiA 402........................152 3.3.3 Encoder configuration.....................152 3.3.3.1 Function........................152 3.3.3.2 Encoder parameters and diagnostic messages............153 3.3.3.3 CiA 402........................161 3.3.3.4 Parameters of digital incremental encoders (A, B and N signals)......162 3.3.3.5 CiA 402........................164 Festo — CMMT-ST-SW — 2019-02...
  • Page 6 CiA402........................205 4.1.3 Positioning mode(PP).................... 206 4.1.3.1 Function......................... 206 4.1.3.2 CiA 402........................209 4.1.4 Velocity mode (PV)....................213 4.1.4.1 Function......................... 213 4.1.4.2 CiA 402........................216 4.1.5 Force/torque mode (PT) with or without holding brake.......... 220 Festo — CMMT-ST-SW — 2019-02...
  • Page 7 Method -17/-18 negative/positive stop..............272 4.4.3.9 Method -1/-2 negative/positive stop with zero pulse..........273 4.4.3.10 Travel to axis zero-point..................274 4.4.4 CiA 402........................275 Command for record selection..................279 4.5.1 Record selection..................... 279 4.5.1.1 Function........................279 4.5.2 Record sequencing....................288 Festo — CMMT-ST-SW — 2019-02...
  • Page 8 Remaining distance monitoring..................336 5.12.1 CiA 402........................337 5.13 Trajectory completed.....................337 5.14 Reference switch activated.................... 338 5.14.1 Function......................... 338 5.14.2 CiA 402........................339 5.15 Directional lock......................339 5.15.1 Function......................... 339 5.15.2 CiA 402........................340 Control..........................341 Cascade controller......................341 Festo — CMMT-ST-SW — 2019-02...
  • Page 9 Cam controller (position trigger)................... 394 7.1.1 Function........................394 7.1.2 CiA 402........................407 Position detection (touch probe).................. 408 7.2.1 Function........................408 7.2.2 CiA 402........................420 Open-loop operation....................423 7.3.1 CiA 402........................427 Field weakening......................427 7.4.1 CiA 402........................428 Safety signals......................428 Festo — CMMT-ST-SW — 2019-02...
  • Page 10 EtherCAT bus......................518 11.3.3 EtherCAT Slave Controller ESC................518 11.3.4 Protocol......................... 518 11.4 EtherCAT final state machine..................520 11.5 Sync Manager........................523 11.5.1 Sync Manager communication................523 11.5.1.1 CiA 402........................525 11.5.2 Synchronisation..................... 525 11.5.2.1 CiA 402........................529 Festo — CMMT-ST-SW — 2019-02...
  • Page 11 SDO read command (SDO upload/upload SDO)............. 538 11.8.1.3 SDO error message (Abort SDO transfer request)........... 538 11.8.2 Emergency communication..................540 11.8.2.1 CiA 402........................541 11.8.2.2 Error finite state machine..................541 11.8.3 Ethernet over EtherCAT-Communication (EoE)............547 11.9 Objects reference list....................548 Festo — CMMT-ST-SW — 2019-02...

  • Page 12: About This Document

    This documentation is intended exclusively for technicians trained in control and automation techno- logy who have experience in installation, commissioning, programming and diagnostics of electrical drive systems. Applicable documents All available documents for the product è www.festo.com/pk. The user documentation for the product also includes the following documents: Designation Contents...

  • Page 13: Product Version

    CMMT-ST Plug-in CMMT-ST Getting to know the plug-in 2.1.1 Overview Function The CMMT-ST plug-in is integrated in the Festo Automation Suite, enabling parameterisation, commis- sioning, diagnostics and manual control of servo drives from the range. CMMT-ST. Festo — CMMT-ST-SW — 2019-02...

  • Page 14: Festo — Cmmt-St-Sw

    Recommendation: Archive completed projects so that the parameter record is available if the device is replaced. Projects can be saved to any desired drive with the Save As function of the Festo Automation Suite. The project folder can also be backed up manually. In the default setting, Festo Automation Suite projects are saved to the path "%USERPROFILE%\Documents\Festo Automation Suite Projects".

  • Page 15: Interface

    2 Backstage area of the Festo Automation 7 Display of real-time values Suite è 2.1.2.6 Display of real-time values 3 Program areas of the Festo Automation Suite 8 Working area è 2.1.2.5 Working area in the title bar 4 Tabs of device entities that are currently 9 Navigator è...

  • Page 16: Toolbar

    The tool tip for the command "Control" contains the IP address and the port number of the device. Function: – Release final stage of the servo drive The scroll bar shows the current setting. "Powerstage" Festo — CMMT-ST-SW — 2019-02...
  • Page 17 The command can be executed if the following pre- requisite is met: – The plug-in is connected to a device. – The plug-in has the master control. Function: – Permanently save current parameterisation on the device Festo — CMMT-ST-SW — 2019-02...
  • Page 18 Handling unknown and missing device methods A corresponding message is displayed, if a command cannot be executed due to an unknown or miss- ing device method. This ensures that the plug-in can also handle the latest and older firmware versions. Festo — CMMT-ST-SW — 2019-02...

  • Page 19: Navigator

    Ä The selected real-time values are displayed in the sidebar. 2.1.3 Cross-context elements and error messages 2.1.3.1 Adorner Overview Adorners provide additional information for parameters. If the cursor is moved over the adorner, a pop-up window with the additional information opens. Festo — CMMT-ST-SW — 2019-02...
  • Page 20 Resets the device parameter to the recommended minimum value shown. "Recomm. maximum" Resets the device parameter to the recommended maximum value shown. "Last saved" Resets the device parameter to the most recently saved value in the project. Festo — CMMT-ST-SW — 2019-02...

  • Page 21: Pop-Up For Automatic Values Changes

    An information symbol is displayed in the pop-up. Tab. 7 Correction of user inputs 2.1.4 Key combinations The plug-in can be operated via the keyboard using the following key combinations: Key combination Function General Open online help for plug-in. Festo — CMMT-ST-SW — 2019-02...

  • Page 22: Basic And User Units

    – Internal increments [Inci, Inci/s, …] – Increments [Inc, Inc/s, …] – Rev [rev, rps, …] – Rev [rev, rpm, …] – Rad [rad, rad/s, …] – Degree [°, °/s, …] Festo — CMMT-ST-SW — 2019-02...

  • Page 23: Automatic Data Synchronisation

    If an option is selected, an overlay dialogue is not displayed next time the plug-in is opened. 2.2.2 Connecting the plug-in to the device 2.2.2.1 Connection control The connection control elements are the same in every context and every plug-in. Festo — CMMT-ST-SW — 2019-02...
  • Page 24 Disconnected The plug-in is not connected to a device. Symbol is Connected The plug-in is connected with the device from the dependent on configured address. device status. Tab. 10 Description of the connection status symbols Festo — CMMT-ST-SW — 2019-02...
  • Page 25 The "Show details" diagnostic panel is opened with the "Device state" button in the pop-up. Specifying the device name The device name can be edited regardless of the connection status of the plug-in. 1. Click on the device name. Festo — CMMT-ST-SW — 2019-02...

  • Page 26: Establishing And Disconnecting A Connection

    Connection ID for identification of the master control The connection can then be optionally established or cancelled. Connecting device via the network Proceed as follows to find the device via the network: Prerequisite: The plug-in is not already connected to a device. Festo — CMMT-ST-SW — 2019-02...
  • Page 27 Fig. 5 Device communication dialogue The network is automatically scanned for available devices. By clicking on the column name in the column header, the devices are sorted in ascending or descending order based on the selected column. Festo — CMMT-ST-SW — 2019-02...
  • Page 28 Prerequisite: The plug-in is not already connected to a device. 1. Click on the IP address. Ä The device communication dialogue opens. 2. Enter IP address of the device. 3. Actuate "Use IP Address for Device Communication" button. Ä The device communication dialogue closes. Festo — CMMT-ST-SW — 2019-02...
  • Page 29 The device name can be defined via the device communication dialogue. Requirements: – The device communication dialogue is open. – Devices were found in the network. 1. Click on the required device with the right mouse button. 2. Select "Change _Device Name". Festo — CMMT-ST-SW — 2019-02...
  • Page 30 (subnet mask, gateway and DNS) are greyed out. – "DHCP" deactivated: The network settings implemented in the following lines are applied. 4. Actuate "Apply" button. Ä The device may need to be restarted in some cases. Festo — CMMT-ST-SW — 2019-02...

  • Page 31: Synchronising Device Data

    Before the connection is established, a check is run to determine whether parameterisation and con- figuration in the project match that of the device. If there are deviations between the project and the device, invalid parameters are shown so that they can be corrected. Festo — CMMT-ST-SW — 2019-02...
  • Page 32 – If all parameters are valid, a query offers the following actions: Action Description "Write to device" – Connection to the device is established. – Configuration is transferred from the project to the device. Festo — CMMT-ST-SW — 2019-02...
  • Page 33 Connection to the device is established. – Configuration is transferred from the project to the device. "Read from device" – Connection to the device is established. – Configuration is transferred from the device to the project. Festo — CMMT-ST-SW — 2019-02...

  • Page 34: Device Control (Master Control)

    The initial commissioning assistant can only be operated if the following prerequisite is met: – The plug-in is not connected to a device. The initial commissioning assistant is started via the "Start first setup..." button in the toolbar. Festo — CMMT-ST-SW — 2019-02...
  • Page 35 Setting the referencing è "Software limits" Selected settings of software end switches and the offset to the axis zero point Setting the software limit positions è Tab. 19 Panels of the initial commissioning assistant Festo — CMMT-ST-SW — 2019-02...

  • Page 36: Drive Configuration

    Description No symbol is displayed. Drive component was selected and is supported. Warning – The selected drive component is not supported by the drive configuration. The drive component is missing. Tab. 20 Drive component status Festo — CMMT-ST-SW — 2019-02...
  • Page 37 The program can automatically add more drive components when one component is selected. The Festo axis-motor combinations (e.g. type EPCO, ERMO) are easy to configure with the automatic addition of drive components. It is not necessary to select motor or mounting kit separately. The integ- rated motor and the integrated mounting kit are automatically configured and displayed when the Axis drive component is selected.
  • Page 38 1. Move the mouse over the placeholder symbol for the drive component. Ä A plus symbol is displayed. 2. Click on plus symbol to open the pop-up. Ä Step 1: The pop-up displays the selection of the drive components Festo — CMMT-ST-SW — 2019-02...
  • Page 39 After selection of the drive components, additional application-specific parameters for the configured drive components can be set or displayed in the plug-in. Additional information on drive configuration and the application-specific parameterisation è 3.3 Drive configuration Festo — CMMT-ST-SW — 2019-02...
  • Page 40 Servo drive Configuration not required Motor When configuring Festo motors using the plug-in, the motor data is auto- matically imported from the database after selection of the motor. During the configuration of third-party motors, the data must be entered manu- ally.

  • Page 41: Setting Application Data

    Parameterisation Mounting kit No parameterisation required Gear – Parameterisation is not required for Festo gear units. – The transmission ratio with numerator (input variable) and denominat- or (output variable) must be specified when selecting user-defined gear units. Example: with a transmission ratio of 3:1, there are 3 revolutions on the gear unit input  ...
  • Page 42 If a parallel add-on kit is provided, the reversal of the direction of rotation is pre-set, so that it is can- celled again by the parallel add-on kit. Rotative axis The following parameter can be set if a rotative axis has been selected: – Reversing the direction of rotation Festo — CMMT-ST-SW — 2019-02...

  • Page 43: Activating The Hardware Switch

    Tab. 23 Digital switch inputs Additional information about digital inputs and outputs è 2.3.6. 2.2.3.5 Setting the referencing The panel is opened with the "Homing" button. The following settings for homing are defined in the Homing method parameter group: Festo — CMMT-ST-SW — 2019-02...

  • Page 44: Setting The Software Limit Positions

    "Software limits"parameter group. If the software limit positions are not activated, the interactive graphic does not contain the software limit positions and the corresponding input fields in the "Software limits"parameter group are blocked. Festo — CMMT-ST-SW — 2019-02...
  • Page 45 Software limit position in positive direction of movement. Measurement arrow for distance meas- Distance between two points, e.g. offset between reference urement point and axis zero point. Tab. 25 Description of the interactive graphic elements Festo — CMMT-ST-SW — 2019-02...

  • Page 46: Parameterisation

    In addition to the standard commands, the toolbar for the "Parameterisation" context also contains the following commands: Designation Function Load factory parameter record for the device. The command can be executed if the following prerequisites are met: – The plug-in is connected to a device. "Load factory settings" Festo — CMMT-ST-SW — 2019-02...
  • Page 47 All of the groupings are opened. All of the groupings are closed. Filter view is displayed. All of the filters can be hidden and shown with the [Ctrl] and [L] key combination 2.1.4 Key combinations. è Update filtered list. Festo — CMMT-ST-SW — 2019-02...
  • Page 48 The display of the device parameter values varies according to data type. The following options are available: Type Display in a parameter list Numerical values or text Input field Boolean expression (activated or deac- Checkbox tivated) Values lists of parameters Combo box Read-only parameters Simple entry, black Festo — CMMT-ST-SW — 2019-02...

  • Page 49: Entering Parameters

    Parameter panels can only be edited if the drive configuration is complete. This does not apply to the drive configuration itself and the parameter list. The parameter panels are then displayed in read mode. Control elements are deactivated. Festo — CMMT-ST-SW — 2019-02...
  • Page 50 Decimal numbers: numbers 0 … 9, the minus sign, comma or dot. Number formats, e. g. decimal and thousand separators are dependent on the settings of the operat- ing system. Invalid values Invalid values occur in the following cases: – The input field is empty. Festo — CMMT-ST-SW — 2019-02...

  • Page 51: Drive Configuration

    Motor – Axis – Mounting kit One or more gear units can be optionally selected. Click on a configured drive component to show additional information in the right sidebar, such as Support: – User Manuals Festo — CMMT-ST-SW — 2019-02...
  • Page 52 The program can automatically add more drive components when one component is selected. The Festo axis-motor combinations (e.g. type EPCO, ERMO) are easy to configure with the automatic addition of drive components. It is not necessary to select motor or mounting kit separately. The integ-...
  • Page 53 Servo drive Configuration not required Motor When configuring Festo motors using the plug-in, the motor data is auto- matically imported from the database after selection of the motor. During the configuration of third-party motors, the data must be entered manu- ally.
  • Page 54 (e. g. length, feed constant). Mounting kit No parameterisation required Gear – Parameterisation is not required for Festo gear units. – The transmission ratio with numerator (input variable) and denominat- or (output variable) must be specified when selecting user-defined gear units.
  • Page 55 1. Move the mouse over the placeholder symbol for the drive component. Ä A plus symbol is displayed. 2. Click on plus symbol to open the pop-up. Ä Step 1: The pop-up displays the selection of the drive components Festo — CMMT-ST-SW — 2019-02...

  • Page 56: Device Settings

    The following device settings can be implemented: – "Enable servo drive" "Enable servo drive" The required signals for controller enable are specified in this parameter group. Additional information on controller enable è 4.1.9 Switch-on/off behaviour and closed-loop controller enable. Festo — CMMT-ST-SW — 2019-02...

  • Page 57: Fieldbus

    This parameter group is only visible and can be modified under the following prerequisites: – In the System Designer of the Festo Automation Suite, there is a connection to a different plug-in è 2.6 Integrating a device in a Festo controller  and to the è online help of the Festo Automation Suite. –...

  • Page 58: Encoder Interface

    The encoder at encoder interface 1 is displayed and configured in this parameter group. This encoder is the motor encoder. When using Festo motors, encoder interface 1 does not need to be configured. Additional information about encoder parameters è Encoder parameters and diagnostic messages.

  • Page 59: Axis 1

    The user-defined motor parameters are displayed and, if necessary, modified in this parameter group. If Festo motors are configured, the motor parameters are automatically transferred from the database upon selection of the motor. If motors from other manufacturers are configured, the motor parameters must be specified manually.

  • Page 60: Gearbox

    5 Axis zero point 2 Effective stroke 6 Measurement arrow for distance measure- ment 3 Slides 7  Homing point 4 Positive software limit position 8 Negative software limit position Fig. 18 Interactive graphic for gantry axes Festo — CMMT-ST-SW — 2019-02...
  • Page 61 5 Negative software limit position 2 Working stroke 6 Measurement arrow for distance measure- ment 3 Effective stroke 7 Axis zero point 4 Positive software limit position 8 Reference point Fig. 19 Interactive graphic for cantilever axes Festo — CMMT-ST-SW — 2019-02...
  • Page 62 Drive shaft (for rotative axes) Axis zero point Axis zero point of the measuring system Negative software limit position Software limit position in negative direction of movement Positive software limit position Software limit position in positive direction of movement Festo — CMMT-ST-SW — 2019-02...
  • Page 63 The values of the software limit positions also change in the "Axis configuration" parameter group. If the values of the software limit positions are specified via the "Axis configuration" parameter group, the values also change in the interactive graphic. Festo — CMMT-ST-SW — 2019-02...

  • Page 64: Record List

    If records or record links have been created, the following symbols are displayed to the right: Symbol Description Create new record link. Edit record or record link. Delete record or record link. Execute record set Stop record set Tab. 38 Description of the symbols in the "Record list"parameter panel Festo — CMMT-ST-SW — 2019-02...
  • Page 65 Ä The pop-up to create a new record link is opened. 2. Define name of the record link. 3. Select record link condition. 4. Define parameters for selected condition. This step is skipped if a record link condition does not have any parameters. Festo — CMMT-ST-SW — 2019-02...
  • Page 66 The commands are called up via the symbols"Execute record set" and"Stop record set" è Tab. 38 Description of the symbols in the "Record list" parameter panel. Records can be executed or stopped if the following prerequisites are met: – The plug-in is connected to a device. Festo — CMMT-ST-SW — 2019-02...

  • Page 67: Monitoring Functions

    Additional information on recoil monitoring è 5.11 Pushback monitoring. "Remaining distance" The remaining distance is parameterised in this parameter group. The remaining distance indicates that the remaining path determined during ongoing positioning is below the specified limit value. Festo — CMMT-ST-SW — 2019-02...

  • Page 68: Open Loop

    The position controller is parameterised in this parameter group. Additional information on the position controller è 6.1.2 Position controller. "Closed loop calculation" The closed-loop calculation is executed in this section. The dynamics for the closed-loop calculation can be changed with the scroll bar. Festo — CMMT-ST-SW — 2019-02...
  • Page 69 Uploaded closed-loop settings The displayed closed-loop settings are made up of values from the (last) connected device. Calculated closed-loop settings No useful data could be calculated for the speed controller. invalid The data must be adapted manually. Festo — CMMT-ST-SW — 2019-02...
  • Page 70 The closed-loop parameters can be reset to the values in the device description file with the "Reset to default values" button. The button is only active if the following prerequisites are met: – A complete drive configuration has been created. – The plug-in is not connected to a device. Festo — CMMT-ST-SW — 2019-02...
  • Page 71 Transferring closed-loop settings record to active parameters A closed-loop settings record can be transferred to the active parameters by actuating the  ("Apply closed-loop settings record to active parameters") button. Festo — CMMT-ST-SW — 2019-02...

  • Page 72: Auto Tuning

    The button is only active if the following prerequisites are met: – The plug-in is connected to the device. – The plug-in has the master control. – Controller enable is activated. Additional information on the assistant for auto-tuning è Running auto-tuning Festo — CMMT-ST-SW — 2019-02...

  • Page 73: Assistant For Auto-Tuning

    If the connection is interrupted, the plug-in releases the master control again. The command can be executed if the following prerequisite is met: – The plug-in is connected to a device. – No other plug-in has the master control. Festo — CMMT-ST-SW — 2019-02...
  • Page 74 The command can be executed if the following prerequisite is met: – The plug-in is connected to a device. – The plug-in has the master control. Tab. 42 Description of the toolbar symbols for motion control Festo — CMMT-ST-SW — 2019-02...
  • Page 75 Once the marginal conditions are set, the motion measurement can be carried out. The button "Start auto tuning" is only active if the following prerequisites are met: – The plug-in is connected to the device. Festo — CMMT-ST-SW — 2019-02...

  • Page 76: Notch Filter

    The input variables for the pilot control are directly connected to the output variable or are adjusted using a mathematical operation. Additional information on pilot control è 6.3 Pilot control (Setpoint value control). The working area contains a graphic to set the parameters for the pilot control calculation. Festo — CMMT-ST-SW — 2019-02...

  • Page 77: Jog Mode

    The individual parameters for jog mode are specified in this parameter group. Additional information on jog mode è 4.6 Jog mode. 2.3.9 Parameter list The working area contains a table with all of the servo drive parameters. Festo — CMMT-ST-SW — 2019-02...

  • Page 78: Diagnosis

    List of all diagnostic messages è 9.4.6 Diagnostic messages with information for fault clearance. Additional information on the message directory è 9.4.3 Message directory. Additional information on the category è 9.2 Classification of diagnostic events. Additional information on the status of messages è 9.4.1 Status of messages. Festo — CMMT-ST-SW — 2019-02...
  • Page 79 9.4.2 Structure of messages è Tab. 45 Legend for device status Message directory The message directory shows all of the current diagnostic messages. It is sorted according to the following criteria: – Descending according to the category Festo — CMMT-ST-SW — 2019-02...

  • Page 80: I/O State

    No diagnostic message (not displayed in the message list) − − No current diagnostic mes- sage Tab. 46 Categories and status of the message list 2.4.3 I/O state The following I/O interfaces are displayed in the working area: – "X1A" Festo — CMMT-ST-SW — 2019-02...

  • Page 81: Error Log

    The diagnostic memory can be read out with the "Update" command. The diagnostic memory is automatically read out in the following cases: – The content page is opened. – The content page is opened, and the plug-in establishes a connection to the device. Festo — CMMT-ST-SW — 2019-02...

  • Page 82: Error Classification

    Changing the diagnostic level The classification of a diagnostic message can be changed via the dropdown menu. The levels are depicted in colour as follows: Diagnostic level Colour display Ignore Information Warning Stop category 2 Stop category 1 Festo — CMMT-ST-SW — 2019-02...

  • Page 83: Trace Configuration

    1. Actuate "Add new trace channel" button. Ä The pop-up to create a recording channel is opened. A direct search for a device parameter can be completed via the search field using the ID, name or description. Festo — CMMT-ST-SW — 2019-02...
  • Page 84 2. In the first edit step of the pop-up, select the trigger type (trigger type 1 or 2). Ä The following steps depend on the selected trigger type. If the data trigger (1) trigger type is selected, the following steps are required: 1. Select trigger condition. Festo — CMMT-ST-SW — 2019-02...
  • Page 85 Recordings can be started with the button "Start trace" or the symbol  ("Start trace") of the tool- bar. The button and the symbol "Start trace" are active if the following prerequisites are met: – A valid trace configuration is set. Festo — CMMT-ST-SW — 2019-02...

  • Page 86: Trace Display

    5 Buttons in the title bar 2 Elements of the preceding recording 6 Graph section 3 Recording (deselected) 7 Y primary axis 4 Button Import... 8 List of recordings and elements Fig. 25 Interface of Trace display diagnostics panel Festo — CMMT-ST-SW — 2019-02...
  • Page 87 The list contains the available recordings and their elements. elements Elements are recorded signals and the trigger for the respect- ive recording. Tab. 53 Legend The symbols in the recording list have the following meanings: Festo — CMMT-ST-SW — 2019-02...
  • Page 88 For the graph points marked with the aid of the measuring bar, the recorded value, parameter number and parameter name can be displayed as a tool tip. Enable/disable grid Shows or hides a grid in the graph section Undo scrolling and Undoes the last zoom/scroll operation zooming Festo — CMMT-ST-SW — 2019-02...
  • Page 89 Removes the recording from the list of recordings Tab. 57 Commands of the context menu for the recording name Symbol Menu command Description Show Shows the element in the graph Hide Hides the element in the graph Festo — CMMT-ST-SW — 2019-02...
  • Page 90 "Undo" and restored step by step with the command "Redo". This history goes back to when the changes were made. The history is deleted if the graph section is reset to the maximum extension. Festo — CMMT-ST-SW — 2019-02...
  • Page 91 Depending on the measuring bar added, the distance between the measuring bar edges is displayed with reference to the X axis or with reference to the X axis and Y axis. Clicking on the symbols shown in Festo — CMMT-ST-SW — 2019-02...
  • Page 92 2. In the context menu of the graph section, select the command "Copy chart to clipboad". Ä The image is then copied to the clipboard. Importing a recording Recordings previously exported to CSV files can be imported as follows: Festo — CMMT-ST-SW — 2019-02...

  • Page 93: Auto Tuning (Evaluation)

    Settings can be read out from the device with the "Read out settings" command if the device is con- nected. The settings are then immediately shown in the graphs. 1 Logarithmic view of the frequency response 2 Logarithmic view of the phase response Fig. 27 Auto-tuning measurement result Festo — CMMT-ST-SW — 2019-02...
  • Page 94 Activates or deactivates the grid in the graphs. Y-zoom Zoom y-axes of the graphs to maximum extension with reference to the settings. Reset graph section Reset graphs to maximum extension with reference to the settings. Tab. 62 Functions Festo — CMMT-ST-SW — 2019-02...

  • Page 95: Control

    To save the zero point offset, the device configuration must contain a motor with an encoder and the structure referencing must be valid. "Manual movement" Manual movements can be executed in this section, for example to be able to test and setup the machine mechanics without an active control program during commissioning. Festo — CMMT-ST-SW — 2019-02...
  • Page 96 Start movement in positive direction along specified path. Target position Target position Define target position of movement. Speed Define speed at which movement towards the target position should be completed. "Execute" Start movement towards specified target position. Festo — CMMT-ST-SW — 2019-02...

  • Page 97: Record List

    Controller enable is activated. Executing or stopping a record Records can be executed and stopped via the corresponding button. If a record is being executed, the symbol Execute record set changes to the symbol Stop record set. Festo — CMMT-ST-SW — 2019-02...

  • Page 98: Integrating A Device In A Festo Controller

    Device functions Functions that are available to the applicable device in the CODESYS extension of the Festo Automa- tion Suite are described in more detail in the documentation of the relevant device library. The device library and the related documentation are automatically integrated into the CODESYS pro- gram.
  • Page 99 Device drivers for the CODESYS extension of the Festo Automation Suite can be components of device- specific plug-ins for the Festo Automation Suite. By installing a new plug-in version, a new version of the device driver may also be installed. The latest available device driver version is used when estab- lishing a device connection in the Designer of the Festo Automation Suite.
  • Page 100 For additional information on the available methods, see è Library documentation. Fig. 30 Example: Control program with an integrated slave device (axis 1) Festo — CMMT-ST-SW — 2019-02...

  • Page 101: Product Configuration

    Basically for the type of equipment: CMMT-ST-...-EC (EtherCAT), CMMT-ST-...-PN (PROFINET) etc. – The hardware version of the device The check is performed by Festo Automation Suite before the download already. Firmware download The available firmware packages are downloaded onto the PC using Festo Automation Suite. Festo — CMMT-ST-SW — 2019-02...
  • Page 102 3. Start the update procedure. The update procedure is performed in a device-internal manner in interaction between the firmware management component and the bootloader. Festo Automation Suite carry out the abovementioned steps automatically, one after another. Information on the firmware The firmware package of a device can be read through parameters.

  • Page 103: Cia 402

    Firmware update failed (184811710) Tab. 69 Diagnostic messages 3.1.2.1 CiA 402 Objects for the firmware Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 9550 0x2129.08 Firmware package version STRING(30) Festo — CMMT-ST-SW — 2019-02...

  • Page 104: Parameter Set

    If an online connection is active, the user parameter set and project parameter set are identical. Changed parameters must be saved on the device; otherwise the last parameter set will become act- ive again after a restart. Festo — CMMT-ST-SW — 2019-02...

  • Page 105: Master Control

    If no other device with a plug-in has the master control, master control can be taken at any time with the plug-in. The master control is withdrawn from the fieldbus (interface of the device profile). If the master control is released again with the plug-in, the master control goes back to the fieldbus. Festo — CMMT-ST-SW — 2019-02...

  • Page 106: Device Services

    1 = execute – 2 = ended – 3 = Error The query of the return code of a method delivers one of the following return values: – 0 = successful – 1 = Error Festo — CMMT-ST-SW — 2019-02...

  • Page 107: Reset Device

    Tab. 74 Saving zero point offset 3.1.5.4 Request ReInit CiA402 Method Object Function Description Request ReInit 0x2003.01 Controlling method Value = 1: execute method 0x2003.02 Method status Status 0x2003.03 Method return value Return code Tab. 75 Request ReInit Festo — CMMT-ST-SW — 2019-02...

  • Page 108: Delete Parameter Set

    0x2006.03 Method transfer value Mode (Px.112700) 0x2006.04 Method transfer value Update Mode 0 = apply immediately 1 = apply with the next modulo overflow 0x2006.05 Method return value Return code Tab. 78 Cam controller 0 Festo — CMMT-ST-SW — 2019-02...

  • Page 109: Cam Controller 1

    Method transfer value Mode (Px.113000) 0x2009.05 Method return value Return code Tab. 81 Position capture (touch probe) 1 Fundamentals of parameterisation 3.2.1 Depiction of the parameters Structure of parameter IDs All parameter IDs have the following structure: Festo — CMMT-ST-SW — 2019-02...

  • Page 110: Data Types

    User-defined: position, velocity, acceleration or jerk according to paramet- erisation (see P1.1150.0.0, Current user unit) – explicit specification of the applicable unit (Nm, kg, s, … Tab. 83 Legend for the parameter example 3.2.2 Data types Data types used and their value ranges: Festo — CMMT-ST-SW — 2019-02...

  • Page 111: Depiction Of The Device-Profile-Specific Objects

    Manufacturer-specific objects: saved basic unit for the object is effective  0x2166.09 Damping time target reached FLOAT32 0x2166.0A Monitoring window target position FLOAT32 4610 0x2166.0B Monitoring window target speed FLOAT32 4611 0x2166.0C Monitoring window target torque FLOAT32 Tab. 85 Object table example Festo — CMMT-ST-SW — 2019-02...

  • Page 112: Measuring Units

    "Pre-operational" state and requires a reinitialisation of the servo drive. As a result, all pertinent parameters in the servo drive are converted to the new user unit. The control- Festo — CMMT-ST-SW — 2019-02...
  • Page 113 To simplify the entry for the user, the plug-in performs the necessary conversion in the commissioning software of Festo. During the use of the plug-in, the units shown there and/or resolution for the entry of the respective parameters must be used.
  • Page 114 Data type Manufacturer-specific objects: saved basic unit for the object is effective. 1150 0x217C.01 Current user unit UINT32 1151 0x217C.02 Selection of next user unit UINT32 1152 0x217C.03 User unit status UINT32 Tab. 91 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 115: Scaling Of Internal Units For The Fieldbus ("Factor Group")

    Update reinitialization Unit − 7844 Resolution jerk Determines the resolution of the jerk. The value is interpreted as ten-expont e.g. with meter and -3 the resolution is 1 mm/³. Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 116 Resolution acceleration SINT8 7844 0x2194.04 Resolution jerk SINT8 7851 0x216E.01 User unit position UINT16 7852 0x216E.02 User unit velocity UINT16 7853 0x216E.03 User unit acceleration UINT16 7854 0x216E.04 User unit jerk UINT16 Tab. 93 Objects Festo — CMMT-ST-SW — 2019-02...
  • Page 117 Tab. 94 Unit coding values list Example CMMT is parameterised to revolutions and revolutions per minute. This setting shall also be used through the device profile. The following shall be parameterised: – 1 position increment 0.00001 rev = 10 µrev Festo — CMMT-ST-SW — 2019-02...
  • Page 118 In CODESYS the increments must be set to 100000 so the module writes the position in the correct resolution. Fig. 32 Example of the user unit for revolutions Example CMMT is parameterised to metres. This setting shall also be used through the device profile. Festo — CMMT-ST-SW — 2019-02...
  • Page 119 Tab. 96 Setting factor group parameters (example) In CODESYS the “Increments” field must be set to 1000000 so the module writes the position in the correct resolution. Fig. 33 Example of the user unit for metres Festo — CMMT-ST-SW — 2019-02...

  • Page 120: Measuring Reference System

    If angular or toothed belt gear units are used, the opposite assignment of the direction of rotation can be advantageous and parameterised accordingly. Rotational measuring reference system Example: rotational drive Festo — CMMT-ST-SW — 2019-02...
  • Page 121 1) For rotating axes with the configuration “unlimited”, no end position can be parameterised. Tab. 97 Rotational measuring reference system (positive direction of rotation) Reference point Calculation rule Axis zero point = REF + a Festo — CMMT-ST-SW — 2019-02...
  • Page 122 Positive software end position (software limit positive) Target position Actual position/current position (actual position) Axis zero point offset (AZ) Target/actual position (TP/AP) Negative software end position (SLN) Positive software end position (SLP) Usable range (usable stroke) Festo — CMMT-ST-SW — 2019-02...
  • Page 123 If the target lies within the permitted area, travel outside the software end position is possible without error. Additional information è 5.6 Software limit position reached. Festo — CMMT-ST-SW — 2019-02...
  • Page 124 0 is the assignment A-#A and B-#B. For the phase sequence equal to 1, the assignment A- #A and #B-B is. Changing the phase sequence changes the rotating field of the motor. Access read/write Festo — CMMT-ST-SW — 2019-02...

  • Page 125: Cia 402

    3.3.1.1 Function The device supports Festo motors and the use of the motors of other manufacturers (third-party motors). Information on the motor used must be provided to the device during the configuration of the drive system. The following options are available for configuration:...
  • Page 126 Configuration options Description Readout of motor data from the In the case of certain Festo motors, the motor data is stored in the motor encoder EEPROM of the integrated encoder. If a corresponding motor is used by Festo, the motor data can be read out using the plug-in and assumed in the current project.

  • Page 127: Parameter And Diagnostic Messages For Motor Data From The User Configuration

    Parameter and diagnostic messages for motor data from the user configuration The following list contains the changeable motor data. During the configuration of Festo motors using the plug-in, the motor data is assumed automatically from the database after the selection of the motor.
  • Page 128 Unit Ω 7135 Torque constant (user Specifies the ratio of the motor torque to the root mean square defined) value of the current -> data sheet of the motor. Access read/write Update reinitialization Unit Nm/Arms Festo — CMMT-ST-SW — 2019-02...
  • Page 129 The temperature characteristic is described defined) by a straight line whose increase is determined by the gain and whose position is determined by the offset. – Index 0: gain – Index 1: Offset Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 130 Specifies the order code of the motor -> product labelling of the defined) motor. Access read/write Update reinitialization Unit − 7184 Database ID motor Specifies the database ID of the configured motor. (user defined) Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 131 2: servo motor (EC motor) Access read/write Update reinitialization Unit − Tab. 104 Parameters Value list of the temperature sensor parameters (settable using Px.7153) Value Temperature sensor Description Without temperature sensor No temperature sensors available Festo — CMMT-ST-SW — 2019-02...

  • Page 132: Cia 402

    FLOAT32 defined) 7159 0x216C.0E Holding brake (user defined) BOOL 7162 0x216C.0F Switch-on delay holding brake (user defined) FLOAT32 7165 0x216C.10 Switch-off delay holding brake (user defined) FLOAT32 7182 0x216C.11 NOC code motor (user defined) STRING(32) Festo — CMMT-ST-SW — 2019-02...

  • Page 133: Parameter And Diagnostic Messages For Motor Data From The Eeprom Memory

    Update reinitialization Unit − Material number Specifies the material number of the motor. Access read/− Update reinitialization Unit − Serial number Specifies the serial number of the motor. Access read/− Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 134 Specifies the root mean square value of the permissible maxim- um current that may flow through the motor in the short term. Access read/− Update reinitialization Unit Arms 7122 Maximum rpm Specifies the maximum permissible velocity of the motor. Access read/− Update reinitialization Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 135 (I²t monitoring). If a thermal model is used for I²t monitoring, as for a stepper motor with rated current=maximum current, the time constant is used as the filter time constant. Access read/− Update reinitialization Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 136 Specifies the characteristic of the temperature sensor. The tem- characteristic perature characteristic is described by a straight line resulting from the gain (increase) and the offset. Index 0: gain Index 1: Offset Access read/− Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 137 Update reinitialization Unit 7164 Switch-off delay hold- The delay saved in the EEPROM for the deactivation of the regu- ing brake lator if an electronic data sheet for the Festo motor is stored. Access read/− Update reinitialization Unit 7181 Continuous current Specifies the effective current that the motor requires to apply the stall torque.

  • Page 138: Cia 402

    Tab. 109 Diagnostic messages 3.3.1.5 CiA 402 Motor data objects from the EEPROM memory Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 0x2106.01 Product Key STRING(15) 0x2106.03 NOC code STRING(32) Festo — CMMT-ST-SW — 2019-02...
  • Page 139 UINT32 7186 0x2106.33 Major version motor data set STRING(2) 7187 0x2106.35 Minor version motor data set UINT16 7428 0x2106.37 Lq inductance FLOAT32 7429 0x2106.39 Ld inductance FLOAT32 7430 0x2106.3B Motor type UINT8 Tab. 110 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 140: Active Motor Data Parameters

    0 is the assignment A-#A and B-#B. For the phase sequence equal to 1, the assignment A- #A and #B-B is. Changing the phase sequence changes the rotating field of the motor. Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 141 Update effective immediately Unit 7133 Current winding res- Specifies the winding resistance between 2 motor phases of the istance active motor -> data sheet of the motor. Access read/− Update effective immediately Unit Ω Festo — CMMT-ST-SW — 2019-02...
  • Page 142 Access read/− Update effective immediately Unit 7148 Current winding tem- Specifies the maximum permissible winding temperature of the perature motor -> data sheet of the motor. Access read/− Update effective immediately Unit °C Festo — CMMT-ST-SW — 2019-02...
  • Page 143 Determines how long the closed-loop controller shall hold the current position so that the holding brake can be closed com- pletely. Using this parameter, the behaviour of the device is Festo — CMMT-ST-SW — 2019-02...
  • Page 144 Current Ld inductance Specifies the currently used inductance along the direction of the field. This value is a theoretical construct and cannot be measured. -> data sheet of the motor. Access read/− Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 145: Cia 402

    0x2162.0D Resulting maximum torque FLOAT32 7145 0x2162.0E Current time constant I²t FLOAT32 7148 0x2162.0F Current winding temperature FLOAT32 7154 0x2162.10 Current temperature sensor motor UINT32 7157 0x225A.01 ... 02 Current temperature sensor characteristic FLOAT32 motor Festo — CMMT-ST-SW — 2019-02...

  • Page 146: Brake Control

    (actual position = setpoint position). – No orders are accepted until the switch-on delay has elapsed, so the holding brake can release completely. – After the switch-on delay has elapsed, orders are accepted. Festo — CMMT-ST-SW — 2019-02...
  • Page 147 The brakes release with a mechanical delay. – The position controller assumes the control (actual posi- tion = setpoint position). – The motion commands are not accepted until the paramet- erised delay has been expired. Tab. 115 Control of the brakes Festo — CMMT-ST-SW — 2019-02...
  • Page 148 è Tab. 115 Control of the brakes. In order to release the holding brake again, a new level change from low to high is required. Timing v = 0 Stop Cat. 1 brake Fig. 36 Brake control timing (example) Festo — CMMT-ST-SW — 2019-02...

  • Page 149: Parameters And Diagnostic Messages

    The position controller is switched off after expiration of the switch-off delay. Holding brake 1 should then be completely closed. During initial commissioning, the presets are assumed Festo — CMMT-ST-SW — 2019-02...
  • Page 150 Specifies the currently used switch-on delay of the holding delay holding brake brake. Access read/− Update effective immediately Unit 7166 Current switch-off Specifies the current effective delay for switching off the closed- delay holding brake loop control. Access read/− Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 151 Update reinitialization Unit 7164 Switch-off delay hold- The delay saved in the EEPROM for the deactivation of the regu- ing brake lator if an electronic data sheet for the Festo motor is stored. Access read/− Update reinitialization Unit 40001 Activation current...

  • Page 152: Cia 402

    3.3.3.1 Function The Festo motor series has integrated encoders. If a Festo motor is used and the configuration is per- formed with the device-specific plug-in, the required data for the encoder configuration is assumed automatically in the project from the stored database with the selection of the motor.

  • Page 153: Encoder Parameters And Diagnostic Messages

    Specifies the zero point offset saved in the encoder. encoder memory Access read/write Update reinitialization Unit 3223 Zero point offset from Determines the zero point offset saved in the parameter set. user configuration Access read/write Update reinitialization Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 154 Unit − 3228 Valid commutation Displays whether the commutation angle saved in the encoder angle from encoder shall be valid. memory This means: – 0: invalid – 1: valid Access read/− Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 155 For single-turn encoders, determines whether the encoder shall homed indicate the "Homed" status after activation. For encoders that deliver the "Homed" status, a new homing run is not mandat- ory. This means: – 0: inactive – 1: active Festo — CMMT-ST-SW — 2019-02...
  • Page 156 Specifies the 24 bit standardised position of the encoder. In position case of an encoder with a resolution of 18 bits, the increments are multiplied at a factor of e.g.64 for standardisation. Encoder resolution of 18 bits: 262143 incr/rev Access read/− Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 157 Update reinitialization Unit − 11615 Current position Specifies the current standardised position in increments related to the output shaft of the gear unit or drive shaft of the mechanism. Access read/− Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 158 Displays the actual value of the acceleration unfiltered value unfiltered Access read/− Update effective immediately Unit Inci/s² 71501 Actual acceleration Displays the actual value of the acceleration filtered value filtered Access read/− Update effective immediately Unit Inci/s² Festo — CMMT-ST-SW — 2019-02...
  • Page 159 Fig. 37 Selection of the gear ratio and feed constant using the gear ratio group Name Description Gear ratio Gear ratio Feed constant Feed constant Numerator Counter Denominator Denominator Encoderchannel Encoder channel Tab. 123 Legend for selection of the gear ratio and feed constant Festo — CMMT-ST-SW — 2019-02...
  • Page 160 Encoder type plate (user defined) Encoder type plate (user defined) invalid (301989984) invalid 18 | 00 | 00227 Encoder identification reports Encoder identification reports incorrect (301990115) incorrect encoder type encoder type Tab. 126 Encoder diagnostic messages Festo — CMMT-ST-SW — 2019-02...

  • Page 161: Cia 402

    Electrical angular frequency FLOAT32 11608 0x2130.6D Commutation angle from encoder memory SINT64 11615 0x2130.7B Current position SINT64 11616 0x2130.7D Encoder selection UINT32 11617 0x2130.7F Active encoder UINT32 11618 0x2130.81 Velocity filter filter time constant FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 162: Parameters Of Digital Incremental Encoders (A, B And N Signals)

    10043 Quadrature evalu- Determines how the quadrature signal of the encoder shall be ation evaluated. This means: – 1: single evaluation – 2: double evaluation – 4: quadruple evaluation Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 163 8000 inc./rev. Quadrature evaluation P0.10043.0.0 Quadruple evaluation Gear unit numerator P1.1242.0.0 Numerator of total gear unit factor Gear unit denominator P1.1243.0.0 Denominator of total gear unit factor Feed constant numerator P1.1194.0.0 0.09 m (corresponds with 9/100) Festo — CMMT-ST-SW — 2019-02...

  • Page 164: Cia 402

    Specifies the resolution in bits per revolution. Access read/write Update reinitialization Unit − 3602 Resolution multiturn Specifies the number of bits for the distinguishable revolutions of the multiturn scanning of the encoder. Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 165 Unit − 3618 Activation read out Defines whether the extended encoder data of the encoder extended encoder should be used. data This means: – 0: inactive – 1: active Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 166: Cia 402

    0 for encoder interface 1 (primary encoder) at connection [X2] and 1 for encoder interface 2 (secondary encoder) at con- nection [X3] (device specific). Access read/write Festo — CMMT-ST-SW — 2019-02...

  • Page 167: Cia 402

    Actual position value SINT32 1210 0x606C.00 Actual velocity value SINT32 Manufacturer-specific objects: saved basic unit for the object is effective. 0x2155.03 Encoder channel 1 position UINT32 0x2155.09 Actual position value SINT64 1210 0x2155.0B Actual velocity value FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 168: Parameters Of The Direction Of Rotation Manager

    0 is the assignment A-#A and B-#B. For the phase sequence equal to 1, the assignment A- #A and #B-B is. Changing the phase sequence changes the rotating field of the motor. Access read/write Update reinitialization Festo — CMMT-ST-SW — 2019-02...

  • Page 169: Cia 402

    If a commutation-angle detection is required, the drive system must not demonstrate excessive function. The motor shaft should be freely rotating dur- ing the commutation-angle detection. After a successful commutation-angle detection, the parameter set must be saved on the device. Festo — CMMT-ST-SW — 2019-02...
  • Page 170 1: automatic (only once at the first controller enable) – 2: off Access read/write Update effective immediately Unit − Velocity Determines the set velocity for the commutation-angle detec- tion. Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 171 An error has occurred during the commutation (117702793) error angle search, the direction of rotation of the motor does not correlate with the position from the encoder. Tab. 141 Diagnostic messages for the commutation-angle detection Festo — CMMT-ST-SW — 2019-02...

  • Page 172: Cia 402

    Motor change detected, commut- Motor change detected, commutation angle (301989980) ation angle invalid invalid 18 | 00 | 00093 Motor change detected, zero Motor change detected, zero point offset (301989981) point offset invalid invalid Tab. 143 Diagnostic messages Festo — CMMT-ST-SW — 2019-02...

  • Page 173: Gear Unit

    The following parameters form gear ratio group 0: ID Px. Parameters Description 1242 Total conversion Determines the numerator of the overall gear ratio (drive side). factor gear unit Access read/write numerator Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 174 Determines the denominator of the gear ratio for the user- unit (user defined) defined gear unit (output side). Index 0: gear ratio group 1 Index 1: gear ratio group 2 Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 175 Specifies the database ID of the first gear unit. Access read/write Update effective immediately Unit − 1231 NOC code gear unit 1 Specifies the order code of the first configured gear unit. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 176 2 denomin- unit (output side). ator Access read/write Update effective immediately Unit − 1238 Database ID gear unit Specifies the database ID of the third gear unit. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 177: Cia 402

    Manufacturer-specific objects: saved basic unit for the object is effective. 1242 0x2182.0D Total conversion factor gear unit numerator UINT32 1243 0x2182.0E Total conversion factor gear unit denominator UINT32 1194 0x217E.04 Feed constant numerator UINT32 1195 0x217E.05 Feed constant denominator UINT32 Tab. 147 Objects Festo — CMMT-ST-SW — 2019-02...
  • Page 178 0x2182.09 Database ID gear unit 3 UINT32 1239 0x2182.0A NOC code gear unit 3 STRING(37) 1240 0x2182.0B Conversion factor gear unit 3 numerator UINT32 1241 0x2182.0C Conversion factor gear unit 3 denominator UINT32 Tab. 149 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 179: Digital Inputs And Outputs

    Unit − 11201 Digital input X1A.7 Specifies the function of the digital input signal at connection X1A.7. Possible functions Tab. 151 Configurable input signals at X1A.7 and X1A.8. è Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 180 Update reinitialization Unit − 101200 Reference switch con- Determines the configuration of the reference switch. figuration Possible switching functions Tab. 153 Switching function of the reference switch.. è Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 181 Px.101100 and Px.101101 (N/C or N/O contact). For additional information 5.5 Hardware limit switch reached. è Homing Switch The input returns the signal of the reference switch. Tab. 152 Configurable input signals at X1C.2 Festo — CMMT-ST-SW — 2019-02...
  • Page 182 Velocity following error expired. Target range position The output becomes active after the target range is reached and becomes inactive again when the target Target range velocity range is left. Target range torque Festo — CMMT-ST-SW — 2019-02...

  • Page 183: Cia 402

    The configuration of the digital inputs or out- (100663381) puts is invalid Tab. 155 Diagnostic messages 3.3.5.2 CiA 402 Objects of digital inputs and outputs Parameters Index.Subindex Name Data type CiA402: factor group is effective. 1128054 0x60FE.01 Digital outputs CiA402 UINT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 184: Protective Functions

    Specifies the scaling factor for the start value based on the limit value I²t monitoring value of the I²t monitoring of the power output stage at stand- power output stage still. Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 185 Unit − 6314 Limit value I²t monit- Specifies the limit value for I²t monitoring of the power output oring power output stage at standstill. stage at standstill Access read/− Update effective immediately Unit A²s Festo — CMMT-ST-SW — 2019-02...
  • Page 186 Specifies the current actual value of the I²t monitoring of the oring of the total cur- total current. rent Access read/− Update effective immediately Unit Arms Tab. 157 Parameters of “I²t monitoring of power output stage” Festo — CMMT-ST-SW — 2019-02...

  • Page 187: Cia 402

    Actual value I²t monitoring power output stage FLOAT32 at standstill 6317 0x216A.10 Scaling factor warning limit I²t monitoring FLOAT32 drive at standstill 6332 0x216A.1E Actual value relative I²t monitoring of power FLOAT32 output stage to limit Festo — CMMT-ST-SW — 2019-02...

  • Page 188: I²T Monitoring Of Motor

    Between 0 and 1, a warning threshold can be paramet- erised. Timing Fig. 39 Timing of I²t monitoring of motor Name Description Error limit Px.6306, Limit value I²T monitoring motor model Warning limit Px.6305, Scaling factor warning limit I²t monitoring motor model Festo — CMMT-ST-SW — 2019-02...
  • Page 189 I²t monitoring: motor model error limit (16908547) limit 01 | 02 | 00258 I²T monitoring: motor model I²T monitoring: motor model warning limit (16908546) warning limit Tab. 162 Diagnostic messages of I²t monitoring of the motor Festo — CMMT-ST-SW — 2019-02...

  • Page 190: Cia 402

    Access read/− Update effective immediately Unit °C Temperature status Specifies the status of the temperature monitoring of the power power output stage output stage Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 191 Unit °C 9323 Current upper limit Specifies the current upper limit value of the temperature monit- value power output oring of the power output stage. stage temperature Access read/− Update effective immediately Unit °C Festo — CMMT-ST-SW — 2019-02...

  • Page 192: Cia 402

    Current upper limit value warning threshold FLOAT32 power output stage temperature 9323 0x2128.22 Current upper limit value power output stage FLOAT32 temperature 9324 0x2128.23 Current lower limit value warning threshold FLOAT32 power output stage temperature Festo — CMMT-ST-SW — 2019-02...

  • Page 193: System Monitoring

    Determines the upper limit value for load voltage monitoring. value Access read/write Update effective immediately Unit 28151 Current lower limit Specifies the lower limit value for load voltage monitoring. value load voltage Access read/− Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 194: Monitoring Of The Dc Link Voltage

    Monitoring of the DC link voltage The protective function is used for the monitoring of the DC link voltage. In the process, the DC link voltage is monitored for preset maximum value and parameterised minimum value. In addition, a limit Festo — CMMT-ST-SW — 2019-02...
  • Page 195 Access read/write Update effective immediately Unit 56799 Current warning Specifies the currently used warning threshold for monitoring threshold DC link the DC link voltage. voltage Access read/− Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 196 Current warning threshold DC link voltage FLOAT32 56800 0x2114.19 Current upper limit value DC link voltage FLOAT32 56801 0x2114.1A Current lower limit value DC link voltage FLOAT32 Tab. 171 Objects of “Monitoring of the DC link voltage” Festo — CMMT-ST-SW — 2019-02...

  • Page 197: Return Energy Feed

    DC link recovery deac- Deactivation of the DC link recovery tivation Access read/write Update effective immediately Unit − 10184 Activation automatic Activation of the automatic voltage determination voltage determination Access read/write Update reinitialization Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 198 Activate reactive current braking rent braking Access read/write Update effective immediately Unit − 102105 Maximum reactive Maximum reactive current of the reactive current braking current reactive cur- Access read/− rent braking Update effective immediately Unit Arms Festo — CMMT-ST-SW — 2019-02...
  • Page 199 FLOAT32 10186 0x213F.06 Scaling factor offset of voltage calculation FLOAT32 102101 0x218D.01 Active switch-on threshold reactive current FLOAT32 braking 102102 0x218D.02 Active end value reactive current braking FLOAT32 102103 0x218D.03 Status reactive current braking BOOL Festo — CMMT-ST-SW — 2019-02...

  • Page 200: Motion Control

    If the closed-loop controller and the output stage are enabled, depending on the parameterisation the device automatically switches to the status Standstill or the status Profile è Px.10234. The required operating mode can be activated in the Standstill status, e. g. by the device profile or the device-spe- cific plug-in. Festo — CMMT-ST-SW — 2019-02...
  • Page 201 The device is ready. The output stage is switched off. The brake can be set and released manually 3.3.2 Brake control. è Enabling The power output stage is switched on. Standstill The device is ready for operation and it is position-controlled. Festo — CMMT-ST-SW — 2019-02...
  • Page 202 CTRL-EN input 4.1.9 Switch-on/off behaviour and closed-loop controller è enable. Closed-loop controller and output stage enable 4.1.9 Switch-on/off behaviour and closed-loop controller è enable. Stop Cat. Stop of the corresponding category Festo — CMMT-ST-SW — 2019-02...

  • Page 203: Operating Modes For Performing Motion Commands

    – ... force/torque mode (CST) fine interpolator of the closed-loop controller. Tab. 176 Operating modes for performing motion commands The cyclically synchronised operating modes are only available in the CiA402 profile. Festo — CMMT-ST-SW — 2019-02...

  • Page 204: Dynamic Operating Mode Switch

    See the following table for an overview: From... To... PT-B – – – – – – Festo — CMMT-ST-SW — 2019-02...

  • Page 205: Cia402

    If a dynamic switch between the CSP, CSV and CST operating modes is required, the following objects must be mapped in the cyclic process data: – Modes of operation (0x6060) – Mode of operation display (0x6061) – the required setpoint and actual values of the operating modes Festo — CMMT-ST-SW — 2019-02...

  • Page 206: Positioning Mode(Pp)

    The following types of position specification are supported in positioning mode: Position specification Description absolute absolute position referenced to the axis origin relative to the current actual distance referenced to the current position (actual position) position Festo — CMMT-ST-SW — 2019-02...
  • Page 207 · Hardware limit switch reached positive · Hardware limit switch reached negative · Software limit position reached positive · Software limit position reached negative · Standstill monitoring position/velocity · Standstill monitoring velocity · Stop reached Festo — CMMT-ST-SW — 2019-02...
  • Page 208 End velocity Velocity at the target position Tab. 181 Motion quantities Triggering commands – Record table – Fieldbus (direct mode) – Page "Manual movement" of the device-specific plug-in Requirements – valid homing – Controller enable Festo — CMMT-ST-SW — 2019-02...

  • Page 209: Cia 402

    Acceleration Jerk Tab. 182 Legend for positioning mode timing graph 4.1.3.2 CiA 402 The following graphs show an overview of the objects involved in the positioning mode and their inter- action with the trajectory generator: Festo — CMMT-ST-SW — 2019-02...
  • Page 210 Pro le deceleration (0x6084) Pro le acceleration or Quick stop deceleration pro le deceleration or Limit (0x6085) quick stop deceleration Function Max acceleration (0x60C5) Max deceleration (0x60C6) Fig. 45 Trajectory generator in positioning mode (PP) Festo — CMMT-ST-SW — 2019-02...
  • Page 211 Modes of operation display (0x6061) = 1 – Statusword (0x6041) = 1X0X X11X X011 0111 Control and monitoring Object 0x6040: Controlword The object controls the following functions of positioning mode: – Bit 4: start motion command (New set-point) – Bit 5: accept change immediately (Change set immediately) Festo — CMMT-ST-SW — 2019-02...
  • Page 212 New target position relative to the current actual position, current actual position of the actual value management. reserved Tab. 185 Reference point for relative positioning Festo — CMMT-ST-SW — 2019-02...

  • Page 213: Velocity Mode (Pv)

    When the stroke limit is reached, the device reacts in accordance with parameterised STL monition monitoring 5.9 Stroke limit reached è ... without stroke limitation Velocity mode without path limitation Tab. 187 Types of velocity mode Festo — CMMT-ST-SW — 2019-02...
  • Page 214 STLN Stroke limit reached negative · Speed monitoring – Pushback monitoring · Remaining distance monitoring · Trajectory completed · REFS Reference switch activated – Torque utilisation exceeded – FSPR Fixed stop reached · Drive accelerated Festo — CMMT-ST-SW — 2019-02...
  • Page 215 If the negative stroke limit is greater than or equal to the positive stroke limit, the stroke limit is not effective. positive stroke limit Tab. 189 Motion quantities Triggering commands – the record table – the fieldbus (direct mode) Requirements – Controller enable Festo — CMMT-ST-SW — 2019-02...

  • Page 216: Cia 402

    Jerk Tab. 190 Legend for timing graph of velocity mode 4.1.4.2 CiA 402 The following graphs show an overview of the objects involved in the velocity mode and their interac- tion with the trajectory generator: Festo — CMMT-ST-SW — 2019-02...
  • Page 217 Status word CiA402 UINT16 0x6064.00 Actual position value SINT32 1210 0x606C.00 Actual velocity value SINT32 4610 0x606D.00 Monitoring window target speed UINT16 0x6068.00 Damping time target reached UINT16 0x606F.00 Monitoring window speed standstill monitor- UINT16 Festo — CMMT-ST-SW — 2019-02...
  • Page 218 Quick stop deceleration CiA402 FLOAT32 1305 0x2183.05 Limit value acceleration limiting FLOAT32 1306 0x2183.06 Limit value deceleration limiting FLOAT32 0x2166.05 Monitoring window speed: following error FLOAT32 8137 0x216F.0A Target velocity CiA402 FLOAT32 Tab. 191 Objects Festo — CMMT-ST-SW — 2019-02...
  • Page 219 Target velocity reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040) Halt = 0: target velocity was not reached Halt = 0: target velocity was reached Halt = 1: drive decelerated Halt = 1: velocity = 0 standstill message Geschwindigkeits-Istwert ≠ 0 Geschwindigkeits-Istwert = 0 Velocity following error (Following error) A velocity following error is not active Festo — CMMT-ST-SW — 2019-02...

  • Page 220: Force/Torque Mode (Pt) With Or Without Holding Brake

    Motion monitoring function status word Code Name effective – Target window reaches position – Target window reaches velocity · Target window reaches torque – Following error position – Velocity following error – Position target area monitoring Festo — CMMT-ST-SW — 2019-02...
  • Page 221 The path course of a positioning command is largely influenced by the following motion quantities: Motion quantities Description Target torque Target specification Torque rise time Minimum time for reaching the target torque Speed limit value Maximum velocity for reaching the target torque Festo — CMMT-ST-SW — 2019-02...

  • Page 222: Cia 402

    Torque Torque increase Tab. 197 Legend for force/torque mode timing graph 4.1.5.2 CiA 402 The following graphs show an overview of the objects involved in the force/torque mode and their interaction with the trajectory generator: Festo — CMMT-ST-SW — 2019-02...
  • Page 223 UINT16 0x6041.00 Status word CiA402 UINT16 526795 0x6071.00 Target torque CiA402 SINT16 526796 0x6072.00 Maximum torque symmetrical UINT16 0x6073.00 Limit value total current (closed loop control- UINT16 ler) 3014 0x6074.00 Setpoint generator output torque SINT16 Festo — CMMT-ST-SW — 2019-02...
  • Page 224 Lower limit value torque (closed loop control- FLOAT32 ler) Tab. 198 Objects Precondition for force/torque mode The following conditions must be fulfilled for force/torque mode: – Modes of operation display (0x6061) = 4 – Statusword (0x6061) = XX0X XX1X X011 0111 Control and monitoring Festo — CMMT-ST-SW — 2019-02...

  • Page 225: Cyclic Synchronised Positioning Mode (Csp)

    PLC (synchronisation time 1 … 20 ms, step 1 ms, è Px.1051). The integrated fine interpolator therefore calculates intermediate support points and derivations from the setpoint quantity for the closed-loop controller (interpolation). Monitoring functions The monitoring functions marked with a dot are effective in this operating mode: Festo — CMMT-ST-SW — 2019-02...
  • Page 226 – Torque utilisation exceeded – FSPR Fixed stop reached – Drive accelerated – Drive decelerated – 30… 31 – Reserved Tab. 201 Motion monitoring function Detailed information on the monitoring functions è 5 Motion monitoring. Festo — CMMT-ST-SW — 2019-02...
  • Page 227 When the algorithms reach the initialised status, the regulation is switched to the new operating mode. The following graph shows an example of the input and output values for the interpolator in straight CSP operation without external pilot control values. Festo — CMMT-ST-SW — 2019-02...
  • Page 228 Controller Interpolator Ipo algorithm 2. order a = 0 Ipo algorithm j = 0 2. order Ipo algorithm I = 0 2. order Fig. 51 CSP operation with external velocity and torque pilot control (CSP-VT) Festo — CMMT-ST-SW — 2019-02...

  • Page 229: Cia 402

    Velocity o set (0x60B1) Target position (0x607A) Position Velocity Torque Motor control control control Geber Torque actual value (0x6077) Velocity actual value (0x606C) Position actual value (0x6064) Fig. 52 Overview of the cyclic synchronised positioning operation (CSP) Festo — CMMT-ST-SW — 2019-02...
  • Page 230 (0x6076) value (0x6077) Max torque (0x6072) Motor rated torque Multiplier (0x6076) Fig. 53 Object overview of the cyclic synchronised positioning operation (CSP) NOTICE! The position following error is only evaluated in the "operation enabled" status. Festo — CMMT-ST-SW — 2019-02...
  • Page 231 Actual velocity value FLOAT32 526796 0x2168.17 Maximum torque symmetrical FLOAT32 7139 0x2162.0C Resulting nominal torque FLOAT32 0x2157.02 Actual torque value gear shaft FLOAT32 8130 0x216F.03 Target position CiA402 SINT64 4629 0x2166.1E Negative software limit position SINT64 Festo — CMMT-ST-SW — 2019-02...
  • Page 232 Object 0x6041: Statusword The following statuses of cyclic synchronised positioning mode can be monitored with the object: – Bit 12: drive follows the command value (Drive follows the command value) – Bit 13: position following error (Following error) Festo — CMMT-ST-SW — 2019-02...

  • Page 233: Cyclic Synchronised Velocity Mode (Csv)

    Target window reaches torque – Following error position · Velocity following error – Position target area monitoring – Speed target area monitoring – Torque target area monitoring – 9…11 – Reserved · Hardware limit switch reached positive Festo — CMMT-ST-SW — 2019-02...
  • Page 234 Motion quantities Description Nominal velocity The higher-order PLC supplies the setpoint velo- city. Torque Pilot control values for the torque can also be specified (optional). Tab. 210 Motion quantities Requirements – valid homing – Controller enable Festo — CMMT-ST-SW — 2019-02...
  • Page 235 I = 0 Fig. 54 CSV operation without external pilot control The following graph shows an example of the input and output values for the interpolator in straight CSV operation with velocity and torque pilot control values. Festo — CMMT-ST-SW — 2019-02...

  • Page 236: Cia 402

    An invalid mode of operation was requested (135004410) Tab. 213 Diagnostic messages 4.1.7.2 CiA 402 The following graphs show an overview of the objects involved in the cyclic synchronised velocity mode and their interaction with the closed-loop controller. Festo — CMMT-ST-SW — 2019-02...
  • Page 237 Quick stop deceleration (0x6085) Torque o set (0x60B2) Torque Motor rated torque Multiplier actual (0x6076) value (0x6077) Max torque (0x6072) Motor rated torque Multiplier (0x6076) Fig. 57 Object overview of the cyclic synchronised velocity operation (CSV) Festo — CMMT-ST-SW — 2019-02...
  • Page 238 0x216F.0A Target velocity CiA402 FLOAT32 11413 0x217B.0E Interpolation mode CSV UINT32 Tab. 214 Objects Objects in the different CSV operating modes The objects marked with a dot are effective in the different CSV operating modes. Festo — CMMT-ST-SW — 2019-02...

  • Page 239: Cyclic Synchronised Force/Torque Mode (Cst)

    (interpolation). Monitoring functions The monitoring functions marked with a dot are effective in this operating mode: Motion monitoring function status word Code Name effective – Target window reaches position – Target window reaches velocity Festo — CMMT-ST-SW — 2019-02...
  • Page 240 30… 31 – Reserved Tab. 217 Motion monitoring function Detailed information on the monitoring functions è 5 Motion monitoring. Motion quantities The path course of a positioning command is largely influenced by the following motion quantities: Festo — CMMT-ST-SW — 2019-02...

  • Page 241: Cia 402

    = 0 I = 0 Fig. 58 CST operation 4.1.8.2 CiA 402 The following graphs show an overview of the objects involved in the cyclic synchronised force/torque mode and their interaction with the closed-loop controller. Festo — CMMT-ST-SW — 2019-02...
  • Page 242 (0x607E) Max torque (0x6072) Motor rated torque Multiplier (0x6076) Fig. 60 Object overview of the cyclic synchronised force/torque operation (CST) Parameters Index.Subindex Name Data type CiA402: factor group is effective. 0x6040.00 Control word CiA402 UINT16 Festo — CMMT-ST-SW — 2019-02...
  • Page 243 The following statuses of cyclic synchronised force/torque mode can be monitored with the object: – Bit 12: drive follows the command value (Drive follows the command value) Description Drive follows the command value Drive does not follow the command value (e. g. because a safety function is active) Festo — CMMT-ST-SW — 2019-02...

  • Page 244: Switch-On/Off Behaviour And Closed-Loop Controller Enable

    When switching off the power supply the device detects that it has dropped below the defined threshold value and reacts as follows: – a corresponding message is generated – a stop is initiated with the parameterised category è 9.2 Classification of diagnostic events. Festo — CMMT-ST-SW — 2019-02...
  • Page 245 Behaviour with controller enable The motor is energised after controller enable. The closed-loop controller takes control. Information on the automatic actuation of the holding brake on activation or deactivation of controller enable è 3.3.2 Brake control. Festo — CMMT-ST-SW — 2019-02...
  • Page 246 ID Px. – power on Switch on power supplies – no error No error – RF IO Controller enable via CTRL-EN – RF PLC Controller enable via fieldbus – Ready for operation – Brake output Festo — CMMT-ST-SW — 2019-02...
  • Page 247 10232 Controller enable Specifies how the controller is to be enabled. selection This means: – 0: I/O and fieldbus – 1: I/O (CTRL-EN input) – 2: fieldbus – 3: I/O and plug-in – 4: plug-in Festo — CMMT-ST-SW — 2019-02...
  • Page 248 Specifies the maximum velocity with controller enable for torque controller enable operation. The maximum velocity selected here is only effective (torque operation) if the parameter Px.10232 has the value 1. Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 249 The request of controller enable is Positioning mode issued in common via: – the CTRL-EN input – the device-specific plug-in (Eth- ernet interface) The enable signal at the CTRL-EN input must be pending before the Festo — CMMT-ST-SW — 2019-02...
  • Page 250 The actual torque is used as the starting torque. – The parameterised target torque is used as the tar- get torque (Px.10236). – The parameterised values for the stop are used as acceleration and jerk. Festo — CMMT-ST-SW — 2019-02...

  • Page 251: Cia 402

    0x218E.08 Torque increase for controller enable FLOAT32 Tab. 225 Objects Stop 4.2.1 Function The stop command aborts the current motion command. The subsequent reactions to the stop com- mand depend on what triggered the stop. Festo — CMMT-ST-SW — 2019-02...
  • Page 252 With a stop via the record table or a category 2 stop: – If the standstill monitor detects that the drive has stopped moving, the closed-loop controller switches to position control and used the actual position value as the new setpoint quantity. Festo — CMMT-ST-SW — 2019-02...

  • Page 253: Cia 402

    CiA402: factor group is effective. 8135 0x6085.00 Quick stop deceleration CiA402 UINT32 Manufacturer-specific objects: saved basic unit for the object is effective. 8135 0x216F.08 Quick stop deceleration CiA402 FLOAT32 12101 0x2180.01 Stop ramp deceleration FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 254: Hold

    The motion com- – – The drive is braked and remains position- mand is continued controlled stationary with reference to para- with reference to meters a and j. parameters a and j. – A message is generated. Festo — CMMT-ST-SW — 2019-02...

  • Page 255: Cia 402

    The reference mark is by default the absolute reference point for the dimensional ref- erence system. A valid homing is required for all motion commands with the "position" target. Motion commands with the "velocity, torque and jogging" targets cannot be run without a valid homing. Festo — CMMT-ST-SW — 2019-02...
  • Page 256 The motion phase that is run depends on the selected homing method. A motion with the "current position" homing method is only run if the "travel to the axis zero-point" function is activ- ated. Festo — CMMT-ST-SW — 2019-02...
  • Page 257 Reference switch/limit switch with zero pulse (method: 1, 2, 7, 11) For secure identification of the "zero pulse" reference mark, before the homing the falling edges of the reference switch (Ref)/limit switch (Lim) must be set centrally between two zero pulses. Festo — CMMT-ST-SW — 2019-02...
  • Page 258 Access read/write Update effective immediately Unit user defined Search for reference Shows the setpoint jerk of searching for the reference mark. mark setpoint jerk Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 259 Access read/write Update effective immediately Unit user defined 8412 Maximum search Shows the maximum search stroke in positive direction. stroke in positive dir- Access read/write ection Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 260 Access read/write Update effective immediately Unit − 8418 Status state machine Status of the state machine for homing homing Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 261 Specifies the offset of the axis zero point to the reference mark. Access read/write Update effective immediately Unit user defined 8421 Deactivate encoder Specifies the status of the encoder emulation during the hom- emulation during ing. homing 0: deactivated 1: activated Access read/write Update effective immediately Festo — CMMT-ST-SW — 2019-02...

  • Page 262: Timing

    Homing to reference switch or limit switch The graph shows as an example homing to a reference or limit switch without zero pulse in a positive search direction and then travel to the axis zero-point in negative direction. Festo — CMMT-ST-SW — 2019-02...
  • Page 263 Signal reference/limit switches Duration of search Duration of crawl Duration of travel to the axis zero-point Target velocity search Target velocity crawl Target velocity travel Reference mark reference/limit switches Axis zero point Axis zero point offset Festo — CMMT-ST-SW — 2019-02...
  • Page 264 The graph shows as an example homing to the stop without zero pulse in a positive search direction and then travel to the axis zero-point in negative direction. Fig. 66 Homing to stop Name Description Maximum current Nominal current limit percentage Duration of search Festo — CMMT-ST-SW — 2019-02...

  • Page 265: Homing Methods

    Current position — Current position — positive Current position Zero pulse negative Current position Zero pulse Limit switch positive Limit switch — negative Limit switch — positive Limit switch Zero pulse negative Limit switch Zero pulse Festo — CMMT-ST-SW — 2019-02...

  • Page 266: Method 37: Current Position

    Method 37: Current position Tab. 236 Sequence principle: current position 4.4.3.2 Method 33/34: current position with zero pulse in negative/positive direction The reference mark is found by the first zero pulse of the encoder. Sequence: Festo — CMMT-ST-SW — 2019-02...

  • Page 267: Method 17/18 Negative/Positive Limit Switch

    3. Set reference mark: position of switching edge is taken as the reference mark. 4. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 5. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Festo — CMMT-ST-SW — 2019-02...

  • Page 268: Method 1/2: Negative/Positive Limit Switch With Zero Pulse

    4. Set reference mark: position of the zero pulse is taken as the reference mark. 5. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 6. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Festo — CMMT-ST-SW — 2019-02...

  • Page 269: Method 23/27: Positive/Negative Reference Switch

    3. Set reference mark: position of switching edge is taken as the reference mark. 4. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 5. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Festo — CMMT-ST-SW — 2019-02...

  • Page 270: Method 7/11: Positive/Negative Reference Switch With Zero Pulse

    4. Set reference mark: position of the zero pulse is taken as the reference mark. 5. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 6. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Festo — CMMT-ST-SW — 2019-02...

  • Page 271: Method -23/-27: Positive/Negative Stop/Limit Switch With Run To Reference

    4. Set reference mark: position of switching edge is taken as the reference mark. 5. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 6. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Festo — CMMT-ST-SW — 2019-02...

  • Page 272: Method -17/-18 Negative/Positive Stop

    NOTICE! With the homing methods -17/-18 "homing to stop" the drive stands controlled at the stop after the homing. The parameterisation of the travel to the axis zero-point makes continuous control at the stop unnecessary. Festo — CMMT-ST-SW — 2019-02...

  • Page 273: Method -1/-2 Negative/Positive Stop With Zero Pulse

    4. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 5. Report status: "homing status" is set. Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point. Method -2: positive search direction Method -1: negative search direction Festo — CMMT-ST-SW — 2019-02...

  • Page 274: Travel To Axis Zero-Point

    2. Set axis zero-point: the axis zero-point is set with reference to the reference mark. 3. Report status: "homing status" is set. Positive axis zero-point offset: positive travel Negative axis zero-point offset: negative travel direction direction Tab. 253 Sequence principle - travel to axis zero-point Festo — CMMT-ST-SW — 2019-02...

  • Page 275: Cia 402

    Setpoint reference mark creeping velocity FLOAT32 0x2172.08 Setpoint reference mark creeping acceleration FLOAT32 0x2172.09 Setpoint reference mark creeping jerk FLOAT32 0x2172.0A Move to axis zero point setpoint velocity FLOAT32 8410 0x2172.0B Move to axis zero point setpoint acceleration FLOAT32 Festo — CMMT-ST-SW — 2019-02...
  • Page 276 Status state machine homing UINT32 8421 0x2172.16 Deactivate encoder emulation during homing BOOL Tab. 255 Objects The overview shows the function of the homing mode: Fig. 67 Overview: homing mode Additional information è 4.4.3 Homing methods. Festo — CMMT-ST-SW — 2019-02...
  • Page 277 Bit 4: start or abort homing (Homing operation start) – Bit 8: prepare or abort homing (Halt) Description Prepare homing for start Homing not active Start homing Start homing à Homing is carried out Homing active Festo — CMMT-ST-SW — 2019-02...
  • Page 278 A homing error has occurred and the velocity ≠ 0 A homing error has occurred and the velocity = 0 1) signal status: 0 = low; 1 = high; x = any Tab. 257 Monitor homing Festo — CMMT-ST-SW — 2019-02...

  • Page 279: Command For Record Selection

    128 command records and up to 128 record links in total The command records of the record table can be started as follows: – the device profile of the higher-order controller – the engineering interface, e. g. via the plug-in Festo — CMMT-ST-SW — 2019-02...
  • Page 280 Name Description Target position Target position of the motion command record A, B, C Record A, B or C Start Start record Motion complete Tab. 260 Legend for the start conditions “Interrupt”, "Wait" and "Ignore" Festo — CMMT-ST-SW — 2019-02...
  • Page 281 Fig. 70 Start condition “Waiting” (example) Start condition "Ignore" The start signal (here for record B) is ignored. The current command (here record A) is completed. Target position record A Start Fig. 71 Start condition "Ignore" (example) Festo — CMMT-ST-SW — 2019-02...
  • Page 282 Unit − 1812 Record table field 1 Specifies the value of the first parameter depending on the record type Tab. 262 Command record type parameter (ID Px.1810) è Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 283 Access read/write Update effective immediately Unit − 1818 Record table field 7 Specifies the value of the seventh parameter depending on the record type Tab. 262 Command record type parameter (ID Px.1810) è Access read/write Festo — CMMT-ST-SW — 2019-02...
  • Page 284 Unit − Tab. 261 Parameters Parameters depending on the record type The meaning of the record table field 1 … record table field 7 parameters depends on the selected record type (value of the record type parameter). Festo — CMMT-ST-SW — 2019-02...
  • Page 285 – 2: relative to the cur- rent setpoint position – 3: relative to the last target position – 4: relative to the cur- rent capture position Target position Profile velocity Acceleration Deceleration Jerk End velocity Festo — CMMT-ST-SW — 2019-02...
  • Page 286 Set digital output Set digital output (also allowed Output for background process) – 33: record table output The requested output must be configured as output for use in – 34: record table output the record table Festo — CMMT-ST-SW — 2019-02...
  • Page 287 Comment Table type P1.1810.0.0 Date record 0: positioning mode (5) P1.1810.0.1 Date record 1: velocity mode (4) Record number P1.1811.0.0 Record number 0 P1.1811.0.1 Record number 1 Record table field 1 P1.1812.0.0 absolute position (0) Festo — CMMT-ST-SW — 2019-02...

  • Page 288: Record Sequencing

    If the record list is activated as a foreground process, complex motion sequences and travel profiles can be created with command sequences, e. g.: – Positioning and clamping in a motion sequence – Travelling a velocity profile – Executing a force profile for pressing procedures Festo — CMMT-ST-SW — 2019-02...
  • Page 289 Update effective immediately Unit 1835 Record sequencing Specifies the value of the first comparator type-dependent para- field 1 meter Record step enabling type parameter (ID Px.1831) è Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 290 Digital input ... the digital input checks the Input: parameterised level (high or low – 11: record table input level). The requested input must be – 12: record table input configured as input for use in Festo — CMMT-ST-SW — 2019-02...
  • Page 291 ... the record is terminated by – (none) the trajectory generator. Execution completed ... the status of the command – (none) corresponds to DONE. With a motion command, DONE corresponds to the status of tar- Festo — CMMT-ST-SW — 2019-02...
  • Page 292 And (4), Or (5) operator status word – Bit mask (32-bit) Touch probe valid The activated touch-probe func- No. of the capture channel tion has detected a valid event. Tab. 265 Record step enabling type parameter (ID Px.1831) Festo — CMMT-ST-SW — 2019-02...

  • Page 293: Monitoring Of Events

    If the event occurs, the current command record of the record table is interrupted and branched to the record of the record table that was defined in the event table. Characteristics of the event table: – max. 16 events Festo — CMMT-ST-SW — 2019-02...
  • Page 294 (maximum 1 target record per event). Access read/write Update effective immediately Unit − 1843 Next event field time Specifies the value of the "time" parameter Record step enabling type parameter (ID Px.1831) è Access read/write Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 295: Cia 402

    0x2233.01 ... 80 Record table field 2 SINT64 1814 0x2234.01 ... 80 Record table field 3 SINT64 1815 0x2235.01 ... 80 Record table field 4 SINT64 1816 0x2236.01 ... 80 Record table field 5 SINT64 Festo — CMMT-ST-SW — 2019-02...

  • Page 296: Jog Mode

    The drive can move to any position in jog mode. The drive is moved during jogging until the command for jogging is pending. If a command is not pending, a stop is initiated. The following commands are available: Festo — CMMT-ST-SW — 2019-02...
  • Page 297 Phase 1: motion at a slower velocity for precise positioning motions. (dynamic parameter record "slow") – Phase 2: motion at a faster velocity for fast traversing through longer distances. (dynamic para- meter record "fast") – Phase 3: motion is stopped. Festo — CMMT-ST-SW — 2019-02...
  • Page 298 Jogging 1 (-) (Jog duration 1 movement) Jogging 1 (+) Jogging 2 (-) Px.214539 (Jog duration 2 movement) Tab. 273 Parameters for time period t1 The mode switches between symmetrical and asymmetrical with the Px.214526.0.0 parameter: Festo — CMMT-ST-SW — 2019-02...
  • Page 299 1 langsam 1511 1512 1513 -1 langsam 1511 1512 1513 2 langsam 214535 214536 214537 1 fast 1514 1515 1516 -1 fast 1514 1515 1516 2 fast 214540 214541 214542 Tab. 275 Overview of dynamic parameters Festo — CMMT-ST-SW — 2019-02...
  • Page 300 Fast jog 1 acceleration Acceleration (and deceleration) during phase 2. Access read/write Update effective immediately Unit user defined 1516 Fast jog 1 jerk Jerk during phase 2. Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 301 Fast jog 2 velocity Maximum velocity during phase 2. Access read/write Update effective immediately Unit user defined 214541 Fast jog 2 acceleration Acceleration (and deceleration) during phase 2. Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...

  • Page 302: Cia 402

    1510 0x2186.01 Jog duration 1 movement FLOAT32 1511 0x2186.02 Slow jog 1 velocity FLOAT32 1512 0x2186.03 Slow jog 1 acceleration FLOAT32 1513 0x2186.04 Slow jog 1 jerk FLOAT32 1514 0x2186.05 Fast jog 1 velocity FLOAT32 Festo — CMMT-ST-SW — 2019-02...
  • Page 303 Bits 11 and 12 also control the slow and fast velocity for jogging with a motion phase. If both bits are not set, travel is first slow then fast (jogging with 2 motion phases). If both bits are set, there is no motion. The following dynamic values are applied depending on the P1.214526.0.0 parameter: Festo — CMMT-ST-SW — 2019-02...

  • Page 304: Motion Monitoring

    The actual values from the actual value management, the setpoint values (determined from between the pilot control and directional lock), as well as the target values and configuration of the actual com- mand are imported to monitor the motion. Festo — CMMT-ST-SW — 2019-02...
  • Page 305 Tab. 281 Legend for determining the target, setpoint and actual values diagram The monitoring result is issued as follows: – as status signal – As a directional lock when software and hardware limit positions are exceeded Festo — CMMT-ST-SW — 2019-02...
  • Page 306 è Position/speed Speed Stop reached 5.8 Stop reached è Stroke limit reached 5.9 Stroke limit reached è STLP positive STLN negative Speed monitoring 5.10 Speed monitoring è (spinning protection) Pushback monitoring 5.11 Pushback è monitoring Festo — CMMT-ST-SW — 2019-02...
  • Page 307 Speed target area monitoring Torque target area monitoring – 9  Reserved … Hardware limit switch reached positive Hardware limit switch reached negative Software limit position reached positive Software limit position reached negative Standstill monitoring position/velocity Standstill monitoring velocity Festo — CMMT-ST-SW — 2019-02...
  • Page 308 Sequence Control (MSC) component depending on the motion command and parameterisation of the positioning block and is transmitted as part of the command. Configuration word bit assignment Code Name Target window reaches position Target window reaches velocity Target window reaches torque Following error position Velocity following error Festo — CMMT-ST-SW — 2019-02...
  • Page 309 1) assignment identical to status word Tab. 284 Configuration word bit assignment Die Bits 9 … 11 und 26 … 31 sind reserviert. Message types Message type Description Status signals Signal relating to an event or state to advance the internal state machine. Festo — CMMT-ST-SW — 2019-02...

  • Page 310: Target Window Reached

    If the command has already been executed and it is restarted, all of the correspond- ing signals are reset and then set again for at least one cycle of the servo drive (typ- ically 1 ms). Tab. 286 Status signals - Target window reached (dependent on operating mode) Festo — CMMT-ST-SW — 2019-02...
  • Page 311 The signal remains set if the actual value moves outside the monitoring window during the specified duration. The damping time is re-evaluated when the value returns to the window. Access read/write Festo — CMMT-ST-SW — 2019-02...
  • Page 312 Target position reached (117571705) 07 | 02 | 00122 Target velocity reached Target velocity reached (117571706) 07 | 02 | 00123 Target torque reached Target torque reached (117571707) Tab. 289 Diagnostic messages - Target window reached Festo — CMMT-ST-SW — 2019-02...

  • Page 313: Cia 402

    Unit Monitoring window Specifies the monitoring window for the position following error. position: following The monitoring window is set symmetrically to the setpoint error value pattern (window width = 2x parameter). Access read/write Festo — CMMT-ST-SW — 2019-02...
  • Page 314 ID Dx. Name Description 07 | 02 | 00126 Position: following error Position: following error (117571710) 07 | 02 | 00127 Velocity: following error Velocity: following error (117571711) Tab. 292 Diagnostic messages - Following error Festo — CMMT-ST-SW — 2019-02...
  • Page 315 OR the target has been reached (target reached = TRUE). Tab. 293 Status signals - Following error x / v 2xWindow Abs(Act – Set) Window Fig. 75 Timing diagram: following error Name Description Position and speed motion quantities Damping time Diagnostic message Festo — CMMT-ST-SW — 2019-02...

  • Page 316: Cia 402

    TRUE). Depending on the operating mode, the position, speed or torque are monitored during this pro- cess. The target area monitoring of a positioning command with a final speed is identical to the target area monitoring of a speed command. Timing Status signal TM… Initial state Festo — CMMT-ST-SW — 2019-02...
  • Page 317 / v / T Window TargetSet Start Fig. 76 Timing diagram: target area monitoring (example) Name Description x/v/T Position, speed and torque motion quantities Target reached Damping time Diagnostic message Start Start motion command Festo — CMMT-ST-SW — 2019-02...
  • Page 318 Specifies the monitoring window for the target torque. The mon- torque itoring window is set symmetrically to the target value (window width = 2x parameter). Access read/write Update effective immediately Unit Tab. 298 Parameters - Target area monitoring Festo — CMMT-ST-SW — 2019-02...

  • Page 319: Cia 402

    The error response is parameterised as a message for this purpose. – Monitoring the direction of movement during reference run to a reference point. – Use as reference point for a reference run method. Festo — CMMT-ST-SW — 2019-02...
  • Page 320 0: deactivated, 1: normally open, 2: normally closed Access read/write Update effective immediately Unit − 101112 Negative hardware Specifies whether the negative hardware limit switch is active. limit switch detected Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 321: Cia 402

    Tab. 303 Diagnostic messages - Hardware limit switch reached 5.5.1 CiA 402 Objects - Hardware limit switch reached Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 101100 0x2189.01 Configure negative hardware limit switch UINT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 322: Software Limit Position Reached

    The current direction of movement is blocked. Another command in the blocked direction will not be executed. The block is removed when the drive reaches the valid area again. Festo — CMMT-ST-SW — 2019-02...
  • Page 323 Target position over x_limit with error reaction and automatic braking to x_limit Case C Target position over x_limit and overtravel of x_limit with error reaction, e.g. category 0 stop Position motion quantity x_target Target position x_limit End position Target reached Warn Warning message Festo — CMMT-ST-SW — 2019-02...
  • Page 324 Braking is not initi- ated if no error response is parameterised (warning). 0: inactive 1: active Access read/write Update effective immediately Unit − Tab. 307 Parameters - Software limit position reached Festo — CMMT-ST-SW — 2019-02...

  • Page 325: Cia 402

    Despite a standstill message being set, the drive can still move at a threshold value that is not equal to 0. Any drifting is prevented by additional position monitors. Festo — CMMT-ST-SW — 2019-02...
  • Page 326 AND the value falls below the threshold value for longer than the damping time. The STV signal is reset under the following condition: à – The actual speed value exceeds the threshold value. Tab. 310 Status signals - Standstill monitoring Festo — CMMT-ST-SW — 2019-02...
  • Page 327 Access read/write Update effective immediately Festo — CMMT-ST-SW — 2019-02...

  • Page 328: Cia 402

    Name Data type CiA402: factor group is effective. 0x6070.00 Standstill damping time UINT16 0x606F.00 Monitoring window speed standstill monitor- UINT16 Manufacturer-specific objects: saved basic unit for the object is effective. 0x2166.06 Standstill damping time FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 329: Stop Reached

    AND both conditions are set to be longer than the damping time. The LS signal is reset under the following conditions: à – The actual current value falls below the threshold value. – OR STV = 0 Tab. 315 Status signals - Stop reached Festo — CMMT-ST-SW — 2019-02...
  • Page 330 Fig. 79 Timing diagram: stop reached Name Description Speed motion quantity Active current Damping time Diagnostic message Act1 Actual speed Act2 Actual active current Lim1 Stop detection limit value Lim2 Tab. 316 Legend for Timing diagram: stop reached Festo — CMMT-ST-SW — 2019-02...

  • Page 331: Cia 402

    Status evaluation of the stroke limits – Configuration check – Monitoring of the completed, relative movement – Automatic braking (optional) In contrast to software limit position monitoring, stroke limit monitoring is only available for speed and power operation. Festo — CMMT-ST-SW — 2019-02...
  • Page 332 ID Px. Parameters Description 10368 Default value negat- Specifies the negative stroke limit. The negative stroke limit ive stroke limit must be lower than the positive stroke limit. Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...

  • Page 333: Cia 402

    Manufacturer-specific objects: saved basic unit for the object is effective. 10368 0x2190.08 Default value negative stroke limit SINT64 10369 0x2190.09 Default value positive stroke limit SINT64 4675 0x2166.3D Activation of automatic stop ramp stroke limit BOOL Tab. 322 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 334: Speed Monitoring (Spinning Protection)

    Tab. 325 Diagnostic messages - Speed monitoring 5.10.1 CiA 402 Objects - Speed monitoring Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 4660 0x2166.30 Maximum rpm FLOAT32 Tab. 326 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 335: Pushback Monitoring

    The damping time is restarted if the actual velocity is below the threshold value or if the prefix for the spe- cified setpoint value (torque) changes during the evaluation of the damping time. Access read/write Festo — CMMT-ST-SW — 2019-02...

  • Page 336: Cia 402

    The difference (command target value / current actual value) falls below the limit value. The RD signal is reset under the following condition: à – The setting logic is inverted. Tab. 331 Status signals - Remaining distance monitoring Festo — CMMT-ST-SW — 2019-02...

  • Page 337: Cia 402

    The signal is set under the following conditions: à – The trajectory is completed. The signal is reset under the following conditions: à – A new command is started. Tab. 335 Status signals - Trajectory completed Festo — CMMT-ST-SW — 2019-02...

  • Page 338: Reference Switch Activated

    0: Deactivated 1: N/O contact 2: N/C contact Access read/write Update effective immediately Unit − 101201 Reference switch Specifies whether the reference switch is active. status 0: inactive 1: active Access read/− Update effective immediately Festo — CMMT-ST-SW — 2019-02...

  • Page 339: Cia 402

    Parameters and diagnostic messages ID Px. Parameters Description 10351 Request directional A directional lock can be triggered via this parameter. lock Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 340: Cia 402

    Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 10351 0x218F.01 Request directional lock SINT32 10352 0x218F.02 Active directional lock SINT32 10353 0x218F.03 Status directional lock SINT32 Tab. 343 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 341: Control

    Between i_in and M_in, there is the relationship i_in = M_in/(torque con- stant x gear unit factor). id_act Actual reactive current value id_ref Reactive current setpoint value iq_act Actual active current value iq_ref Active current setpoint value Festo — CMMT-ST-SW — 2019-02...

  • Page 342: Position Controller

    The velocity controller setpoint value can be asymmetrically limited via the result- ing lower and upper limit value velocity. If the setpoint value reaches the limit, this can be requested via a status. Fig. 81 Block diagram of position controller Festo — CMMT-ST-SW — 2019-02...
  • Page 343 Access read/write Update effective immediately Unit user defined Minimum correction Specifies the limit value "Minimum correction velocity" for the velocity velocity limitation on the output of the P-element in the position controller. Access read/write Festo — CMMT-ST-SW — 2019-02...
  • Page 344 Unit user defined 6101 Resulting upper limit Specifies the limit value "Upper limit value of velocity" for velo- value velocity (closed city limiting. loop controller) Access read/− Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...

  • Page 345: Cia 402

    FLOAT32 2217 0x215B.09 Position control error SINT64 6100 0x2168.08 Resulting lower limit value velocity (closed FLOAT32 loop controller) 6101 0x2168.09 Resulting upper limit value velocity (closed FLOAT32 loop controller) 52675 0x2152.09 Velocity limiting active BOOL Festo — CMMT-ST-SW — 2019-02...

  • Page 346: Velocity Control

    The setpoint value torque is used as a pilot control value for the velocity regulator. The resulting setpoint value is dependent on the parameterised upstream variables of the pilot control 6.3 Pilot control (Setpoint value control). è Festo — CMMT-ST-SW — 2019-02...
  • Page 347 Specifies the integration constant for the PI-element in the velo- integration constant city controller. Access read/write Update effective immediately Unit − 1210 Actual velocity value Specifies the velocity measured by the primary encoder. Access read/− Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 348 Unit 52676 Current limitation act- Specifies the monitoring status of "Current limiting is active" for the setpoint value of the active current in the velocity controller. Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 349: Cia 402

    Maximum torque symmetrical FLOAT32 Tab. 352 Objects 6.1.4 Current regulator The current regulator consists of an active current regulator and a reactive current regulator which specify the voltage setpoint values for the secondary power output stages. Festo — CMMT-ST-SW — 2019-02...
  • Page 350 The voltage transformation generates the setpoint value specifications for the secondary power out- put stage from input variables "Voltage setpoint value". This prioritizes the voltage U as default against voltage U Fig. 83 Block diagram of current regulator Name Parameters ID Px. id_act Actual reactive current value Festo — CMMT-ST-SW — 2019-02...
  • Page 351 Specifies the actual value of the phase U current. rent value Access read/− Update effective immediately Unit Amplification gain Specifies the amplification gain for the P-element in the reactive current regulator current regulator. (reactive current) Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 352 Specifies the active current setpoint for the current regulator. point value Access read/− Update effective immediately Unit Arms Reactive current set- Specifies the reactive current setpoint for the current regulator. point value Access read/− Update effective immediately Unit Arms Festo — CMMT-ST-SW — 2019-02...
  • Page 353 – 1: active; for the calculation of the controller parameters, the plug-in synchronises the parameters for the active cur- rent and the reactive current. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 354 Update effective immediately Unit 52680 Voltage limiting Ud Specifies the monitoring status of "Voltage limiting Ud active" active for the voltage Ud setpoint value in the current regulator. Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 355: Cia 402

    Voltage Uq setpoint value FLOAT32 0x2153.07 Active current setpoint value FLOAT32 0x2153.08 Reactive current setpoint value FLOAT32 0x2153.09 Maximum output voltage FLOAT32 0x2151.0B Actual phase V current value FLOAT32 0x2153.0E Actual reactive current value FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 356: Control Parameter Sets

    Access read/− Update effective immediately Unit − Amplification gain Specifies the amplification gain in the parameter sets for the P- position controller element in the position controller. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 357 A value input by the user is overwritten with the total of all inertias from the configured drive train, including the load, by calculation of the control parameters. Access read/write Update effective immediately Unit kgm² Festo — CMMT-ST-SW — 2019-02...

  • Page 358: Cia 402

    The start of the controller parameter set switchover is controlled via the object: Description Controller parameter set switchover started on parameterised à à signal status: 0 1 = rising edge Tab. 359 Starting the controller parameter set switchover Festo — CMMT-ST-SW — 2019-02...

  • Page 359: Limitations

    The torque can be asymmetrically limited via the minimum and maximum torque. If one of the setpoint values reaches the limit, this can be requested via a status. Festo — CMMT-ST-SW — 2019-02...
  • Page 360 Specifies the velocity limiting status starting from the applica- status tion limitation. Access read/− Update effective immediately Unit − 1302 Acceleration limiting Specifies the acceleration limitation of the application limitation. status Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 361 Lower limit torque Specifies the lower limit value for the torque limitation in the limitation application limitation. Access read/write Update effective immediately Unit Tab. 363 Parameters Diagnostic messages No specific diagnostic messages are allocated to the function. Festo — CMMT-ST-SW — 2019-02...

  • Page 362: Cia 402

    Dynamic data () are composed of the specifications of the user and the data from the I²t monitoring. The values can be adjusted by the user at any time. Festo — CMMT-ST-SW — 2019-02...
  • Page 363 When the limit value is reached, the current of the power output stage is − limited to the resulting rated current (ID Px.623). –iq Resulting lower limit value active current (closed loop controller) 6108 Festo — CMMT-ST-SW — 2019-02...
  • Page 364 Maximum motor or Specifies the static limit value "Maximum velocity" created from servo drive controller the minimum of the maximum values of the motor or servo drive velocity controller. Access read/− Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 365 Access read/write Update effective immediately Unit Upper limit value Specifies the dynamic limit value "Upper limit value of the torque (closed loop torque" specified by the user. controller) Access read/write Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 366 (closed Access read/− loop controller) Update effective immediately Unit 6105 Resulting upper limit Specifies the resulting maximum torque for torque limitation. value torque (closed Access read/− loop controller) Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 367: Cia 402

    CiA 402 Control limitation objects Parameters Index.Subindex Name Data type CiA402: factor group is effective. 0x60E1.00 Lower limit value torque (closed loop control- UINT16 ler) 0x60E0.00 Upper limit value torque (closed loop control- UINT16 ler) Festo — CMMT-ST-SW — 2019-02...
  • Page 368 Resulting upper limit value torque (closed FLOAT32 loop controller) 6108 0x2168.10 Resulting lower limit value active current FLOAT32 (closed loop controller) 6109 0x2168.11 Resulting upper limit value active current FLOAT32 (closed loop controller) Tab. 368 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 369: Torque Limitation

    Resulting upper limit value total current (closed loop controller) 6112 total –iq Resulting lower limit value active current (closed loop controller) 6108 Resulting upper limit value active current (closed loop controller) 6109 –M Resulting lower limit value torque (closed loop controller) 6104 Festo — CMMT-ST-SW — 2019-02...
  • Page 370 Specifies the maximum torque for torque limitation. Access read/− Update effective immediately Unit 6104 Resulting lower limit Specifies the resulting minimum torque for torque limitation. value torque (closed Access read/− loop controller) Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 371: Cia 402

    Manufacturer-specific objects: saved basic unit for the object is effective. 0x2153.08 Reactive current setpoint value FLOAT32 0x2168.07 Limit value total current (closed loop control- FLOAT32 ler) 2218 0x215B.0A Minimum torque FLOAT32 2219 0x215B.0B Maximum torque FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 372: Pilot Control (Setpoint Value Control)

    The pilot control also acts in the interpolating operating modes via a fieldbus. Input variable Output variable Pilot control Operating mode – – · Velocity (default) – · · Torque (inertia) – · · Torque (friction) Festo — CMMT-ST-SW — 2019-02...
  • Page 373 Tab. 372 Pilot control Fig. 87 Pilot control Name Description ID Px. x_in, v_in, a_in Set values position, velocity and acceleration as input variables of the pilot con- trol Setpoint management output position Setpoint management output velocity Festo — CMMT-ST-SW — 2019-02...
  • Page 374  example. The conversion of the user unit to rad/s is carried automatically by the device. The inertia for the inertia compensation is stipulated in kgm² (Px.973) and the support points of the table for the friction compensation Node_T (Px.976) in Nm and Node_v in rad/s (Px.977). Festo — CMMT-ST-SW — 2019-02...
  • Page 375 Torque output from feedforward control as setpoint value for the closed-loop controller Access read/− Update effective immediately Unit Feed forward control Current output from feed forward control current output Access read/− Update effective immediately Unit Arms Festo — CMMT-ST-SW — 2019-02...
  • Page 376 A value input by the user is overwritten with the total of all inertias from the configured drive train, including the load, by calculation of the control parameters. Access read/write Update effective immediately Unit kgm² Festo — CMMT-ST-SW — 2019-02...

  • Page 377: Inertia And Friction Compensation

    For the inertia compensation it is multiplied with the setpoint acceleration. The value for the inertia is the total inertia of the drive system. If the switchover is carried out on a different control parameter set, also the respective inertia is superimposed from the control parameter set. Festo — CMMT-ST-SW — 2019-02...
  • Page 378 K = Number of the additional slides Excerpt of data sheet EMMS-ST motor: technical data Size 57-M Motor … Total output inertia moment Without brake [kgcm 0.48 With brake [kgcm 0.50 … Tab. 376 Technical data of the EMMS-ST motor Festo — CMMT-ST-SW — 2019-02...
  • Page 379 –0.2175 P1.976.0.4 –0.6981 P1.977.0.4 –0.2035 P1.976.0.5 –0.3491 P1.977.0.5 –0.2017 P1.976.0.6 –0.0698 P1.977.0.6 –0.2003 P1.976.0.7 P1.977.0.7 P1.976.0.8 0.0698 P1.977.0.8 0.2003 P1.976.0.9 0.3491 P1.977.0.9 0.2017 P1.976.0.10 0.6981 P1.977.0.10 0.2035 P1.976.0.11 3.4907 P1.977.0.11 0.2175 P1.976.0.12 6.9813 P1.977.0.12 0.2349 Festo — CMMT-ST-SW — 2019-02...

  • Page 380: Cia 402

    SINT64 0x2154.02 Velocity setpoint value FLOAT32 0x2154.03 Acceleration setpoint value FLOAT32 0x2154.04 Jerk setpoint value FLOAT32 0x2154.05 Setpoint value torque FLOAT32 0x2154.06 Feed forward control current output FLOAT32 0x2154.07 Inactive time position setpoint value UINT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 381: Notch Filter

    The characteristics of the filter can be parameterised and are determined by the filter frequency and filter band width. Festo — CMMT-ST-SW — 2019-02...
  • Page 382 Index 0: notch filter 1 – Index 1: notch filter 2 – Index 2: notch filter 3 ID Px. Parameters Description Filter frequency notch Fixes the filter frequency of the notch filter. filter Access read/write Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 383: Cia 402

    Manufacturer-specific objects: saved basic unit for the object is effective. 0x2221.01 ... 03 Filter frequency notch filter FLOAT32 0x2222.01 ... 03 Band width of notch filter FLOAT32 0x2223.01 ... 03 Notch filter output active current FLOAT32 0x2224.01 ... 03 Activation of notch filter BOOL Festo — CMMT-ST-SW — 2019-02...

  • Page 384: Auto Tuning

    Measurements are necessary as basis for the layout. The number of measurements can be adjusted. The measurements can be carried out during the standstill or during a movement command. Festo — CMMT-ST-SW — 2019-02...
  • Page 385 The following parameters are defined by the plug-in before the start of auto-tuning: Servo controller start values: – Start value position controller amplification gain – Start value velocity controller amplification gain – Start value velocity controller integration constant – Filter time constant velocity controller Festo — CMMT-ST-SW — 2019-02...
  • Page 386 The new values "Results of tuning" are displayed in the plug-in after the auto-tuning. A test run can be carried out with the determined values or the values can applied directly in the con- troller data as active control parameters. Festo — CMMT-ST-SW — 2019-02...
  • Page 387 Access read/write Update effective immediately Unit − 8611 Start value position Specifies the start value of auto tuning for the amplification gain controller amplifica- of the position controller. tion gain Access read/write Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 388 Unit user defined 8617 Signal selection noise Specifies the signal selection of the noise signal generator. 1 signal generator uniform noise and 2 normally distributed noise Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 389 Access read/write fication Update effective immediately Unit user defined 8624 Maximum decelera- Specifies the maximum deceleration during the identification. tion during the identi- Access read/write fication Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...

  • Page 390: Cia 402

    0x2174.01 Start value position controller amplification FLOAT32 gain 8612 0x2174.02 Start value velocity controller amplification FLOAT32 gain 8613 0x2174.03 Start value velocity controller integration con- FLOAT32 stant 8614 0x2174.04 Filter time constant velocity controller FLOAT32 Festo — CMMT-ST-SW — 2019-02...

  • Page 391: Test Run

    With the execution of the test run the drive is moved in the specified stroke range according to the number of validation movements (simple stroke path). A test run can no longer be performed after the parameters have been taken over. Festo — CMMT-ST-SW — 2019-02...
  • Page 392 Controlling a test run The test run is started via the plug-in of the Festo Automation Suite. If the controller parameters have not been optimally set, unusual noises could occur in the test run. In this case, stop the test run, perform the auto-tuning again or adjust the controller parameters manu- ally.
  • Page 393 Access read/write Update effective immediately Unit user defined 8635 Maximum jerk during Specifies the maximum jerk during the validation movement. validation movement Access read/write Update effective immediately Unit user defined Tab. 387 Parameters Festo — CMMT-ST-SW — 2019-02...

  • Page 394: Cia 402

    Using the index of the pertinent parameters, several switching points per trigger output can be con- figured within the modulo range. Various modes are available for the function (è Tab. 393 Possible modes of the cam controller function). The switching duration (t1, t2) of the trig- Festo — CMMT-ST-SW — 2019-02...
  • Page 395 Lower limit value modulo 112703 Mode Cam controller mode 112700 – ON logic Switch-on logic – OFF logic Switch-off logic Selection of switching function (negative/positive direction) 112708 Hysteresis 112706 First switching point 112710 Second switching point 112711 Festo — CMMT-ST-SW — 2019-02...
  • Page 396 Signal curve depending on the switching function, delay compensation and hysteresis in "Automat- ic" mode (6) – examples a) Positive direction +Dir v * T v * T +Mod –Mod Fig. 94 Timing diagram: positive direction b) Negative direction Festo — CMMT-ST-SW — 2019-02...
  • Page 397 The new switching points are accepted only if no switching point is active. The switching duration is not extended. Name Description ID Px. – Trigger output Inactive time compensation of first switching point 112704 Inactive time compensation of second switching point 112705 Festo — CMMT-ST-SW — 2019-02...
  • Page 398 Unit − 112701 Cam controller source Determines the source of the measured values. This means: 0: primary encoder 1: secondary encoder (device-specific) 2: set position 3: Inactive Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 399 Access read/write Update effective immediately Unit user defined 112707 Switching time Determines the switching time for time-based manual switching (manual) (mode 4/5). Access read/write Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 400 Index 3: ... Access read/write Update effective immediately Unit − 112710 First switching point Defines the first switching point at which the cam switch should be active. Index 0: cam switch 1 Index 1: cam switch 2 Festo — CMMT-ST-SW — 2019-02...
  • Page 401 Specifies the current source of the position values of the cam source controller. This means: – 0: primary encoder (commutation encoder) – 1: secondary encoder – 2: ... (depending on the product design) Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 402 Access read/− Update effective immediately Unit user defined 112720 Current switching Specifies the current switch-on time for mode 4. time (manual) Access read/− Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 403 Specifies the current first switching point at which the cam point switch is inactive. Index 0: cam switch 1 Index 1: cam switch 2 Index 2: (depending on the product design) Index 3: … Access read/− Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 404 Specifies the current runtime-compensated module position for the logic (OFF) the logic (Off). Access read/− Update effective immediately Unit user defined 112728 Cam switch status Specifies the status of the trigger output. ON/OFF Access read/−− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 405 Current offset modulo Specifies the currently used offset of the modulo position. position Access read/− Update effective immediately Unit user defined 112735 Counter modulo Counter for the modulo cycles cycles Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 406 Set modulo position Sets the modulo position to the value saved in the Px.112733 parameter. Tab. 393 Possible modes of the cam controller function Diagnostic messages No specific diagnostic messages are allocated to the function. Festo — CMMT-ST-SW — 2019-02...

  • Page 407: Cia 402

    0x2276.01 ... 04 Current first switching point SINT64 112724 0x2277.01 ... 04 Current second switching point SINT64 112725 0x2278.01 ... 04 Current switching time (automatic) FLOAT32 112726 0x2192.21 Modulo position for the logic (ON) SINT64 Festo — CMMT-ST-SW — 2019-02...

  • Page 408: Position Detection (Touch Probe)

    (+LIM/–LIM). The detected position and detection time are saved in one parameter each (X_out, T_out). The para- meters can be evaluated during the record selection mode and read out through the device provide is necessary. Festo — CMMT-ST-SW — 2019-02...
  • Page 409 113005 +LIM Upper limit value trigger event 113006 DONE Trigger event initiated 113016 x_out Touch probe position 113014 t_out Time stamp touch probe position 113015 Tab. 395 Legend for the touch probe block diagram (example) Festo — CMMT-ST-SW — 2019-02...
  • Page 410 Fig. 99 Touch probe timing diagram (example of “Once with window” touch probe mode) Name Description ID Px. +LIM Upper limit value trigger event 113006 –LIM Lower limit value trigger event 113005 X_out Touch probe position 113014 Festo — CMMT-ST-SW — 2019-02...
  • Page 411 Selection trigger Determines the type of signal edge with which the measurement event shall be triggered. This means: – 0: inactive – 1: positive edge – 2: negative edge – 3: positive or negative edge Festo — CMMT-ST-SW — 2019-02...
  • Page 412 Unit user defined 113007 Current touch probe Specifies the current mode of the touch probe function. mode Possible modes Tab. 398 Possible modes of the touch probe function. è Access read/− Update effective immediately Festo — CMMT-ST-SW — 2019-02...
  • Page 413 113012 Current lower limit Specifies the lower limit for trigger signals within the modulo value trigger event range. Trigger signals at positions below the limit are ignored. Access read/− Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 414 Access read/− Update effective immediately Unit − 113018 Trigger events Specifies the number of valid measurements. The parameter counter triggered value increases at every valid measurement. Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 415 Offset modulo posi- Offset of the modulo position tion Access read/write Update effective immediately Unit user defined 113025 Initialisation of mod- Default value for the reference position Access read/write Update effective immediately Unit user defined Festo — CMMT-ST-SW — 2019-02...
  • Page 416 Access read/− edge CiA402 Update effective immediately Unit − 113032 Counter initiated trig- Counter of initiated trigger events for the negative edge CiA402 ger events negative Access read/− edge CiA402 Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 417 Parameters of the touch probe mode (Px.113000 and Px.113007) Value Mode Description inactive The position detection is inactive. Once One-time position detection without limiting the trig- ger range; after the measurement has been performed, the function is deactivated automatically. Festo — CMMT-ST-SW — 2019-02...
  • Page 418 Tab. 398 Possible modes of the touch probe function Lower and upper limit value of trigger event The valid trigger range depends on the size ratio of both limit values (è Fig.100). Festo — CMMT-ST-SW — 2019-02...
  • Page 419 –LIM Lower limit value trigger event 113005 +LIM Upper limit value trigger event 113006 Tab. 399 Legend for the diagram of trigger ranges (example) Diagnostic messages No specific diagnostic messages are allocated to the function. Festo — CMMT-ST-SW — 2019-02...

  • Page 420: Cia 402

    External touch probe signal has positive edge  0x60B9, bit 1 = 1 Status "Touch probe 1 positive edge stored" is set à (4a)  0x60BA Touch probe position 1 positive value is stored à External touch probe signal has negative edge Festo — CMMT-ST-SW — 2019-02...
  • Page 421 Counter initiated trigger events negative edge UINT16 CiA402 Manufacturer-specific objects: saved basic unit for the object is effective. 113000 0x2193.01 Touch probe mode UINT16 113001 0x2193.03 Touch probe source UINT16 113002 0x2193.05 Selection trigger event UINT16 Festo — CMMT-ST-SW — 2019-02...
  • Page 422 0x2193.39 Time stamp touch probe position negative UINT64 CiA402 113029 0x2193.3B Touch probe position positive CiA402 SINT64 113030 0x2193.3D Touch probe position negative CiA402 SINT64 113031 0x2193.3F Counter initiated trigger events positive edge UINT32 CiA402 Festo — CMMT-ST-SW — 2019-02...

  • Page 423: Open-Loop Operation

    If functions require closed-loop operation, they are automatically run in closed-loop operation. If force mode is requested, it is automatically run in closed-loop operation. – All homing methods can be triggered. Homing methods with stop detection are automatically run in closed-loop operation. Festo — CMMT-ST-SW — 2019-02...
  • Page 424 Unit 4001 Activation of open- Activates the open-loop operation loop operation Access read/write Update reinitialization Unit − 4004 Active control struc- Displays the active control structure ture Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 425 Update effective immediately Unit user defined 4010 Current rise time Specifies the time with which mode of operation is open loop and switched to closed-loop in automatic mode. Access read/write Update effective immediately Unit Festo — CMMT-ST-SW — 2019-02...
  • Page 426 (100794642) controlled operation 06 | 02 | 00275 Change to closed loop operation Change to closed loop operation not permiss- (100794643) not permissible ible because the commutation angle is not valid Tab. 404 Diagnostic messages Festo — CMMT-ST-SW — 2019-02...

  • Page 427: Cia 402

    The negative reactive current must be limited for some motors. Parameters and diagnostic messages ID Px. Parameters Description 102201 Activation of field Specifies whether the field weakening is active or inactive. weakening Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 428: Cia 402

    The monitoring checks that the feedback signals are available within the tolerance period for triggering the safety sub-function. If the monitoring detects a fault, a message is triggered and the parametrised fault response is initiated. The following feedback signals are monitored: Festo — CMMT-ST-SW — 2019-02...
  • Page 429 Signals as they are pending at the pin Bit 0: STA feedback signal Signals are filtering Bit 16: STA feedback signal This means: – 0: low signal – 1: high signal Access read/− Update effective immediately – Unit Festo — CMMT-ST-SW — 2019-02...

  • Page 430: Cia402

    The servo drive provides comprehensive diagnostics options. The status LEDs of the device display the current status information. The web server and the plug-in of the Festo Automation Suite provide access to diagnostic messages in plain text format. Fieldbus-specific diagnostic functions are available via the fieldbus.

  • Page 431: Classification Of Diagnostic Events

    Status of the safety equipment For additional information see "Description, assembly and install- ation" 1.1 Applicable documents. è Diagnostics via the commission- The plug-in of the Festo Automation Suite, for example, provides ing software the following functions 2 CMMT-ST Plug-in: è –...
  • Page 432 – No change to the operating status states – No change to the ready signal – Depending on the configuration, an entry is added to the error memory. Tab. 415 Warning level Festo — CMMT-ST-SW — 2019-02...
  • Page 433 Error, stop category 0 Diagnostic event with Stop category 0 high degree of severity General response and execution of a gen- – The same as with stop category 2 eral and a specific error Specific error response of category 0 response Festo — CMMT-ST-SW — 2019-02...

  • Page 434: Diagnostic Status

    The diagnostic status parameter can be requested via the device profile of the fieldbus being used. Parameters and diagnostic messages ID Px. Parameters Description Diagnostic device Diagnostic status of the device status Access read/− Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...

  • Page 435: Cia 402

    The error status is quit again once all of the error messages have been acknowledged. Festo — CMMT-ST-SW — 2019-02...

  • Page 436: Structure Of Messages

    D[system or axis number].[diagnostic number].[instance] e. g. "D0.16842763.0" If the device profile only allows 16 bit, only the unique error number is transferred (e. g. 11). The diagnostic number of the ungrouped overview is determined from the grouped overview as fol- lows: Festo — CMMT-ST-SW — 2019-02...
  • Page 437 Motion control Configuration/parameterisation No allocation Limit values Parameter set Monitoring Limitations Motion monitoring Limit values Zero angle detection Communication No allocation EtherCAT Safety engineering No allocation Internal hardware Module error Software Exception Task File system Festo — CMMT-ST-SW — 2019-02...

  • Page 438: Message Directory

    9.4.5 Acknowledging messages and errors Acknowledging messages initiates the following: – All cancelled messages switch to the "acknowledged" status è 9.4.1 Status of messages. Festo — CMMT-ST-SW — 2019-02...
  • Page 439 Serious errors cannot be acknowledged. In this case, the error status may be able to be closed by switching the device on again (power OFF/ON). If the serious error immediately occurs again, please contact Festo Service team (service required). Information on troubleshooting è 9.4.6 Diagnostic messages with information for fault clearance.

  • Page 440: Diagnostic Messages With Information For Fault Clearance

    No: Error response cannot be parameterised – Parameter ID Px... = Error response can be parameterised Value list: List of error responses that can be parameterised Error memory: Default setting of whether message is added to the error memory Festo — CMMT-ST-SW — 2019-02...
  • Page 441 Reduce dynamic response of tasks – Motor/mechanics blocked or sluggish? Classifica- Default: ignore (2) tion Can be parameterised: Px.6319, value list: Warning (16) Info (4) Ignore (2) Error Default: do not save (0) memory Can be parameterised: Px.6320 Festo — CMMT-ST-SW — 2019-02...
  • Page 442 Check performance rating of drive pack- Classifica- Default: ignore (2) 01 | 02 | 00015 I²t monitoring: output tion Can be parameterised: Px.6325, value list: (16908303) stage error limit Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Festo — CMMT-ST-SW — 2019-02...
  • Page 443 01 | 02 | 00018 Parameterisation: I²t Parameterisation: I²t monitoring of motor invalid (16908306) monitoring of motor Remedy – Check parameterisation for I²t critical limit invalid – Nominal and maximum current of motor plausible? Classifica- Default: Stop category 1 (256) Festo — CMMT-ST-SW — 2019-02...
  • Page 444 Undervoltage in logic Undervoltage in logic supply 24V (33619990) supply 24V Remedy – Checking the power supply Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 445 Overvoltage in logic supply 3.3V internal (33619995) supply 3.3V internal Remedy – Checking the power supply Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 446 DC link warning threshold reached (33685536) threshold reached Remedy – none (info only) Classifica- Default: Warning (16) tion Can be parameterised: Px.489, value list: Warning (16) Info (4) Ignore (2) Error Default: save (1) memory Can be parameterised: Px.4890 Festo — CMMT-ST-SW — 2019-02...
  • Page 447 Warning threshold: Temperature in device too low (50397228) Temperature in device Remedy – Check ambient conditions too low Classifica- Default: Warning (16) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 448 Default: save (1) memory Can be parameterised: No 03 | 02 | 00048 Warning threshold: Warning threshold: Temperature in power unit too low (50462768) Temperature in power Remedy – Check ambient conditions unit too low Classifica- Default: Warning (16) Festo — CMMT-ST-SW — 2019-02...
  • Page 449 Output stage overtemperature (50462771) perature Remedy – Temperature display plausible? – Device fan faulty? – Device overloaded? – Check installation conditions; control cab- inet fan filter dirty? – Check drive layout (possible overloading during continuous operation) Festo — CMMT-ST-SW — 2019-02...
  • Page 450 Can be parameterised: Px.8453 05 | 01 | 00058 Homing: Search path Homing: Search path exceeded (83951674) exceeded Remedy – Check arrangement of slide in relation to limit switch/end stop – Configuration of search path Classifica- Default: Stop category 1 (256) Festo — CMMT-ST-SW — 2019-02...
  • Page 451 Task could not be executed as a safety function is reques- (84017214) function requested Remedy – Check that logic level of safety function inputs is correct Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 452 Task could not be executed as the drive is not referenced (84017219) encing missing Remedy – Home drive Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 453 The position specified for the trajectory generator is inval- (84017224) cification of trajectory generator Remedy – Change specified position to valid range Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 454 Trajectory generator An error occurred in the trajectory generator when calcu- (84017229) error lating a movement profile Remedy – Adjust dynamic values for the motion task Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 455 Task ignored because Task could not be executed because a directional lock is (84017430) directional lock active active Remedy – Note additional diagnostic messages and eliminate the cause of the directional lock Classifica- Default: Stop category 0 (4096) Festo — CMMT-ST-SW — 2019-02...
  • Page 456 Ignore (2) Error Default: do not save (0) memory Can be parameterised: Px.4650 06 | 00 | 00070 Invalid record table A record table parameter is invalid (100663366) parameter Remedy – Check record table parameter Classifica- Default: Stop category 1 (256) Festo — CMMT-ST-SW — 2019-02...
  • Page 457 – Check positioning record number Classifica- Default: Stop category 1 (256) tion Can be parameterised: Px.1850, value list: Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Error Default: save (1) memory Can be parameterised: Px.1851 Festo — CMMT-ST-SW — 2019-02...
  • Page 458 The start and end voltages for reactive current braking are (100663548) erisation of reactive incompatible current braking Remedy – Check parameterisation of reactive cur- rent braking Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 459 Current control limita- Current control limitation invalid (100794457) tion invalid Remedy – Check configuration of control limitation (consistency) Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 460 Default: save (1) memory Can be parameterised: Px.4021 06 | 02 | 00274 Motion command not The motion command is not permissible in controlled (100794642) permissible operation Remedy – Check task Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 461 Parameter set incom- Parameter set incompatible (100991075) patible Remedy – Delete parameter set – Overwrite parameter set (save) Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 462 Default: save (1) memory Can be parameterised: No 06 | 05 | 00104 Parameter set: delete Parameter set: delete failed (100991080) failed Remedy – Parameter set available? – Repeat delete process – Format file system if necessary Classifica- Default: Warning (16) Festo — CMMT-ST-SW — 2019-02...
  • Page 463 Can be parameterised: No 06 | 05 | 00290 Parameter set with Parameter set was created with an older firmware version (100991266) older version Remedy – Save the parameter set again Classifica- Default: Warning (16) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 464 Check that automatic braking is enabled Classifica- Default: Stop category 1 (256) 07 | 01 | 00110 Positive software limit tion Can be parameterised: Px.4634, value list: (117506158) position Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Festo — CMMT-ST-SW — 2019-02...
  • Page 465 Remedy – Check values for software limit positions tions (consistency, negative < positive end posi- tion) Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 466 Remedy – Check task Classifica- Default: Warning (16) tion Can be parameterised: Px.101104, value list: Warning (16) Info (4) Ignore (2) Error Default: save (1) memory Can be parameterised: Px.101105 Festo — CMMT-ST-SW — 2019-02...
  • Page 467 Default: Stop category 1 (256) tion Can be parameterised: Px.4676, value list: Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Ignore (2) Error Default: save (1) memory Can be parameterised: Px.4677 Festo — CMMT-ST-SW — 2019-02...
  • Page 468 Default: Info (4) tion Can be parameterised: Px.4614, value list: Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Ignore (2) Error Default: do not save (0) memory Can be parameterised: Px.4615 Festo — CMMT-ST-SW — 2019-02...
  • Page 469 Default: Info (4) tion Can be parameterised: Px.4620, value list: Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Ignore (2) Error Default: do not save (0) memory Can be parameterised: Px.4621 Festo — CMMT-ST-SW — 2019-02...
  • Page 470 Speed monitoring reports speed too high (117571712) Remedy – Check offset angle, commutation-angle detection failed – Check configuration of maximum velocity Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 471 Residual distance too low (117571715) Remedy – none (info only) Classifica- Default: Info (4) 07 | 02 | 00131 Residual distance too tion Can be parameterised: Px.4686, value list: (117571715) Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Festo — CMMT-ST-SW — 2019-02...
  • Page 472 – Reduce velocity – Reduce torque Classifica- Default: Info (4) 07 | 03 | 00134 Voltage limiting active tion Can be parameterised: Px.52682, value list: (117637254) Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Festo — CMMT-ST-SW — 2019-02...
  • Page 473 07 | 04 | 00137 Direction error in com- Remedy – Freely rotating motor shaft? (117702793) mutation finding – Increase current injection for commuta- tion angle detection – Axis blocked? – Adjust dynamic values for finding the commutation angle Festo — CMMT-ST-SW — 2019-02...
  • Page 474 Remedy – Check wiring – Check controller configuration Classifica- Default: Warning (16) tion Can be parameterised: Px.801, value list: Warning (16) Info (4) Ignore (2) Error Default: save (1) memory Can be parameterised: Px.802 Festo — CMMT-ST-SW — 2019-02...
  • Page 475 Can be parameterised: No 08 | 04 | 00281 Process data not Process data not received at Sync time (134480153) received at Sync time Remedy – Check interaction between process data and sync time in open-loop control Classifica- Default: Stop category 1 (256) Festo — CMMT-ST-SW — 2019-02...
  • Page 476 PROFIdrive test error message 1 (134807840) message 1 Remedy – Retract test error message by PNU Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 477 Default: Stop category 2 (64) tion Can be parameterised: Px.12236, value list: Stop category 0 (4096) Stop category 1 (256) Stop category 2 (64) Warning (16) Info (4) Ignore (2) Error Default: save (1) memory Can be parameterised: Px.12237 Festo — CMMT-ST-SW — 2019-02...
  • Page 478 Error during plausibility check of safety feedback signals (150995091) safety feedback sig- Remedy – Service required nals Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 479 09 | 02 | 00152 SBC: Discrepancy Discrepancy time for #SBC-A/B exceeded (151126168) time exceeded Remedy – Check timing of SBC input signals – Check configuration of discrepancy time Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 480 Monitoring function for the communication module has (167837945) munication module reported an error Remedy – Restart – Conduct firmware update – Service required Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 481 Remedy – Acknowledge messages – Eliminate causes of currently active mes- sages Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 482 Can be parameterised: No 11 | 02 | 00166 Timeout process Timeout has occurred in process level 1 (184680614) level 1 Remedy – Service required Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 483 Can be parameterised: No 11 | 02 | 00171 Timeout process Timeout has occurred in process level 6 (184680619) level 6 Remedy – Service required Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 484 CRC error in user file A CRC error was detected in the user file (184746160) Remedy – Restart device – Service required Classifica- Default: Info (4) tion Can be parameterised: No Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 485 Error Default: save (1) memory Can be parameterised: No 11 | 04 | 00181 Writing of firmware Writing of firmware failed (184811701) failed Remedy – Repeat transmission of firmware package Classifica- Default: Warning (16) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 486 Default: save (1) memory Can be parameterised: No 11 | 04 | 00186 Firmware storage loc- Firmware storage location empty (184811706) ation empty Remedy – Check storage location Classifica- Default: Warning (16) tion Can be parameterised: No Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 487 Default: save (1) memory Can be parameterised: No 11 | 05 | 00191 Safety calibration Safety calibration data incorrect (184877247) data incorrect Remedy – Service required Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 488 Calibration data incor- Calibration data incorrect: Control unit (184877252) rect: Control unit Remedy – Service required Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 489 Can be parameterised: No 11 | 05 | 00202 Device data: Saving Device data: Saving failed (184877258) failed Remedy – Restart device – If repeated, return for service Classifica- Default: Warning (16) tion Can be parameterised: No Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 490 Task ignored as reini- Requested reinitialisation could not be executed (185008333) tialisation not pos- Remedy – Revoke controller enable sible Classifica- Default: Warning (16) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 491 Can be parameterised: No Error Default: save (1) memory Can be parameterised: No 12 | 01 | 00209 Mileage warning Threshold value 1 (default: warning threshold) for the (201392337) threshold reached mileage is reached Remedy – Information copies Classifica- Default: Warning (16) Festo — CMMT-ST-SW — 2019-02...
  • Page 492 Threshold value 1 (default: warning threshold) for the (201392340) threshold reached load change is reached Remedy – Information copies Classifica- Default: Warning (16) tion Can be parameterised: Px.1429, value list: Warning (16) Info (4) Ignore (2) Error Default: save (1) Festo — CMMT-ST-SW — 2019-02...
  • Page 493 Loss of messages Loss of messages from diagnostics log (218169560) from diagnostics log Remedy – Delete diagnostic memory Classifica- Default: Warning (16) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 494 Restart auto-tuning with amended noise intensity parameters P1.8616.0.0 – Start auto-tuning with motion P1.8619.0.0 – Evaluate frequency response analysis Classifica- Default: Stop category 1 (256) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 495 Can be parameterised: No 18 | 00 | 00092 Motor change detec- Motor change detected, commutation angle invalid (301989980) ted, commutation Remedy – Run commutation-angle detection and angle invalid homing and save Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 496 Default: save (1) memory Can be parameterised: No 18 | 00 | 00227 Encoder identification Encoder identification reports incorrect encoder type (301990115) reports incorrect Remedy – Check configuration encoder type Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Festo — CMMT-ST-SW — 2019-02...
  • Page 497 BiSS-C protocol. Remedy – Check encoder cable – Restart device Classifica- Default: Stop category 0 (4096) tion Can be parameterised: No Error Default: save (1) memory Can be parameterised: No Tab. 428 Diagnostic messages Festo — CMMT-ST-SW — 2019-02...

  • Page 498: Recording Measuring Data (Trace)

    The array ID is used for the channel assignment. This means: – 1 = Channel activated – 0 = Channel not activated 5500.0.0: channel 0    … 5500.0.n: channel n Access read/write Festo — CMMT-ST-SW — 2019-02...
  • Page 499 − Tab. 430 Parameters Example The following measured values of axis 1 should be recorded at the same time: – Storage option in error log (P1.4682.0.0) to channel 0 – Actual position value (P1.128.0.0) to channel 1 Festo — CMMT-ST-SW — 2019-02...
  • Page 500 Data trace status Specifies the status of the measuring data recording. This means: – 0 = Recording inactive (idle) – 1 = Recording active, wait for trigger signal – 2 = Recording started Access read/− Festo — CMMT-ST-SW — 2019-02...
  • Page 501 The frequency of the CMMT-AS is 16 Khz. This results in a sampling interval of 62.5 µs (1/16000 s). The frequency of the CMMT-ST is 20 Khz. This results in a sampling interval of 50 µs (1/20000 s). Access read/− Festo — CMMT-ST-SW — 2019-02...
  • Page 502 1 = axis 1   n = axis n … Access read/write Update effective immediately Unit − 6001 Data ID data trigger Specifies the data ID of the trigger signal. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 503 (60013). For numer- ical trigger signals the function depends on the threshold value of the trigger signal and for digital trigger signals on the digital signal Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 504 Tab. 435 Parameter settings (example) Parameters for configuring the trigger event for diagnostic triggers ID Px. Parameters Description 103100 Axis ID diagnostic Specifies the axis ID of the diagnostic event. trace Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 505 Access read/write Update effective immediately Unit − 103107 Current diagnostics Specifies the currently used diagnostics trigger. trigger The following is possible: – 0 = Trigger the message – 1 = Reset the message – 2 = Trigger or reset the message Festo — CMMT-ST-SW — 2019-02...

  • Page 506: Cia 402

    Axis ID trace data UINT16 5502 0x2209.01 ... 08 Data ID trace data UINT32 5503 0x220A.01 ... 08 Data instance ID trace data UINT16 5504 0x220B.01 ... 08 Array ID trace data UINT16 Tab. 438 Objects Festo — CMMT-ST-SW — 2019-02...
  • Page 507 Diagnostics ID diagnostic trace UINT32 103102 0x2142.03 Data instance ID diagnostic trace UINT16 103103 0x2142.04 Current axis ID diagnostic trace UINT16 103104 0x2142.05 Current diagnostics ID diagnostic trace UINT32 103105 0x2142.06 Current data instance ID diagnostic trace UINT16 Festo — CMMT-ST-SW — 2019-02...

  • Page 508: Condition Monitoring

    Warning threshold is deactivated at 0. Access read/write Update effective immediately Unit user defined 14111 Mileage error Specifies the second threshold value when the device should threshold generate the second configured message. Error threshold is deactivated at 0. Access read/write Festo — CMMT-ST-SW — 2019-02...

  • Page 509: Cia 402

    Tab. 444 Parameter settings (example) 9.6.1.1 CiA 402 Mileage counter objects Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 1411 0x2184.01 Mileage SINT64 1417 0x2184.05 Mileage warning threshold SINT64 Festo — CMMT-ST-SW — 2019-02...

  • Page 510: Load Change Counter

    Maximum load change value The maximum value for the load change is (201392339) reached reached 12 | 01 | 00212 Load change warning threshold Threshold value 1 (default: warning (201392340) reached threshold) for the load change is reached Festo — CMMT-ST-SW — 2019-02...

  • Page 511: Cia402

    Warning threshold load change counter SINT64 14211 0x2185.08 Error threshold load change counter SINT64 Tab. 449 Objects 9.6.3 Operating hour counter The operating hour counter records how long the 24 V logic supply of the servo drive was switched on. Festo — CMMT-ST-SW — 2019-02...

  • Page 512: Cia402

    Transfer of parameter files and firmware (upload and download) Prerequisites for online connection with the web server – The power supply of the device is switched on. – The IP configuration of the device including subnet mask is set correctly. Festo — CMMT-ST-SW — 2019-02...
  • Page 513 2. Enter the IP address of the device in the address line of the Internet browser. Ä Then the web site of the device appears. Fig. 103 Website of the web server The website of the web server has the following register: Festo — CMMT-ST-SW — 2019-02...

  • Page 514: Cia 402

    Unit − Tab. 454 Parameters 10.2 CiA 402 Web server objects Parameters Index.Subindex Name Data type Manufacturer-specific objects: saved basic unit for the object is effective. 11280051 0x21A4.01 Web server activation BOOL Tab. 455 Objects Festo — CMMT-ST-SW — 2019-02...

  • Page 515: Ethercat

    Overview of EtherCAT communication and synchronisation The graph illustrates EtherCAT communication and synchronisation of the CMMT with other network devices (e.g. controller (Controller) and Clock Master) a the advanced "CANopen over EtherCAT (CoE)" and "Ethernet over EtherCAT (EoE)" protocols. Festo — CMMT-ST-SW — 2019-02...
  • Page 516  first DC-capable slave in the EtherCAT network  internal memory for process data  internal memory for mailbox data EtherCAT communication and synchronisation Info EtherCAT bus 11.3.2 EtherCAT bus è Topology Topology è Ports Ports è Termination Termination è Festo — CMMT-ST-SW — 2019-02...
  • Page 517 PDO mapping) mapping, axis 1 Mailbox communication (Mailbox communication) 11.8 Mailbox communication è SDO communication (SDO communication) 11.8.1 SDO communication è SDO read command (SDO upload/Upload SDO) 11.8.1.2 SDO read command è (SDO upload/upload SDO) Festo — CMMT-ST-SW — 2019-02...

  • Page 518: Ethercat Bus

    EtherCAT devices. Via the Distributed Clock DC the EtherCAT Slave Controller controls the cyclical synchronous processing and transmission of process data. 11.3.4 Protocol The CMMT supports the following protocols for exchanging communication data: Festo — CMMT-ST-SW — 2019-02...
  • Page 519 Tab. 459 Byte order Layout of the Ethernet and EtherCAT frame The graph shows the layout of the Ethernet and EtherCAT frame with the embedded "CANopen over EtherCAT (CoE)" and "Ethernet over EtherCAT (EoE)" protocols. Festo — CMMT-ST-SW — 2019-02...

  • Page 520: Ethercat Final State Machine

    The EtherCAT final state machine contains all statuses needed to establish CMMT communication in an EtherCAT network. After a reboot (Power ON or Reset), the CMMT is initialized by the controller (Master). In the following sequence, communication is established for mailbox data and process data. Festo — CMMT-ST-SW — 2019-02...
  • Page 521 Pre-Operational – acyclical mailbox communication (SDO) is possible. (PreOp) – cyclical process data communication (PDO) is not possible. – the controller initialises Sync Manager 2 and 3 and PDO mapping for process data communication. Festo — CMMT-ST-SW — 2019-02...
  • Page 522 è The controller transmits valid output data. (SafeOp  Op) è The controller actively requests a change to the "Safe-Operational  SafeOp) (SafeOp)" status. The CMMT triggers a diagnostic message in accordance è with the configured response. Festo — CMMT-ST-SW — 2019-02...

  • Page 523: Sync Manager

    Sync Manager Communication type Transmission type Mailbox communication Receive service data objects SDO Transmit service data objects SDO Process data communication Receive process data objects RxPDO Transmit process data objects TxPDO Tab. 462 Communication type Festo — CMMT-ST-SW — 2019-02...
  • Page 524 Unit − PDO mapping object Shows the PDO Mapping object index of the assigned PDO of index of assigned the EtherCAT communication PDO EtherCAT Access read/write Update effective immediately Unit − Tab. 463 Parameters Festo — CMMT-ST-SW — 2019-02...

  • Page 525: Cia 402

    The synchronisation is controlled by the Distributed Clocks DC è 11.6 Distributed clocks DC (Distributed Clocks). The CMMT supports the following synchronisation mode: – Free Run (no synchronisation) – Process data (synchronisation to SM2 event) – Sync (synchronisation with DC Sync 0 event) Festo — CMMT-ST-SW — 2019-02...
  • Page 526 Sync with process data: cycle time of the master – DC Sync0: time between two Sync 0 events (Value range: 1,000,000 − 20,000,000 ns in 1,000,000 ns steps) Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 527 = 1: error counter is reset – Bit 2-15: reserved The value is only up to date in the CiA object via EtherCAT, not with access to the parameter Px.1056 via the plug-inn. Access read/write Update effective immediately Unit − Festo — CMMT-ST-SW — 2019-02...
  • Page 528 The value is only up to date in the CiA object via EtherCAT, not with access to the parameter Px.1061 via the plug-in. Access read/− Update effective immediately Unit − Tab. 466 Parameters Festo — CMMT-ST-SW — 2019-02...

  • Page 529: Cia 402

    Sync SM Event Missed UINT16 1059.0.0 0x1C33.0B Sync SM Event Missed UINT16 1060.0.0 0x1C32.0C Sync cycle time too small UINT16 1060.0.0 0x1C33.0C Sync cycle time too small UINT16 1061.0.0 0x1C32.20 Sync Error BOOL 1061.0.0 0x1C33.20 Sync Error BOOL Festo — CMMT-ST-SW — 2019-02...

  • Page 530: Distributed Clocks Dc (Distributed Clocks)

    In the status transitions (PreOp è SafeOp) the DC synchronisation is estab- lished in an EtherCAT network. Then the Clock Slave are restored to the Operational status (Op). The graph shows the DC-topology and synchronisation of the EtherCAT network. Festo — CMMT-ST-SW — 2019-02...

  • Page 531: Process Data Communication

    è 11.6 Distributed clocks DC (Distributed Clocks). Controller CMMT RxPDO Mapping RxPDO Object 0x1600 Process data output cyclical Object directory TxPDO Mapping TxPDO Object 0x1A00 Process data input Fig. 110 Access procedure via process data objects PDO Festo — CMMT-ST-SW — 2019-02...

  • Page 532: Pdo Mapping

    – Switch CMMT to the "Safe-Operational (SafeOp) and Operational (Op)" status. 11.7.1.2 Function: TxPDO1 mapping, axis 1 The graph shows the default setting (factory setting) for the 1st send PDO mapping TxPDO1 in object 0x1A00. Festo — CMMT-ST-SW — 2019-02...

  • Page 533: Function: Txpdo2 Mapping, Ethercat, Diagnostic History

    Set subindex 0x00 to the value of the assigned PDOs. – Switch CMMT to the "Safe-Operational (SafeOp) and Operational (Op)" status. 11.7.1.3 Function: TxPDO2 mapping, EtherCAT, diagnostic history The graph shows the fixed setting for the 2rd send PDO mapping TxPDO2 in object 0x1AF0. Festo — CMMT-ST-SW — 2019-02...

  • Page 534: Function: Txpdo3 Mapping, Ethercat, Dc Time Stamp

    The graph shows the fixed setting for the 3rd send PDO mapping TxPDO3 in object 0x1AF1. TxPDO3 (Inputs) Header 0x1AF1.01 CoE object dictionary Index Mapping 0x1AF1 0x00 0x01 Index Length 0x10F8 0x1AF1 0x01 0x00 0x40 Index Value Timestamp 0x10F8 0x00 0xXXXX ... (ULINT) Fig. 114 Overview: default TxPDO3 mapping Festo — CMMT-ST-SW — 2019-02...

  • Page 535: Parameters And Diagnostic Messages

    è – 1AF1: TxPDO3 mapping, EtherCAT, DC time stamp 11.7 Process data communication. è Access read/write Update effective immediately Unit − Tab. 469 Parameters Diagnostic messages No specific diagnostic messages are allocated to the function. Festo — CMMT-ST-SW — 2019-02...

  • Page 536: Cia 402

    è Tab. 457 Overview of EtherCAT communication and synchronisation – Via Ethernet over EtherCAT (EoE) – Ethernet communication (acyclical transmission of service data objects via EtherCAT over Eth- ernet EoE)è 11.8.3 Ethernet over EtherCAT-Communication (EoE) Festo — CMMT-ST-SW — 2019-02...

  • Page 537: Sdo Communication

     n bytes … user data Tab. 471 Supported SDO read commands NOTICE! The controller must not send the next request (request) until the acknowledgement of the write com- mand (download … response) has been received by the controller. Festo — CMMT-ST-SW — 2019-02...

  • Page 538: Sdo Read Command (Sdo Upload/Upload Sdo)

    In the case of an error (SDO Error) when reading, writing or transmitting the SDO the CMMT responds with a SDO error message (Abort SDO transfer request). The cause of error is transmitted as an abort code (Abort codes) in the data (Data) of the error message to the controller (Controller). Festo — CMMT-ST-SW — 2019-02...
  • Page 539 0x06 07 00 13 Protocol error: length of the service parameter is too small. 0x06 09 00 11 The addressed subindex does not exist. 0x06 09 00 30 Value range for parameters was exceeded (only for write access) Festo — CMMT-ST-SW — 2019-02...

  • Page 540: Emergency Communication

    Error register CiA402 Shows the error code in accordance with the error register (CiA402). Access read/write Update effective immediately Unit − Tab. 474 Parameters Diagnostic messages No specific diagnostic messages are allocated to the function. Festo — CMMT-ST-SW — 2019-02...

  • Page 541: Cia 402

    All causes of error are remedied, and an error was acknow- cessful ledged 9.4 Servo drive messages. The emergency mes- è sage is transmitted with the error code 0x0000 (No error/Error reset). Tab. 476 Error status transitions Festo — CMMT-ST-SW — 2019-02...
  • Page 542 0x4220 Too low temperature device 0x08 03 | 02 | 00048, 03 | 02 | 00049 0x5112 U2 = supply +24 V 0x04 02 | 01 | 00022, 02 | 01 | 00023 0x5113 U3 = supply +5 V 0x04 02 | 01 | 00024, 02 | 01 | 00025 0x5114 U4 = supply 3,3 V 0x04 02 | 01 | 00026, 02 | 01 | 00027 Festo — CMMT-ST-SW — 2019-02...
  • Page 543 09 | 00 | 00146 0x5441 Limit switch positive 0x01 07 | 01 | 00115 0x5442 Limit switch negative 0x01 07 | 01 | 00114 0x5500 Hardware memory 0x01 11 | 03 | 00173 0x5510 0x01 11 | 01 | 00159 0x5520 Firmware update execution 0x01 11 | 04 | 00181, error 11 | 04 | 00182, 11 | 04 | 00183, 11 | 04 | 00184, 11 | 04 | 00185, 11 | 04 | 00186, 11 | 04 | 00187, 11 | 04 | 00188, Festo — CMMT-ST-SW — 2019-02...
  • Page 544 11 | 05 | 00200, 11 | 05 | 00202 0x6310 Loss of parameters 0x01 06 | 05 | 00097, 06 | 05 | 00098, 06 | 05 | 00099, 06 | 05 | 00100, 06 | 05 | 00101, 06 | 05 | 00102, 06 | 05 | 00103, 06 | 05 | 00104, 06 | 05 | 00105, 06 | 05 | 00106, 06 | 05 | 00107, 06 | 05 | 00108, 06 | 05 | 00290, 06 | 05 | 00291, 11 | 03 | 00176, 11 | 03 | 00177, 11 | 03 | 00180, 11 | 05 | 00201 0x6320 Parameter error 0x01 01 | 02 | 00018, 05 | 01 | 00056, 05 | 02 | 00059, 06 | 00 | 00070, 06 | 00 | 00081, 06 | 00 | 00082, Festo — CMMT-ST-SW — 2019-02...
  • Page 545 0x7120 Motor 0x01 18 | 00 | 00092, 18 | 00 | 00093, 18 | 00 | 00094 0x7122 Motor error or commutation 0x01 07 | 04 | 00136, malfunc. 07 | 04 | 00137 0x7300 Sensor 0x01 18 | 00 | 00095, 18 | 00 | 00096, 18 | 00 | 00227, 18 | 03 | 00235, 18 | 03 | 00301, 18 | 05 | 00239 0x7400 Computation circuit 0x01 10 | 01 | 00153, 10 | 01 | 00154, 10 | 01 | 00249, 11 | 01 | 00160, 11 | 01 | 00161, 11 | 01 | 00162, 11 | 01 | 00163, Festo — CMMT-ST-SW — 2019-02...
  • Page 546 07 | 01 | 00112, 07 | 01 | 00116, 07 | 01 | 00117, 07 | 01 | 00118, 07 | 01 | 00119, 07 | 01 | 00120 0x8613 Homing Error 0x01 05 | 01 | 00057, 05 | 01 | 00058 0x8700 Sync controller 0x10 08 | 00 | 00140 0x8900 Process data monitoring 0x10 08 | 04 | 00143, 08 | 04 | 00281 0x8A00 Control monitoring 0x01 07 | 02 | 00121, 07 | 02 | 00122, 07 | 02 | 00123, 07 | 02 | 00124, 07 | 02 | 00125, 07 | 02 | 00126, 07 | 02 | 00127, Festo — CMMT-ST-SW — 2019-02...

  • Page 547: Ethernet Over Ethercat-Communication (Eoe)

    EtherCAT network are not affected by this. If the controller (master) has a separate Ethernet port, this port can be used to connect a PC with the Festo Automation Suite. The data of the Festo Automation Suite are incorporated in the Ethernet frame and are tunnelled between controller and CMMT for transmission via EtherCAT communication.

  • Page 548: Objects Reference List

    Sync Delay Time UINT32 − P0.1057.0.0 0x1C32.0A Sync0 Cycle Time UINT32 − P0.1058.0.0 0x1C32.0B Sync SM Event Missed UINT16 − P0.1059.0.0 0x1C32.0C Sync cycle time too small UINT16 − P0.1060.0.0 0x1C32.20 Sync Error BOOL − P0.1061.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 549 UINT32 − P0.881.2.0 ... 15 ... 10 objects EtherCAT 0x1C00.00 Sync manager communica- UINT8 − P0.750.0.0 ... 4 ... 04 tion type EtherCAT 0x1C12.00 Sync manager x number of UINT8 − P0.770.0.0 assigned PDOs EtherCAT Festo — CMMT-ST-SW — 2019-02...
  • Page 550 Maximum torque symmet- UINT16 P1.526796.0.0 rical 0x6073.00 Limit value total current UINT16 P1.856.0.0 (closed loop controller) 0x6074.00 Setpoint generator output SINT16 P1.3014.0.0 torque 0x6075.00 Current nominal current UINT32 − P1.7118.0.0 0x6076.00 Resulting nominal torque UINT32 − P1.7139.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 551 UINT32 − P1.7860.0.0 0x60A9.00 SI unit and velocity CiA402 UINT32 − P1.7861.0.0 0x60AA.00 SI unit acceleration CiA402 UINT32 − P1.7862.0.0 0x60AB.00 SI unit and jerk CiA402 UINT32 − P1.7863.0.0 0x60B1.00 Velocity offset CiA402 SINT32 P1.8138.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 552 Monitoring window target UINT32 P1.469.0.0 position 0x6068.00 Damping time target UINT16 P1.468.0.0 reached 0x60F4.00 Current position: following SINT32 P1.4682.0.0 error 0x607D.01 Negative software limit SINT32 − P1.4629.0.0 position 0x607D.02 Positive software limit pos- SINT32 P1.4630.0.0 ition Festo — CMMT-ST-SW — 2019-02...
  • Page 553 Feed constant denominator UINT32 P1.1195.0.0 0x67FE.00 CiA402 version UINT32 − P1.1128056.0.0 0x60B8.00 Touch probe function UINT16 P1.1128060.0.0 CiA402 0x60B9.00 Touch probe status CiA402 UINT16 P1.1128061.0.0 0x60D1.00 Time stamp touch probe UINT32 P1.113027.0.0 position positive CiA402 Festo — CMMT-ST-SW — 2019-02...
  • Page 554 Activate keep-alive-signal BOOL P0.12008.0.0 0x2100.02 Keep-alive-signal wait time UINT32 P0.12009.0.0 0x2100.03 Keep-alive-signal repeat UINT32 P0.12010.0.0 time 0x2100.04 Maximum number of repe- UINT32 P0.12011.0.0 titions 0x2103.01 Order number UINT32 P0.70.0.0 0x2103.02 NOC code STRING(50) P0.71.0.0 ... 49 Festo — CMMT-ST-SW — 2019-02...
  • Page 555 STRING(2) P0.5766.0.0 ... 1 power output stage 0x2103.13 Expected minor version UINT16 P0.5767.0.0 power output stage 0x2103.14 Expected compatibility UINT16 P0.5768.0.0 index power output stage 0x2103.15 Expected major version STRING(2) P0.5769.0.0 ... 1 safety module Festo — CMMT-ST-SW — 2019-02...
  • Page 556 Nominal current FLOAT32 P0.7116.0.0 0x2106.11 Maximum current FLOAT32 P0.7119.0.0 0x2106.13 Maximum rpm FLOAT32 P0.7122.0.0 0x2106.15 Nominal rotary speed FLOAT32 P0.7125.0.0 0x2106.17 Winding inductance FLOAT32 P0.7128.0.0 0x2106.19 Winding resistance FLOAT32 P0.7131.0.0 0x2106.1B Torque constant FLOAT32 P0.7134.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 557 0x2108.04 Debug variable index 3 FLOAT32 P0.193.0.0 0x2108.05 Debug variable index 4 FLOAT32 P0.194.0.0 0x2108.06 Debug variable index 5 FLOAT32 P0.195.0.0 0x2108.07 Debug variable index 6 FLOAT32 P0.196.0.0 0x2108.08 Debug variable index 7 FLOAT32 P0.197.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 558 P0.304.0.0 ents in the message buffer 0x210F.01 Trace type UINT32 P0.340.0.0 0x210F.02 Trigger type UINT32 P0.341.0.0 0x210F.03 Current trace status UINT32 P0.3400.0.0 0x210F.04 Current trigger status UINT32 P0.3401.0.0 0x210F.05 Current trace type code UINT32 P0.3402.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 559 UINT16 P0.519.0.0 0x2115.16 Storage option in error log UINT8 P0.5180.0.0 0x2115.19 Current lower limit value FLOAT32 P0.28151.0.0 load voltage 0x2115.1A Current upper limit value FLOAT32 P0.28152.0.0 load voltage 0x2116.01 Supply voltage 24 V logic FLOAT32 P0.520.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 560 Current data trigger type UINT32 P0.6010.0.0 0x211B.0B Current trigger threshold SINT64 P0.6013.0.0 0x211B.0C Trigger level SINT64 P0.60012.0.0 0x211B.0D Bit mask data trigger UINT64 P0.60013.0.0 0x211E.01 PWM frequency selection UINT32 P0.670.0.0 0x2120.01 EtherCAT state machine UINT32 P0.720.0.0 state (ESM) Festo — CMMT-ST-SW — 2019-02...
  • Page 561 P0.903.0.0 ... 160 0x2128.01 Temperature power output FLOAT32 P0.920.0.0 stage 0x2128.02 Temperature status power SINT32 P0.921.0.0 output stage 0x2128.03 Diagnostic category UINT16 P0.922.0.0 0x2128.04 Storage option in error log UINT8 P0.923.0.0 0x2128.07 Diagnostic category UINT16 P0.926.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 562 Patch Version Firmware UINT32 P0.963.0.0 0x2129.05 Build Version Firmware UINT32 P0.964.0.0 0x2129.06 Firmware status UINT32 P0.965.0.0 0x2129.07 Current firmware slot UINT32 P0.966.0.0 0x2129.08 Firmware package version STRING(30) P0.9550.0.0 ... 29 0x2129.09 Major version firmware UINT32 P0.9560.0.0 package Festo — CMMT-ST-SW — 2019-02...
  • Page 563 0x212F.0D Digital output X1A.10 UINT32 P0.11204.0.0 0x212F.0E Digital input X1C.2 UINT32 P0.11205.0.0 0x2130.1F Commutation angle from SINT64 P0.3219.0.0 user configuration 0x2130.21 Current commutation angle SINT64 P0.3220.0.0 0x2130.23 Zero point offset from SINT64 P0.3221.0.0 encoder memory Festo — CMMT-ST-SW — 2019-02...
  • Page 564 Activation automatic BOOL P0.3250.0.0 encoder detection 0x2130.5B Selection gear ratio group UINT8 P0.3251.0.0 0x2130.5D Standardised encoder pos- SINT64 P0.11600.0.0 ition 0x2130.5F Absolute position in user SINT64 P0.11601.0.0 units 0x2130.61 Velocity in user units FLOAT32 P0.11602.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 565 P0.7607.0.0 0x2136.09 Product code UINT32 P0.7608.0.0 0x2136.0A Revision number UINT32 P0.7609.0.0 0x2138.01 Encoder resolution UINT16 P0.10040.0.0 0x2138.04 Raw value position UINT16 P0.10041.0.0 0x2138.07 Raw value number of SINT16 P0.10042.0.0 revolutions 0x2138.0A Quadrature evaluation UINT8 P0.10043.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 566 0x2140.01 Activate PNP input and out- UINT8 P0.10191.0.0 put behaviour 0x2140.02 Inversion of the inputs act- BOOL P0.10192.0.0 0x2140.03 Inversion of the outputs BOOL P0.10193.0.0 active 0x2141.01 ExceptionCount UINT32 P0.10300.0.0 0x2141.02 ExceptionType UINT32 P0.10301.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 567 UINT32 P0.103104.0.0 gnostic trace 0x2142.06 Current data instance ID UINT16 P0.103105.0.0 diagnostic trace 0x2142.07 Diagnostics trigger UINT32 P0.103106.0.0 0x2142.08 Current diagnostics trigger UINT32 P0.103107.0.0 0x2143.01 Status ReInit UINT32 P0.10321.0.0 0x2143.02 Status Re-Init requested BOOL P0.10322.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 568 Active IP address UINT32 P0.12004.1.0 0x214D.0B Active subnet mask UINT32 P0.12005.0.0 0x214D.0C Active subnet mask UINT32 P0.12005.1.0 0x214D.0D Active gateway address UINT32 P0.12006.0.0 0x214D.0E Active gateway address UINT32 P0.12006.1.0 0x214F.01 Major version bootloader UINT32 P0.1130121.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 569 0x2152.09 Velocity limiting active BOOL P1.52675.0.0 0x2152.0A Current limitation active BOOL P1.52676.0.0 0x2152.0B Diagnostic category UINT16 P1.52677.0.0 0x2152.0C Storage option in error log UINT8 P1.52678.0.0 0x2152.0D Filter time constant con- FLOAT32 P1.526794.0.0 troller limitation Festo — CMMT-ST-SW — 2019-02...
  • Page 570 Reactive current control FLOAT32 P1.824.0.0 error 0x2153.16 Active current control error FLOAT32 P1.825.0.0 0x2154.01 Position setpoint value SINT64 P1.90.0.0 0x2154.02 Velocity setpoint value FLOAT32 P1.91.0.0 0x2154.03 Acceleration setpoint value FLOAT32 P1.92.0.0 0x2154.04 Jerk setpoint value FLOAT32 P1.93.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 571 Electrical angular fre- FLOAT32 P1.1213.0.0 quency 0x2156.01 Controller parameter set BOOL P1.44.0.0 switchover status 0x2157.01 Actual torque value motor FLOAT32 P1.150.0.0 shaft 0x2157.02 Actual torque value gear FLOAT32 P1.151.0.0 shaft 0x2158.01 Motion Manager status UINT32 P1.171.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 572 0x215B.07 Velocity control error FLOAT32 P1.2215.0.0 0x215B.08 Setpoint value velocity FLOAT32 P1.2216.0.0 controller 0x215B.09 Position control error SINT64 P1.2217.0.0 0x215B.0A Minimum torque FLOAT32 P1.2218.0.0 0x215B.0B Maximum torque FLOAT32 P1.2219.0.0 0x215B.0C Setpoint value torque FLOAT32 P1.2220.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 573 DC link voltage 0x215E.4B Upper limit value maximum FLOAT32 P1.28181.0.0 DC link voltage 0x215E.4C Upper limit value warning FLOAT32 P1.28200.0.0 threshold maximum DC link voltage 0x215E.4D Lower limit value warning FLOAT32 P1.28201.0.0 threshold maximum DC link voltage Festo — CMMT-ST-SW — 2019-02...
  • Page 574 Current winding resistance FLOAT32 P1.7133.0.0 0x2162.0B Current torque constant FLOAT32 P1.7136.0.0 0x2162.0C Resulting nominal torque FLOAT32 P1.7139.0.0 0x2162.0D Resulting maximum torque FLOAT32 P1.7142.0.0 0x2162.0E Current time constant I²t FLOAT32 P1.7145.0.0 0x2162.0F Current winding temperat- FLOAT32 P1.7148.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 575 P1.461.0.0 ment monitoring 0x2166.03 Damping time position: fol- FLOAT32 P1.462.0.0 lowing error 0x2166.04 Monitoring window posi- FLOAT32 P1.463.0.0 tion: following error 0x2166.05 Monitoring window speed: FLOAT32 P1.464.0.0 following error 0x2166.06 Standstill damping time FLOAT32 P1.465.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 576 Storage option in error log UINT8 P1.4625.0.0 0x2166.1B Stop detection limit value FLOAT32 P1.4626.0.0 0x2166.1C Damping time limit detec- FLOAT32 P1.4627.0.0 tion 0x2166.1D Software limit positions BOOL P1.4628.0.0 active 0x2166.1E Negative software limit SINT64 P1.4629.0.0 position Festo — CMMT-ST-SW — 2019-02...
  • Page 577 Diagnostic category UINT16 P1.4671.0.0 0x2166.3C Storage option in error log UINT8 P1.4672.0.0 0x2166.3D Activation of automatic BOOL P1.4675.0.0 stop ramp stroke limit 0x2166.3E Diagnostic category UINT16 P1.4676.0.0 0x2166.3F Storage option in error log UINT8 P1.4677.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 578 Stroke limit positive for SINT64 P1.11280408.0.0 detection of a fixed stop 0x2166.54 Stroke limit negative for SINT64 P1.11280409.0.0 detection of a fixed stop 0x2166.55 Threshold value torque FLOAT32 P1.11280410.0.0 utilization reached 0x2167.01 Device control status UINT32 P1.530.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 579 Resulting upper limit value FLOAT32 P1.6105.0.0 torque (closed loop con- troller) 0x2168.10 Resulting lower limit value FLOAT32 P1.6108.0.0 active current (closed loop controller) 0x2168.11 Resulting upper limit value FLOAT32 P1.6109.0.0 active current (closed loop controller) Festo — CMMT-ST-SW — 2019-02...
  • Page 580 Actual value I²t monitoring FLOAT32 P1.634.0.0 motor 0x216A.05 Scaling factor warning limit FLOAT32 P1.635.0.0 I²t monitoring motor 0x216A.06 Maximum I²t time FLOAT32 P1.636.0.0 0x216A.07 Scaling factor start value FLOAT32 P1.637.0.0 I²t monitoring power out- put stage Festo — CMMT-ST-SW — 2019-02...
  • Page 581 P1.6323.0.0 0x216A.16 Storage option in error log UINT8 P1.6324.0.0 0x216A.17 Diagnostic category UINT16 P1.6325.0.0 0x216A.18 Storage option in error log UINT8 P1.6326.0.0 0x216A.19 Diagnostic category UINT16 P1.6327.0.0 0x216A.1A Storage option in error log UINT8 P1.6328.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 582 0x216B.11 Commutation angle SINT64 P1.545455.0.0 0x216C.01 Pole pairs (user defined) UINT32 P1.718.0.0 0x216C.02 Motor inertia (user FLOAT32 P1.7111.0.0 defined) 0x216C.03 Phase sequence (user BOOL P1.7114.0.0 defined) 0x216C.04 Nominal current (user FLOAT32 P1.7117.0.0 defined) Festo — CMMT-ST-SW — 2019-02...
  • Page 583 STRING(32) P1.7182.0.0 ... 31 defined) 0x216C.12 Database ID motor (user UINT32 P1.7184.0.0 defined) 0x216C.13 Nominal motor voltage FLOAT32 P1.71421.0.0 (user defined) 0x216C.14 Continuous current (user FLOAT32 P1.71424.0.0 defined) 0x216C.15 Lq inductance (user FLOAT32 P1.71430.0.0 defined) Festo — CMMT-ST-SW — 2019-02...
  • Page 584 UINT16 P1.7851.0.0 0x216E.02 User unit velocity UINT16 P1.7852.0.0 0x216E.03 User unit acceleration UINT16 P1.7853.0.0 0x216E.04 User unit jerk UINT16 P1.7854.0.0 0x216E.05 SI unit position CiA402 UINT32 P1.7860.0.0 0x216E.06 SI unit and velocity CiA402 UINT32 P1.7861.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 585 0x216F.12 Velocity actual value SINT64 P1.8140.0.0 CiA402 0x216F.13 Active CSx mode CiA402 UINT32 P1.8144.0.0 0x216F.14 Next record table index SINT32 P1.11280053.0.0 CiA402 0x216F.15 Activate stroke limit BOOL P1.526804.0.0 CiA402 0x2170.01 Functional safety status UINT32 P1.820.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 586 P1.849.0.0 point velocity 0x2172.0B Move to axis zero point set- FLOAT32 P1.8410.0.0 point acceleration 0x2172.0C Search for move to axis FLOAT32 P1.8411.0.0 zero point setpoint jerk 0x2172.0D Maximum search stroke in SINT64 P1.8412.0.0 positive direction Festo — CMMT-ST-SW — 2019-02...
  • Page 587 Start value velocity control- FLOAT32 P1.8612.0.0 ler amplification gain 0x2174.03 Start value velocity control- FLOAT32 P1.8613.0.0 ler integration constant 0x2174.04 Filter time constant velocity FLOAT32 P1.8614.0.0 controller 0x2174.05 Time delay noise signal for FLOAT32 P1.8618.0.0 the start identification Festo — CMMT-ST-SW — 2019-02...
  • Page 588 P1.8635.0.0 ation movement 0x2176.02 Interpolator output posi- SINT64 P1.911.0.0 tion 0x2176.03 Interpolator output velocity FLOAT32 P1.912.0.0 0x2176.04 Interpolator output accel- FLOAT32 P1.913.0.0 eration 0x2176.05 Interpolator output jerk FLOAT32 P1.914.0.0 0x2176.06 Interpolator output torque FLOAT32 P1.915.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 589 Current IPO mode UINT32 P1.1148.0.0 0x217B.0A Status next IPO mode UINT32 P1.1149.0.0 0x217B.0B IPO mode (status) UINT32 P1.11410.0.0 0x217B.0C Interpolation step size UINT32 P1.11411.0.0 0x217B.0D Interpolation mode CSP UINT32 P1.11412.0.0 0x217B.0E Interpolation mode CSV UINT32 P1.11413.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 590 P1.1197.0.0 0x217E.08 Length connecting shaft FLOAT32 P1.1198.0.0 0x217E.09 Maximum driving torque FLOAT32 P1.1199.0.0 axis 0x217E.0A Unlimited axis BOOL P1.2424.0.0 0x217F.01 Database ID of mounting UINT32 P1.1200.0.0 0x217F.02 NOC code mounting kit STRING(37) P1.1201.0.0 ... 36 Festo — CMMT-ST-SW — 2019-02...
  • Page 591 0x2182.08 Conversion factor gear unit UINT32 P1.1237.0.0 2 denominator 0x2182.09 Database ID gear unit 3 UINT32 P1.1238.0.0 0x2182.0A NOC code gear unit 3 STRING(37) P1.1239.0.0 ... 36 0x2182.0B Conversion factor gear unit UINT32 P1.1240.0.0 3 numerator Festo — CMMT-ST-SW — 2019-02...
  • Page 592 P1.1421.0.0 0x2185.05 Warning threshold load SINT64 P1.1427.0.0 change counter 0x2185.06 Diagnostic category UINT16 P1.1429.0.0 0x2185.07 Storage option in error log UINT8 P1.14210.0.0 0x2185.08 Error threshold load SINT64 P1.14211.0.0 change counter 0x2185.09 Diagnostic category UINT16 P1.14213.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 593 Currently used slow jog 1 FLOAT32 P1.214545.0.0 jerk 0x2186.1D Currently used jog 1 move- FLOAT32 P1.214546.0.0 ment duration 0x2186.1E Currently used fast jog 1 FLOAT32 P1.214547.0.0 velocity 0x2186.1F Currently used fast jog 1 FLOAT32 P1.214548.0.0 acceleration Festo — CMMT-ST-SW — 2019-02...
  • Page 594 FLOAT32 P1.3013.0.0 jerk 0x2188.07 Setpoint generator output FLOAT32 P1.3014.0.0 torque 0x2188.08 Setpoint generator output FLOAT32 P1.3015.0.0 current 0x2188.09 Setpoint generator input SINT64 P1.3016.0.0 relative target position 0x2188.0A Setpoint generator input FLOAT32 P1.3017.0.0 relative target velocity Festo — CMMT-ST-SW — 2019-02...
  • Page 595 SINT64 P1.101114.0.0 tion detected 0x2189.10 Positive limit switch posi- SINT64 P1.101115.0.0 tion detected 0x2189.11 Activation of hardware limit BOOL P1.101116.0.0 switch monitoring 0x218A.01 Reference switch configur- UINT32 P1.101200.0.0 ation 0x218A.02 Reference switch status BOOL P1.101201.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 596 (torque operation) 0x218E.06 Maximum velocity for con- FLOAT32 P1.10237.0.0 troller enable (torque oper- ation) 0x218E.07 Index for controller enable SINT32 P1.10238.0.0 0x218E.08 Torque increase for con- FLOAT32 P1.11280018.0.0 troller enable 0x218E.09 Error active BOOL P1.112819.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 597 Active movement monitor- UINT32 P1.11280020.0.0 ing position control 0x2191.02 Valid movement monitor- UINT32 P1.11280021.0.0 ing velocity control 0x2191.03 Valid movement monitor- UINT32 P1.11280022.0.0 ing torque regulation 0x2191.04 Valid movement monitor- UINT32 P1.11280023.0.0 ing position control ana- logue Festo — CMMT-ST-SW — 2019-02...
  • Page 598 0x2192.0B Inactive time compensa- FLOAT32 P1.112705.0.0 tion of second switching point 0x2192.0C Inactive time compensa- FLOAT32 P1.112705.1.0 tion of second switching point 0x2192.0D Hysteresis SINT64 P1.112706.0.0 0x2192.0E Hysteresis SINT64 P1.112706.1.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 599 0x2192.1D Current hysteresis SINT64 P1.112719.0.0 0x2192.1E Current hysteresis SINT64 P1.112719.1.0 0x2192.1F Current switching time FLOAT32 P1.112720.0.0 (manual) 0x2192.20 Current switching time FLOAT32 P1.112720.1.0 (manual) 0x2192.21 Modulo position for the SINT64 P1.112726.0.0 logic (ON) Festo — CMMT-ST-SW — 2019-02...
  • Page 600 P1.112735.1.0 0x2192.35 Modulo hysteresis SINT64 P1.112736.0.0 0x2192.36 Modulo hysteresis SINT64 P1.112736.1.0 0x2192.37 Current modulo hysteresis SINT64 P1.112737.0.0 0x2192.38 Current modulo hysteresis SINT64 P1.112737.1.0 0x2193.01 Touch probe mode UINT16 P1.113000.0.0 0x2193.02 Touch probe mode UINT16 P1.113000.1.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 601 UINT16 P1.113009.1.0 event 0x2193.15 Current upper limit value SINT64 P1.113010.0.0 modulo 0x2193.16 Current upper limit value SINT64 P1.113010.1.0 modulo 0x2193.17 Current lower limit value SINT64 P1.113011.0.0 modulo 0x2193.18 Current lower limit value SINT64 P1.113011.1.0 modulo Festo — CMMT-ST-SW — 2019-02...
  • Page 602 P1.113019.1.0 triggered 0x2193.29 Counter modulo cycles UINT32 P1.113020.0.0 0x2193.2A Counter modulo cycles UINT32 P1.113020.1.0 0x2193.2B Status touch probe input BOOL P1.113021.0.0 0x2193.2C Status touch probe input BOOL P1.113021.1.0 0x2193.2D Status modulo limit BOOL P1.113022.0.0 reached Festo — CMMT-ST-SW — 2019-02...
  • Page 603 Touch probe position neg- SINT64 P1.113030.0.0 ative CiA402 0x2193.3E Touch probe position neg- SINT64 P1.113030.1.0 ative CiA402 0x2193.3F Counter initiated trigger UINT32 P1.113031.0.0 events positive edge CiA402 0x2193.40 Counter initiated trigger UINT32 P1.113031.1.0 events positive edge CiA402 Festo — CMMT-ST-SW — 2019-02...
  • Page 604 UINT32 P1.1128054.0.0 0x2195.03 Bit mask digital outputs UINT32 P1.1128055.0.0 CiA402 0x2195.04 CiA402 version UINT32 P1.1128056.0.0 0x2195.05 Motor type CiA402 UINT16 P1.1128057.0.0 0x2195.06 Touch probe function UINT16 P1.1128060.0.0 CiA402 0x2195.07 Touch probe status CiA402 UINT16 P1.1128061.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 605 Reactive current setpoint FLOAT32 P1.270.0.0 value 0x219C.03 Time current increase FLOAT32 P1.662.0.0 0x219C.04 Activation of open-loop BOOL P1.4001.0.0 operation 0x219C.07 Active control structure UINT32 P1.4004.0.0 0x219C.08 Selection of mode of oper- UINT32 P1.4005.0.0 ation open-loop/closed loop Festo — CMMT-ST-SW — 2019-02...
  • Page 606 0x21A1.04 Data instance ID data trig- UINT16 P0.1174203.0.0 0x21A1.05 Array ID data trigger UINT16 P0.1174204.0.0 0x21A1.06 Trigger level MELDW.5 SINT64 P0.1174205.0.0 0x21A1.07 Hysteresis of trigger level SINT64 P0.1174206.0.0 0x21A1.08 Data trigger damping time FLOAT32 P0.1174207.0.0 Festo — CMMT-ST-SW — 2019-02...
  • Page 607 Web server activation BOOL P0.11280051.0.0 0x21A5.01 Scaling factor start value FLOAT32 P1.6301.0.0 I²t monitoring motor model 0x21A5.02 Actual value I²T monitoring FLOAT32 P1.6302.0.0 motor model 0x21A5.03 Maximum start value I²t FLOAT32 P1.6303.0.0 monitoring motor model Festo — CMMT-ST-SW — 2019-02...
  • Page 608 P0.248.0.0 ... 5 ... 06 0x2205.01 MAC address UINT8 − P0.249.0.0 ... 5 ... 06 0x2206.01 MAC address UINT8 − P0.265.0.0 ... 5 ... 06 0x2207.01 Trace channel BOOL − P0.5500.0.0 ... 7 ... 08 Festo — CMMT-ST-SW — 2019-02...
  • Page 609 − P0.771.1.0 ... 2 ... 07 of assigned PDO EtherCAT 0x2216.01 Transmit PDO mapped UINT32 − P0.881.0.0 ... 15 ... 10 objects EtherCAT 0x221A.01 Servo drive initialisation UINT32 − P0.10320.0.0 ... 3 ... 04 status Festo — CMMT-ST-SW — 2019-02...
  • Page 610 − P1.2225.0.0 ... 2 ... 03 regulator (reactive current) 0x222D.01 Integration constant cur- FLOAT32 − P1.2226.0.0 ... 2 ... 03 rent regulator (reactive cur- rent) 0x222E.01 Total inertia FLOAT32 − P1.2227.0.0 ... 2 ... 03 Festo — CMMT-ST-SW — 2019-02...
  • Page 611 ... 80 time 0x223D.01 Record sequencing field 1 SINT64 − P1.1835.0.0 ..80 0x223E.01 Record sequencing field 2 SINT64 − P1.1836.0.0 ..80 0x223F.01 ... Selection start condition UINT32 − P1.1838.0.0 ... record Festo — CMMT-ST-SW — 2019-02...
  • Page 612 0x224E.01 Record sequencing field 7 SINT64 − P1.526793.0.0 ..80 0x2259.01 Status setpoint sources UINT32 − P1.298.0.0 ... 4 ... 05 0x225A.01 Current temperature FLOAT32 − P1.7157.0.0 ... 1 ... 02 sensor characteristic motor Festo — CMMT-ST-SW — 2019-02...
  • Page 613 − P1.112711.0.0 ..04 0x2272.05 Second switching point SINT64 − P1.112711.1.0 ..08 0x2273.01 Switching time (automatic) FLOAT32 − P1.112712.0.0 ..04 0x2273.05 Switching time (automatic) FLOAT32 − P1.112712.1.0 ..08 Festo — CMMT-ST-SW — 2019-02...
  • Page 614 ... 20 objects EtherCAT 0x227A.01 Invert encoder signal valid- BOOL − P1.1174.0.0 ... 9 ... 0A ation status 0x227B.01 Load weight / load inertia FLOAT32 − P1.2229.0.0 ... 2 ... 03 Tab. 478 Referenzliste Objekte Festo — CMMT-ST-SW — 2019-02...
  • Page 616 Copyright: Festo AG & Co. KG Ruiter Straße 82 73734 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 Reproduction, distribution or sale of this document or communic- e-mail: ation of its contents to others without express authorization is service_international@festo.com...

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