Festo CMMO-ST-C5-1-LKP User manual

Description
Motor controller with
interface for
–IO-Link
– I-Port
– Modbus TCP
Device profile FHPP
8071674
2017-05b
[8071676]
CMMO-ST-C5-1-LKP
Motor controller

CMMO-ST-C5-1-LKP
2 Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b –
Original instructions
GDCP-CMMO-ST-LK-C-HP-EN
IO-Link®, MODBUS®, TIA-Portal®are registered trademarks of the respective trademark owners in
certain 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.
èResult of an action/References to more detailed information.
Software identification:
<xxx> Buttons in the software
[xxx][xxx] References to menu and sub-menu structures in the software
FCT […][xxx] FCT plug-in menu for components in the “Workplace” window
FCT menu [xxx] FCT-main menu

CMMO-ST-C5-1-LKP
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 3
Table of Contents – CMMO-ST-C5-1-LKP
Motor controller documentation 7...................................................
Version status 8.................................................................
Service 8.......................................................................
1 FHPP with motor controller CMMO-ST 9........................................
1.1 FHPP overview 9............................................................
1.2 Interfaces 10...............................................................
2 IO-Link 11.................................................................
2.1 IO-Link/I-Port and digital I/O interface [X1] 11.....................................
2.2 Parameterisation of IO-Link device 12............................................
2.2.1 Parameterisation with the FCT plug-in CMMO-ST 12........................
2.2.2 Parameterisation with the integrated web server 12........................
2.3 Configuration IO-Link master 13................................................
2.3.1 Example of CMMO-ST at S7 1200 14....................................
3 I-Port 16...................................................................
3.1 IO-Link/I-Port and digital I/O interface [X1] 16.....................................
3.2 Parameterisation of I-Port device 17.............................................
3.2.1 Parameterisation with the FCT plug-in CMMO-ST 17........................
3.2.2 Parameterisation with the integrated web server 17........................
3.3 Configuration of I-Port master 18...............................................
4 Modbus TCP 19.............................................................
4.1 Modbus TCP interface [X18] 20.................................................
4.1.1 Pin allocation and cable specifications 20................................
4.2 Parameterisation of Modbus-TCP user 21.........................................
4.2.1 Parameterisation with the FCT plug-in CMMO-ST 21........................
4.2.2 Parameterisation with the integrated web server 22........................
4.3 Modbus master configuration 22...............................................
4.3.1 IP address 22.......................................................
4.3.2 Address assignment and Modbus operations 22...........................
4.3.3 Data objects for Modbus command “Read Device Identification” 28...........
4.3.4 Monitoring functions 28..............................................

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5 Sequence control and I/O data 29..............................................
5.1 Setpoint specification (FHPP operating modes) 29.................................
5.1.1 Switching the FHPP operating mode 29..................................
5.1.2 Record selection 29..................................................
5.1.3 Direct application 29.................................................
5.2 FHPP finite state machine 30...................................................
5.2.1 Create ready status 31...............................................
5.2.2 Positioning 32......................................................
5.2.3 Examples of control and status bytes 35.................................
5.3 Configuration of the I/O data 40................................................
5.3.1 Concept 40........................................................
5.3.2 I/O data (byte 1 … 8) in the various FHPP operating modes 41................
5.4 Assignment of the control bytes and status bytes (overview) 42.......................
5.4.1 Description of the control bytes 43......................................
5.4.2 Description of the status bytes 47......................................
6 Control via FHPP 52..........................................................
6.1 Dimension reference system for electric drives 52..................................
6.2 Homing run 52..............................................................
6.2.1 Homing for electric drives 52..........................................
6.2.2 Methods of homing 53...............................................
6.3 Jogging 54.................................................................
6.4 Teaching via fieldbus 55.......................................................
6.5 Execute Record 57...........................................................
6.5.1 Record selection flow diagrams 59......................................
6.5.2 Record structure 62..................................................
6.5.3 Record linking (PNU 402) 63...........................................
6.6 Execute direct mode 64.......................................................
6.6.1 Direct mode sequence 67.............................................
6.7 Monitoring of the drive behaviour 70............................................
6.7.1 “Motion Complete” message 70........................................
6.7.2 “Following error” message 71..........................................
6.7.3 “Standstill monitoring” message 72.....................................
6.7.4 Comparators 74.....................................................
7 Diagnostics 76..............................................................
7.1 Diagnostic messages 76......................................................
7.1.1 Classification and error responses 76....................................
7.1.2 Display of a diagnostic event 77........................................
7.1.3 Diagnostic memory 78...............................................

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7.2 Fault detection and elimination 79..............................................
7.2.1 Acknowledge error 79................................................
7.2.2 Parameterisation of the diagnostic messages and fault clearance 80...........
A Technical appendix 81........................................................
A.1 Increments 81..............................................................
A.1.1 Encoder increments [EINC] 81..........................................
A.1.2 Interface increments [SINC] 81.........................................
A.2 Conversion factors 82........................................................
B Reference paramete 83.......................................................
B.1 General FHPP parameter structure 83............................................
B.2 Access protection and master control 84.........................................
B.3 Overview of FHPP parameters 85...............................................
B.3.1 Device data 85......................................................
B.3.2 Diagnostics 86......................................................
B.3.3 Process Data 87....................................................
B.3.4 Record list 88.......................................................
B.3.5 Project Data 90.....................................................
B.3.6 Factor group 92.....................................................
B.3.7 Axis parameters: electric drives 1 93....................................
B.4 Descriptions of FHPP parameters 96.............................................
B.4.1 Representation of the parameter entries 96..............................
B.4.2 Device data – version numbers 97......................................
B.4.3 Device data – identification 98.........................................
B.4.4 Device data – MMI parameters 100......................................
B.4.5 Diagnostic parameters 102.............................................
B.4.6 Process data – general process data 110..................................
B.4.7 Process data – FHPP-data 112..........................................
B.4.8 Record list – record data 113...........................................
B.4.9 Record list – record messages 122.......................................
B.4.10 Project data – general project data 125...................................
B.4.11 Project data – force/torque mode 126....................................
B.4.12 Project data –teach mode 127..........................................
B.4.13 Project data – FHPP-direct mode 128.....................................
B.4.14 Project data – jog mode 130............................................
B.4.15 Project data - direct mode position 131...................................
B.4.16 Project data – force direct mode 132.....................................
B.4.17 Project data – rotational speed direct mode 133............................
B.4.18 Project data – direct mode general 134...................................
B.4.19 Factor group 137.....................................................
B.4.20 Axis parameters: electrical Drives 1 – mechanical parameters 138..............

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B.4.21 Axis parameter: electrical drives 1 – homing parameters 140..................
B.4.22 Axis parameter: electrical drives 1 – controller parameters 142................
B.4.23 Axis parameters: electric drives 1 – electronic rating plate 145.................
B.4.24 Axis parameters: electric drives 1 – standstill monitoring 146..................
B.4.25 Axis parameters: electric drives 1 – following error monitoring 147.............
B.4.26 Axis parameters: electric drives 1 – motor data 147.........................
B.4.27 Axis parameters: electric drives 1 – temperature data 147....................
B.4.28 Axis parameters: electric drives 1 – general drive data 148....................
C Festo Parameter Channel (FPC) 150..............................................
C.1 FPC for cyclical I/O data 150....................................................
C.2 Overview of EFPC 150.........................................................
C.2.1 EFPC structure 150...................................................
C.2.2 FPCC and FPCS – transmission mode, request and response ID 151.............
C.3 Parameter transmission (PNUs, internal objects) 152................................
C.3.1 Structure of EFPC in parameter transmission 152...........................
C.3.2 Sequence of parameter transmission 152.................................
C.3.3 Example of parameter transmission 152..................................
C.3.4 Error codes 153......................................................
C.4 Parameter file transmission 154.................................................
C.4.1 Structure of EFPC in parameter file transmission 154........................
C.4.2 Package ID 154......................................................
C.4.3 Parameter file and user data package 155.................................
C.4.4 Checking and activation of the parameter file 156...........................
C.4.5 Sequence of parameter file transmission 156..............................
C.4.6 Examples of parameter file transmission 157...............................
C.4.7 Error codes 162......................................................
D Diagnostic messages 164......................................................
E Terms and abbreviations 179...................................................
Index 181........................................................................

CMMO-ST-C5-1-LKP
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Motor controller documentation
This documentation (GDCP-CMMO-ST-LK-C-HP-...) describes the Festo Handling und Positioning Profile
(FHPP) for the motor controller CMMO-ST-C5-1-LKP. The full description of the motor controller includes
the following documents:
Always observe the general safety regulations for the motor controller in the equipment
and functional description of the motor controller GDCP-CMMO-ST-LK-SY-... èTab. 1.
Designation Contents
Condensed documentation
CMMO-ST-LK...
Brief equipment and functional description of the motor controller for
initial information
Manual
GDCP-CMMO-ST-LK-SY-...
Equipment and functional description of the motor controller
– Mounting
– Commissioning via web server/Festo Configuration Tool (FCT)
– Technical data
Manual
GDCP-CMMO-ST-LK-C-HP-...
Control and parameterisation of the motor controller with the device
profile FHPP via:
– IO-Link
– I-Port
– Modbus TCP
Manual
GDCP-CMMO-ST-LK-S1-...
Use of the STO safety function (“Safe Torque Off”)
Help system for the FCT
software
Descriptions of the Festo Configuration Tool (FCT) for commissioning
and parameterisation of:
– configurable axis/motor combinations
– positioning systems in Festo’s Optimised Motion Series (OMS)
Special documentation
CMMO-ST_UL-...
Requirements for operating the product in the USA and Canada in
accordance with certification by Underwriters Laboratories Inc. (UL).
Tab. 1 Documentation for the motor controller
Additional information about the product:
– CMMO-ST-Quickguide-...:brief description of the initial commissioning and diagnostics of position
ing systems in Festo’s Optimised Motion Series (OMS) with the web server of the CMMO-ST
– Overview of accessories (catalogue) èwww.festo.com/catalogue
– Operating instructions for configurable actuators and the positioning systems from Festo
(e.g. EPCO) èwww.festo.com/sp
– Parameter lists: Default settings of the commissioning parameters for positioning systems in Festo’s
Optimised Motion Series (OMS)
– Function elements (CODESYS, ...) èwww.festo.com/sp
– Certificates, declaration of conformity èwww.festo.com/sp

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Target group
This documentation is intended exclusively for technicians trained in control and automation techno
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Version status
This documentation refers to the following version of the motor controller:
– Firmware: V 1.5.x and higher
– FCT plug-in: CMMO-ST V 1.5.x and later
The following details are displayed in the software with an active online connection:
– Firmware version and MAC-ID è“Info” tab of the integrated web server
– Hardware version, firmware version èFCT (“Controller” page)
If at this time there is no online connection, the information from the most recent
connection is displayed.
Additional version details, e.g. amendment: èproduct labelling of the motor controller
Note
Before using a newer firmware version:
 Check whether a newer corresponding version of the FCT plug-in or user documenta
tion is available èwww.festo.com/sp.
Service
Please consult your regional Festo contact if you have any technical problems.

1 FHPP with motor controller CMMO-ST
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 9
1 FHPP with motor controller CMMO-ST
1.1 FHPP overview
Tailored to the target applications for handling and positioning tasks, Festo has developed an optim
ised device profile, the “Festo Handling and Positioning Profile (FHPP)”.
The FHPP permits a uniform control and parameterisation for the various motor controllers from Festo,
independent of the connection to different control devices.
To do this, it defines for the user, largely uniformly,
– operating modes
– I/O data structure
– parameter objects
– sequence control
Bus communication
Record selection
Free access to parameters –
reading and writing
. . .
Direct application Parameterisation
Position Speed Torque
. . .
1
2
3
...
n
>
Fig. 1.1 Principle of FHPP
Control and status data (FHPP Standard)
Communication takes place via 8-byte control and status data. Functions and status messages
required in operation can be written and read directly.
Parameterisation (FPC)
The controller can access the parameter values of the motor controller via the parameter channel.
A further 8 bytes of I/O data are used for this purpose.

1 FHPP with motor controller CMMO-ST
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1.2 Interfaces
Control and parameterisation via FHPP is supported in CMMO-ST-C5-1-LKP through various fieldbus
interfaces corresponding to Tab. 1.1.
Connection Interface Description
IO-Link [X1] – IO-Link/I-Port and digital I/Os èChapter 2
I-Port [X1] – IO-Link/I-Port and digital I/Os èChapter 3
Modbus TCP [X18] – Ethernet interface èChapter 4
Tab. 1.1 Interfaces for FHPP
2
1
3
1[X1] – IO-Link/I-Port and digital I/Os
2[X18] Ethernet interface
3Link/activity-LED C/Q
Fig. 1.2 Motor controller CMMO-ST-C5-1-LKP

2 IO-Link
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 11
2 IO-Link
The communication system IO-Link is used to exchange serial data from decentralised function
modules (devices) at the field level.
IO-Link is a standardised I/O technology (IEC 61131-9) for exchanging serial data with sensors and
actuators bi-directionally via a 3-wire connection. The motor controller is an IO-Link device in accord
ance with the IO-Link Interface Specification Version 1.1 [IOL].
The LED C/Q on the motor controller displays the status of the IO-Link connection.
2.1 IO-Link/I-Port and digital I/O interface [X1]
Connection Pin Function
X1
111
111
1+24 V (OUT) Output +24 V1) e.g. supply of a poten
tial-free relay contact for the controller
enable input
20 V (GND) Reference potential for output signals
3DOUT2 Output 2, parameterisable
4DOUT1 Output 1, parameterisable
5READY Output Ready
6ENABLE Controller enable input2)
7 – No function, not connected internally3)
8 –
9L– 0 volt (GND)
10 C/Q IO-Link/I-Port signal
11 L+ 24 volt supply of the IO-Link IC, not con
nected to the logic supply at X9
1) Not overload-proof, max. 100 mA
2) Required signals for controller enable can be parameterised (FCT) èsection 2.2.1
3) Pins can be used for the 4th and 5th conductor of the I-Port / IO-Link cable
Tab. 2.1 Port X1 I/O interface, pin 9 ... 11 allocated for IO-Link

2 IO-Link
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2.2 Parameterisation of IO-Link device
Before connecting the motor controller to the I-Link master, parameterise the controller interface and
device profile:
– with the FCT plug-in CMMO-ST èsection 2.2.1
– with the integrated web server èsection 2.2.2
Connecting the motor controller to the PC èequipment and functional description of the
motor controller, GDCP-CMMO-ST-LK-SY-....
2.2.1 Parameterisation with the FCT plug-in CMMO-ST
1. Create drive configuration èHelp for the FCT plug-in CMMO-ST
2. On the application data page (Application Data), determine the control interface (Control Interface):
– “IO-Link”
3. Optionally determine on the controller page (Controller):
– Enable with (Enabled by), determination of the required signals for controller enable:
– “Fieldbus” (Fieldbus) – factory setting
– “Digital input ‘Enable’ and fieldbus” (Digital Input 'Enable' and Fieldbus)
4. On the fieldbus page (Fieldbus), determine the device profile (Device Profile):
– “FHPP standard”
– “FHPP standard + FPC”
5. Establish an online connection.
6. Activate device control (Device Control).
7. Download and save (Store) the parameters.
A restart is required after changing and storing the following parameters with the FCT
plug-in to make the settings active:
– control interface (Modbus, IO-Link, I-Port)
– device profile (FHPP standard, FHPP standard + FPC)
After parameterisation and restart of the motor controller, the IO-Link master can be configured
èsection 2.3.
2.2.2 Parameterisation with the integrated web server
1. Call up online connection with the web browser: “http://192.168.178.1/” (factory setting)
2. To parameterise and store, activate device control (Device Control).
3. In the Control Interface tab, determine and save the control interface (Save):
– “IO-Link”
4. In the FHPP Profile tab, determine and save the device profile (Save):
– “FHPP channel”
– “FHPP + FPC channel”
After parameterisation, the IO-Link master can be configured èsection 2.3.

2 IO-Link
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2.3 Configuration IO-Link master
To create the IO-Link connection, configure the motor controller in the IO-Link master.
Steps for configuration of the IO-Link master èdocumentation on the used configuration
program (CODESYS, TIA-Portal, STEP 7, ...).
The IODD files include all necessary information on configuration:
IODD files Device profile
Festo-CMMO-ST-C5-1-LKP_FHPP-xxxxxxxx-IODD1.1.xml FHPP standard (8 I/O bytes)
Festo-CMMO-ST-C5-1-LKP_FHPP_and_FPC-xxxxxxxx-IODD1.1.xml FHPP standard + FPC
(16 I/O bytes)
(xxxxxxxx = date)
Tab. 2.2 IODD files
The motor controller supports the IO-Link specification V1.1 with the following characteristics:
– Cyclical IO-Link data 8 or 16 I/O bytes.
– Device-specific errors and warnings are reported to the IO-Link master through the “Event manage
ment”.
– SIO mode is not supported.
– Transmission rate 230.4 KBaud.
– No support of the parameter server of the IO-Link master (2048 bytes for parameters of the motor
controller are not sufficient).
The upload and download of all parameters to the controller can be implemented via EFPC with
appropriate functional modules or function blocks èappendix C.4
Current IODD files, functional modules or function blocks èwww.festo.com/sp

2 IO-Link
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2.3.1 Example of CMMO-ST at S7 1200
The following lists an example of steps for connecting a CMMO-ST to an S7 1200 as IO-Link master.
Specific steps for configuration of the IO-Link master:
èDocumentation for the module.
èDocumentation on the used configuration program.
Requirements
– TIA-Portal V13
– S7 PCT V3.3 must support the configuration of IO-Link 1.1
Typical steps
The following steps are normally necessary to connect a CMMO-ST to an S7 1200 as IO-Link master.
1. Create new project in the TIA-Portal.
2. Open project view.
3. Add new device (the S7 must support the IO-Link master èdocumentation on the S7)
4. Set IP address for the CPU.
5. Select PLC, then select slot in mounting rack for the IO-Link master.
6. In the “Hardware catalogue” window under “Technology modules”, select the IO-Link master and
take it over for the slot.
1
2
3
1PLC
2Slot in mounting rack
3“Catalogue” window for selection of the IO-
Link master
Fig. 2.1 Example TIA-Portal – configure S7
7. Load configuration into controller.
8. Start the DeviceTool via the context menu of the IO-Link master.

2 IO-Link
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 15
9. In the dialogue, select the PC interface.
10.Menu [Extras] [Import IODD], then select IODD file and import it.
12
1Port 2Catalogue, IO-Link 1.1
Fig. 2.2 Example DeviceTool, assign IODD to the port
11.In the catalogue under “IO-Link 1.1”, “Festo AG & Co. KG”, “CMMO”, select the desired variant
(standard FHPP or with FPC) and assign the IODD to the used port.
12.Load configuration into the device.
13.End DeviceTool, save changes. The IO-Link connection is now active.
Subsequently, load the FHPP_Positions_Library_TIA from Festo, for example under “Libraries”, and
assign the addresses of the variables table to the module inputs (I_ADRESS, O_ADRESS)
èdescription/Help file for the Library.

3 I-Port
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3 I-Port
The Festo-specific I-Port interface is used for exchange of serial data from decentralised function mod
ules (devices) at field level.
The LED C/Q on the motor controller displays the status of the I-Port connection.
3.1 IO-Link/I-Port and digital I/O interface [X1]
Port Pin Function
X1
111
111
1+24 V (OUT) Output +24 V1) e.g. supply of a poten
tial-free relay contact for the controller
enable input
20 V (GND) Reference potential for output signals
3DOUT2 Output 2, parameterisable
4DOUT1 Output 1, parameterisable
5READY Output Ready
6ENABLE Controller enable input2)
7 – No function, not connected internally3)
8 –
9L– 0 volt (GND)
10 C/Q IO-Link/I-Port signal
11 L+ 24 volt supply of the I-Port IC, not con
nected to the logic supply at X9
1) Not overload-proof, max. 100 mA
2) Required signals for controller enable can be parameterised (FCT) èsection 3.2.1
3) Pins can be used for the 4th and 5th conductor of the I-Port / IO-Link cable
Tab. 3.1 Port X1 I/O interface, pin 9 ... 11 allocated for IO-Link

3 I-Port
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3.2 Parameterisation of I-Port device
Before connecting the motor controller to the I-Port master, parameterise the controller interface and
equipment profile:
– with the FCT plug-in CMMO-ST èsection 3.2.1
– with the integrated web server èsection 3.2.2
Connecting the motor controller to the PC èequipment and functional description of the
motor controller, GDCP-CMMO-ST-LK-SY-....
3.2.1 Parameterisation with the FCT plug-in CMMO-ST
1. Create drive configuration èHelp for the FCT plug-in CMMO-ST.
2. On the application data page (Application Data), determine the control interface (Control Interface):
– “I-Port”
3. Optionally, determine the following on the controller page (Controller):
– Enable with (Enabled by), determination of the required signals for controller enable:
– “Fieldbus” (Fieldbus) – factory setting
– “Digital input ‘Enable’ and fieldbus” (Digital Input 'Enable' and Fieldbus)
4. On the fieldbus page (Fieldbus), determine the device profile (Device Profile):
– “FHPP standard”
– “FHPP standard + FPC”
5. Establish an online connection.
6. Activate device control (Device Control).
7. Download and save (Store) the parameters.
A restart is required after changing and storing the following parameters with the FCT
plug-in to make the settings active:
– control interface (Modbus, IO-Link, I-Port)
– device profile (FHPP standard, FHPP standard + FPC)
After parameterisation and restart of the motor controller, the I-Port master can be configured
èsection 3.3.
3.2.2 Parameterisation with the integrated web server
1. Call up online connection with the web browser: “http://192.168.178.1/” (factory setting)
2. To parameterise and store, activate device control (Device Control).
3. In the Control Interface tab, determine and save the control interface (Save):
– “I-Port”
4. In the FHPP Profile tab, determine and save the device profile (Save):
– “FHPP channel”
– “FHPP + FPC channel”
After parameterisation, the I-Port master can be configured èsection 3.3.

3 I-Port
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3.3 Configuration of I-Port master
The following I-Port masters support the motor controller:
I-Port master Supported I-Ports and data size Special features
CPX-CTEL 4 x I-Port, total max. 32 bytes I and
32 bytes O
With the “Automatic configuration” set
ting, the data size can be freely distrib
uted (2x16 or 1x16 and 2x8 or 4x8).
If the “tool change mode” of the used
CPX-CTEL is not supported, the motor
controller must be switched on before
the CPX-CTEL.
CTEU-PB 2 x I-Port, each 16 bytes I and 16 bytes O Device description file GSD has module
identifier for I-Port
CTEU-EC 2 x I-Port, each 16 bytes I and 16 bytes O Device description file ESI has module
identifier for I-Port
CTEU-CO (2 x I-Port, each 16 bytes I and 16 bytes O) Support in preparation
Tab. 3.2 Supported I-Port master
The I-Port connection does not have to be configured from most masters.
For some I-Port masters, device description files are available for the respective fieldbus.
Specific module support of the I-Port devices through current GSD and ESI files, function
al modules or function blocks èwww.festo.com/sp

4 Modbus TCP
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4 Modbus TCP
Modbus is an open communication protocol based on the master-slave architecture. It is an estab
lished standard for communication via Ethernet-TCP/IP in automation technology.
The basic function of Modbus TCP is described in IEC 61158.
The standard port for Modbus TCP is 502.
The Ethernet control interface is used parallel to the Ethernet parameterisation interface (FCT, web
server). A maximum of one Modbus TCP connection at a time is possible.
After the TCP connection has been made, it is normally kept open and only disconnected by the motor
controller in case of error, with a timeout set or through the counterpart station.
Communication with the FCT and the web server remains possible.
Data Encoding
Modbus TCP uses “Big Endian” transmission sequence. The “most significant byte” is sent first. The
actual data (Modbus: “tab”) are processed word-by-word (2 bytes). It may therefore be necessary to
“turn” these 2 bytes on the controller. This applies to the operations (function codes): 0x03, 0x10,
0x17 èsection 4.3.2.
This already takes place through the module if provided by Festo.
Modbus telegram
In general, a Modbus telegram is constructed correspondingly èTab. 4.1 (the higher-value byte is
always sent first).
If, for example, the CMMO is to be accessed by the computer via Modbus, the transaction identifier,
protocol identifier, message length and unit identifier must additionally be sent at the beginning before
the function code is sent.
The assignment can be visualised and tested with the help of the “Modbus TCP Client”.
èwww.festo.com/sp, search for “Modbus TCP Client”
Byte no. Number
of bytes
Function Comment
1 2 Transaction number Freely selectable. Returned
again in the answer.
High-order byte
2Low-order byte
3 2 Protocol identifier Always 0 High-order byte
4Low-order byte
5 2 Number of bytes still to
follow
= n + 2, whereby n is the num
ber of data points from byte 9.
High-order byte
6Low-order byte
7 1 Address (unit identifier,
slave ID)
Can be ignored (e.g. set to 0). –
8 1 Function code èsection 4.3.2 –
9 ... nData èsection 4.3.2 –
Tab. 4.1 Structure of Modbus telegram

4 Modbus TCP
20 Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English
4.1 Modbus TCP interface [X18]
The Modbus connection is established via the Ethernet interface [X18] as an RJ45 socket. This can be
used in parallel for 2 additional TCP connections (one for the FCT parameter software and one for the
web server). As a Modbus/TCP user, the motor controller can be reached via the same IP address as is
used by FCT or the web server.
4.1.1 Pin allocation and cable specifications
Pin Specification
1Transmission signal+ ( TX+ ) Wire pair 3
2Transmission signal- ( TX- ) Wire pair 3
3Receiver signal+ ( RX+ ) Wire pair 2
4 – Wire pair 1
5 – Wire pair 1
6Receiver signal– ( RX– ) Wire pair 2
7 – Wire pair 4
8 – Wire pair 4
–Housing Screening
Tab. 4.2 Allocation [X18]
Type and design of cable
Shielded twisted-pair STP, Cat.5 cables must be used for cabling.