Festo CiA 402 User manual

Description
Device profile
CiA 402
for motor controller
– CMMS-AS-...-G2
– CMMD-AS-...
– CMMS-ST-...-G2
via fieldbus:
–CANopen
8040109
1404NH
[8034536]
CiA 402 for motor controller
CMMS-AS/CMMD-AS/CMMS-ST

CMMS-AS/CMMD-AS/CMMS-ST
2 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH –
Translation of the original instructions
GDCP-CMMS/D-C-CO-EN
CANopen
®
,CiA
®
, DevicecNet
®
are registered trademarks of the respective trademark owners in cer-
tain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 3
Table of Contents – CMMS-AS/CMMD-AS/CMMS-ST – CiA 402
1 Fieldbus interface 9.........................................................
2CANopen 10................................................................
2.1 CANopen standards 10.......................................................
2.2 CANopen interface 11........................................................
2.2.1 Connection and display components 11..................................
2.2.2 Bus LED 11.........................................................
2.2.3 Pin allocation CAN [X4] 11.............................................
2.2.4 Cabling instructions 12...............................................
2.3 Configuration of CANopen participants (via DIL switch) 13...........................
2.3.1 Overview of DIL switches [S1.1…12] 14..................................
2.3.2 Configuring the node ID (CAN address) 14................................
2.3.3 Configure data rate 14...............................................
2.3.4 CAN interface activation 15............................................
2.3.5 Terminating resistor activation 15.......................................
2.3.6 Setting of the physical units (factor group) 15.............................
2.4 Configuration CANopen master 16..............................................
3 CANopen access procedure 17.................................................
3.1 Introduction 17.............................................................
3.2 SDO access 18..............................................................
3.2.1 SDO sequences for reading and writing 19................................
3.2.2 SDO Error Messages 21...............................................
3.2.3 Simulation of SDO access 22..........................................
3.3 PDO Message 23............................................................
3.3.1 Description of the Objects 24..........................................
3.3.2 Objects for PDO Parametrisation 28.....................................
3.3.3 Activation of PDOs 32................................................
3.4 SYNC message 32...........................................................
3.5 EMERGENCY Message 33.....................................................
3.5.1 Overview 33........................................................
3.5.2 Structure of the EMERGENCY Message 34................................
3.5.3 Description of the Objects 34..........................................

CMMS-AS/CMMD-AS/CMMS-ST
4 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.6 Network Management (NMT Service) 36..........................................
3.6.1 Boot-up (Boot-up Protocol) 39.........................................
3.6.2 Start Remote Node 40................................................
3.6.3 Stop Remote Node 40................................................
3.6.4 Enter Pre-Operational 40..............................................
3.6.5 Reset Node 41......................................................
3.6.6 Reset Communication 41.............................................
3.6.7 Heartbeat (Error Control Protocol) 41....................................
3.6.8 Nodeguarding (Error Control Protocol) 42................................
3.7 Table of Identifiers 45........................................................
3.8 Internal sequence of CANopen processing 45......................................
4 Setting parameters 46.......................................................
4.1 Loading and saving parameter sets 46...........................................
4.2 Conversion factors (Factor Group) 49............................................
4.3 Output stage parameter 60....................................................
4.4 Current Regulator and Motor Adjustment 62......................................
4.5 Velocity control 66...........................................................
4.6 Position controller (Position Control Function) 68..................................
4.7 Setpoint value limitation 76....................................................
4.8 Digital inputs and outputs 77..................................................
4.9 Limit switches 79............................................................
4.10 Sampling of positions 80......................................................
4.11 Device Information 82........................................................
4.12 Error management 85........................................................
4.13 Compatibility settings 86......................................................
5 Device Control 88............................................................
5.1 Status diagram (State Machine) 88..............................................
5.1.1 Overview 88........................................................
5.1.2 Status diagram of the motor controller (state machine) 89...................
5.1.3 Controlword (Controlword) 94.........................................
5.1.4 Read-out of the motor controller status 97...............................
5.1.5 Status words (statuswords) 99.........................................

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 5
6 Operating modes 104.........................................................
6.1 Setting the operating mode 104.................................................
6.1.1 Overview 104........................................................
6.1.2 Description of the Objects 104..........................................
6.2 Operating mode homing (homing mode) 106.......................................
6.2.1 Overview 106........................................................
6.2.2 Description of the objects 107..........................................
6.2.3 Homing processes 110................................................
6.2.4 Control of homing 113.................................................
6.3 Positioning mode (Profile Position Mode) 114......................................
6.3.1 Overview 114........................................................
6.3.2 Description of the objects 115..........................................
6.3.3 Functional description 118.............................................
6.4 Synchronous position specification (Interpolated Position Mode) 121...................
6.4.1 Overview 121........................................................
6.4.2 Description of the Objects 122..........................................
6.4.3 Functional description 126.............................................
6.5 Speed adjustment operating mode (Profile Velocity Mode) 129........................
6.5.1 Overview 129........................................................
6.5.2 Description of the objects 131..........................................
6.6 Speed ramps 133.............................................................
6.7 Torque regulation operating mode (Profile Torque Mode) 136..........................
6.7.1 Overview 136........................................................
6.7.2 Description of the objects 137..........................................
A Diagnostic messages 141......................................................
A.1 Explanations on the diagnostic messages 141......................................
A.2 Diagnostic messages with instructions for fault clearance 142.........................
A.3 Error codes via CiA 301/402 155.................................................

CMMS-AS/CMMD-AS/CMMS-ST
6 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 7
Instructions on this documentation
This documentation describes the device profile CiA 402 (DS 402) and provides information on CiA 301
for the motor controller corresponding to the section “Information on the version” via the fieldbus in-
terface:
– CANopen – interface [X4] integrated in the motor controller.
This provides you with supplementary information about control, diagnostics and parametrisation of
the motor controllers via the fieldbus.
• Always observe the general safety regulations for the motor controller.
The general safety regulations for the motor controller can be found in the specific
description “Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2.
Target group
This description is intended exclusively for technicians trained in control and automation technology,
who have experience in installation, commissioning, programming and diagnosing of positioning sys-
tems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This description refers to the following versions:
Motor controller Version
CMMS-AS-...-G2 Motor controller CMMS-AS-...-G2 from Rev 03
FCT plug-in CMMS-AS from version 2.0.0
CMMD-AS-... Motor controller CMMD-AS-... from Rev 03
FCT plug-in CMMD-AS from version 2.0.0
CMMS-ST-...-G2 Motor controller CMMS-ST-...-G2 from Rev 05
FCT plug-in CMMS-ST from version 2.0.0
Tab. 1 Ve rsio ns
Note
With newer firmware versions, check whether there is a newer version of this descrip-
tion available:www.festo.com

CMMS-AS/CMMD-AS/CMMS-ST
8 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Documentation
Additional information on the motor controllers can be found in the following documentation:
Documentation Device
type
Contents
Mounting and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting
Itllti
(i
ll ti )
GDCP-CMMD-AS-HW-... CMMD-AS
–
Installation (
p
in allocations)
– Error messages
– Technical data
GDCP-CMMS-ST-G2-HW-... CMMS-ST
Functions and
commissioning
GDCP-CMMS/D-FW-... CMMS-AS
CMMD-AS
CMMS-ST
– Control interfaces
– Operating modes/operational
functions
– Commissioning with FCT
– Error messages
STO safety
function
GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
y
gg
the STO safety function (Safe
Torque Off )
GDCP-CMMS-ST-G2-S1-... CMMS-ST
Device
profile FHPP
GDCP-CMMS/D-C-HP-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interfaces:
– CAN bus (CANopen)
–InterfaceCAMC-PB(PROFIBUS)
– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via
the device profile FHPP (Festo
Handling and Positioning Profile)
with PROFIBUS, DeviceNet or
CANopen.
Device profile
CiA 402
GDCP-CMMS/D-C-CO-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interface:
– CAN bus (CANopen, DriveBus)
– Control and parameterisation via
the device profile CiA 402 (DS 402).
Software Help Help for the CMMS-AS
plug-in
CMMS-AS – User interface and functions in the
Festo Configuration Tool for the
Help for the CMMD-AS
plug-in
CMMD-AS
g
plug-in
Help for the CMMS-ST
plug-in
CMMS-ST
Tab. 2 Documentation on the motor controllers
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: www.festo.com/sp

1 Fieldbus interface
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 9
1 Fieldbus interface
Control and parameterisation via CiA 402 is supported by the CMMS-AS/CMMD-AS/CMMS-ST via the
fieldbus interface corresponding to Tab. 1.1. The CANopen interface is integrated in the motor control-
ler. The fieldbus is configured with the DIL switches [S1].
Fieldbus Interface Description
CAN bus [X4] – integrated Chapter 2
Tab. 1.1 Fieldbus interface for CiA 402
2
3
1
2
3
1
2
3
1
1Bus/CAN LED
2DIL switch [S1] for fieldbus settings
3CANopen interface [X4]
Fig. 1.1 Motor controller CMMS-AS/CMMD-AS/CMMS-ST

2CANopen
10 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2 CANopen
This part of the documentation describes the connection and configuration of the motor controller in a
CANopen network. It is directed at people who are already familiar with this bus protocol.
2.1 CANopen standards
CANopen is a standard developed by the “CAN in Automation” association. Numerous device manufac-
turers are organised in this network. This standard has largely replaced the current manufacturer-spe-
cific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 …207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopen manual, so procurement of
CiA 201 … 207 is generally not necessary.
CiA 301:
This document describes the fundamental design of the object directory of a CANopen device and ac-
cess to it. The statements of CiA201 … 207 are also made concrete. The elements of the object direct-
ory needed for the CMMS motor controller families and the related access methods are described in
this manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
CiA 402:
This document deals with the concrete implementation of CANopen in drive controllers. Although all
implemented objects are also briefly documented and described in this CANopen manual, the user
should have this documentation available.
Source address:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: [phone]
Fax: [phone]
www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1CiA Draft Standard 301, Version 4.02, 13. February 2002
2CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002