Festo CMMP-AS-***-M3 Series Operating and installation instructions

Description
Functional
description
(firmware).
for motor controller
CMMP-AS-...-M3
FW: 4.0.1501.1.0
760330
1203NH
Motor controller
CMMP-AS-...-M3

CMMP-AS-...-M3
2 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
Translation of the original instructions
GDCP-CMMP-M3-FW-EN
Windows
®
,PHOENIX
®
,CiA
®
,CANopen
®
, Beckhoff
®
,Rockwell
®
, DeviceNET
®
,EtherCAT
®
,
PROFIBUS
®
, Heidenhain
®
,EnDat
®
,HIPERFACE
®
,Stegmann
®
,Yaskawa
®
,CANopen
®
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.

CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 3
Table of contents – CMMP-AS-...-M3
1 Safety and requirements for product use 8......................................
1.1 Safety 8..................................................................
1.1.1 Safety instructions for commissioning, repair and de-commissioning 8...........
1.1.2 Protection against electric shock through protective extra-low voltage (PELV). 9...
1.1.3 Designated use 9.....................................................
1.2 Prerequisites for use 10.......................................................
1.2.1 Technical requirements 10...............................................
1.2.2 Qualification of the specialists (requirements for the personnel) 10..............
1.2.3 Range of application and certifications 10...................................
2 Operating modes and functions 11..............................................
2.1 Overview 11................................................................
3 Control interfaces 12.........................................................
3.1 Control interfaces 12.........................................................
3.1.1 Overview of interfaces 12................................................
4 Fieldbus options 13..........................................................
4.1 Supported fieldbuses 13......................................................
4.2 Required I/O connection for fieldbus control 14....................................
5Service 15.................................................................
5.1 Supported functions 15.......................................................
5.2 Memory card 15.............................................................
5.2.1 Load firmware via memory card 16.........................................
5.2.2 Load parameter set from memory card 16...................................
5.3 Ethernet (TFTP) 17...........................................................
5.3.1 Load firmware via Ethernet 17............................................
5.3.2 Load parameter set via Ethernet 17........................................
5.3.3 Save parameter set via Ethernet 18........................................

CMMP-AS-...-M3
4 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
6Functions 19...............................................................
6.1 Position controller 19.........................................................
6.1.1 Basic principles of the position controller 19.................................
6.1.2 Record selection through I/O 24..........................................
6.1.3 Start of the record selection 24...........................................
6.1.4 Stop of the record selection through “digital halt” 24..........................
6.1.5 Record selection with record continuation 24................................
6.1.6 Modulo positioning 26..................................................
6.2 Homing 28.................................................................
6.2.1 Homing methods 29....................................................
6.2.2 Homing - options 35....................................................
6.2.3 Homing parameters 36..................................................
6.2.4 Secure zero point shift 36................................................
6.2.5 Homing via I/O 37......................................................
6.2.6 Timing diagrams 38.....................................................
6.3 Jog mode 40................................................................
6.3.1 Function 40...........................................................
6.3.2 Process 41............................................................
6.3.3 Jog mode parameters 42................................................
6.4 Teach-in function 44..........................................................
6.5 Setpoint specification 45......................................................
6.5.1 Analogue setpoint 45...................................................
6.5.2 Digital nominal value 47.................................................
6.5.3 Master-slave 51.......................................................
6.5.4 Flying saw 51..........................................................
6.5.5 Scope of functions for cam discs (CAM) 53..................................
6.6 Second measuring system 53..................................................
6.6.1 Technology 53.........................................................
6.6.2 Example, toothed belt axis 54............................................
6.6.3 Example, spindle axis 54................................................
6.6.4 Function in the controller 54..............................................
6.6.5 Inclusion of a second displacement encoder 55..............................
6.6.6 2nd measuring system at the incremental encoder input [X10] 55................
6.6.7 EGC-...-M at [X10] 56....................................................
6.6.8 2nd measuring system at input [X2A] 57....................................
6.6.9 Commissioning 57......................................................

CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 5
6.7 Additional functions 58.......................................................
6.7.1 Encoder emulation 58...................................................
6.7.2 Brake control and automatic brake 59......................................
6.7.3 Position trigger 61.....................................................
6.7.4 Inputs for option “flying measurement” 62..................................
6.7.5 Software limit switch 62.................................................
6.7.6 Input for digital halt 63..................................................
6.7.7 I/O [X1] 63............................................................
6.7.8 Supported encoder systems 71...........................................
7 Dynamic response 73........................................................
7.1 PFC for increased intermediate circuit voltage 73...................................
7.1.1 Switch-on behaviour: 73.................................................
7.1.2 Behaviour under normal operation and control properties 74...................
7.2 Extended sine modulation for increased output voltage 74...........................
7.3 Variable cycle times, current, speed and position controller 75........................
8 Service functions and diagnostic messages 76....................................
8.1 Protective and service functions 76..............................................
8.1.1 Overview 76..........................................................
8.1.2 Phases and mains failure detection with 3-phase motor controllers 76............
8.1.3 Overload current and short-circuit monitoring 76.............................
8.1.4 Overvoltage monitoring for the intermediate circuit 77.........................
8.1.5 Temperature monitoring for the heat sink 77.................................
8.1.6 Monitoring of the motor 77...............................................
8.1.7 I2t monitoring 77......................................................
8.1.8 Power monitoring for the brake chopper 77.................................
8.1.9 Commissioning status 78................................................
8.1.10 Rapid discharge of the intermediate circuit 78...............................
8.2 Operating mode and error messages 78..........................................
8.2.1 Operating mode and error display 78.......................................
8.2.2 Seven-segment display 79...............................................
8.2.3 Acknowledgement of error messages 80....................................
8.2.4 Diagnostic messages 80.................................................
A Diagnostic messages 81......................................................

CMMP-AS-...-M3
6 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
Instructions on this description
This documentation is intended to help you safely work with the motor controllers of the series
CMMP-AS-…-M3. It includes safety instructions that must be observed.
Refer to the documentation for the CMMP-AS product family for further information Tab. 1.
• Unconditionally observe the general safety regulations for the CMMP-AS-...-M3.
The general safety regulations for the CMMP-AS-...-M3 can be found in the description
Hardware, GDCP-CMMP-AS-M3-HW-..., see Tab. 1.
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.
Product identification, versions
This description refers to the following versions:
– Motor controller CMMP-AS-...-M3 from Rev. 01
– Firmware from Version 4.0.1501.1.0
– FCT plug-in CMMP-AS from Version 2.0.x.
This description does not apply to the older variants CMMP-AS-...
Note
With newer firmware versions, check whether there is a newer version of this descrip-
tion available:www.festo.com

CMMP-AS-...-M3
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 7
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3
Name, type Contents
Hardware description,
GDCP-CMMP-M3-HW-...
Mounting and installation for all variants/power classes
(1-phase, 3-phase), pin assignments, error messages,
maintenance.
Function descriptions,
GDCP-CMMP-M3-FW-...
Instructions on commissioning + functional description
(firmware). Overview of fieldbus, safety engineering.
Description FHPP,
GDCP-CMMP-M3-C-HP-...
Control and parameterisation of the motor controller through
the Festo profile FHPP with the following fieldbuses: CANopen,
PROFIBUS, DeviceNet, EtherCAT, PROFINET, Ethernet/IP.
Description CiA 402 (DS 402),
GDCP-CMMP-M3-C-CO-...
Control and parametrisation of the motor controller through the
device profile CiA 402 (DS402) with the following fieldbuses:
CANopen and EtherCAT.
Description CAM-Editor,
P.BE-CMMP-CAM-SW-...
Cam disc function (CAM) of the motor controller.
Description safety module,
GDCP-CAMC-G-S1-...
Functional safety engineering for the motor controller with the
safety function STO.
Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool.
www.festo.com
Tab. 1 Documentation on the motor controller CMMP-AS-...-M3

1 Safety and requirements for product use
8 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions for commissioning, repair and de-commissioning
Warning
Danger of electric shock.
– When modules or cover plates are not mounted on the slots Ext1 … Ext3.
– When cables are not mounted to the plugs [X6] and [X9].
– When connecting cables are disconnected when powered.
Touching live parts causes severe injuries and can lead to death.
The product may only be operated in a built-in status and when all protective measures
have been initiated.
Before touching live parts during maintenance, repair and cleaning work and when there
have been long service interruptions:
1. Switch off power to the electrical equipment via the mains switch and secure it
against being switched on again.
2. After switch-off, wait at least 5 minutes discharge time and check that power is
turned off before accessing the controller.
The safety functions do not protect against electric shock but only against dangerous
movements!
Note
Danger from unexpected movement of the motor or axis.
– Make sure that the movement does not endanger any people.
– Perform a risk assessment in accordance with the EC machinery directive.
– Based on this risk evaluation, design the safety system for the entire machine, tak-
ing into account all integrated components. This also includes the electric drives.
– Bypassing safety equipment is impermissible.

1 Safety and requirements for product use
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 9
1.1.2 Protection against electric shock through protective extra-low voltage (PELV).
Warning
• Use for the electrical power supply only PELV circuits in accordance with
IEC DIN EN 60204-1 (Protective Extra-Low Voltage, PELV).
Also take into account the general requirements for PELV circuits in accordance with
IEC/DIN EN 60204-1.
• Use only power sources which guarantee reliable electrical disconnection of the
operating voltage as per IEC/DIN EN 60204-1.
Through the use of PELV circuits, protection from electric shock (protection from direct and indirect
contact) in accordance with IEC DIN EN 60204-1 is ensured (Electrical equipment of machines. General
requirements).
1.1.3 Designated use
The motor controller CMMP-AS-...-M3 is intended for installation in machines or automated systems
andistobeusedasfollows:
– in a faultless technical condition,
– in original status without unauthorised modifications,
– within the limits of the product defined by the technical data (appendix A of the documentation
GDCP-CMMP-AS-M3-HW-...),
– in an industrial environment.
Note
In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.

1 Safety and requirements for product use
10 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
1.2 Prerequisites for use
• Make this documentation available to the design engineer, installer and personnel responsible for
commissioning the machine or system in which this product is used.
• Make sure that the specifications of the documentation are always complied with. Also consider the
documentation for the other components and modules.
• Take into consideration the regulations applicable for the destination, as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
• For emergency stop applications, restart may take place only as intended under the control of a
safety switching device.
1.2.1 Technical requirements
General conditions for the correct and safe use of the product, which must be observed at all times:
• Comply with the connection and environmental conditions specified in the technical data of the
motor controller (appendix A of the documentation GDCP-CMMP-AS-M3-HW-...) and of all con-
nected components.
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.
• Observe the instructions and warnings in this documentation.
1.2.2 Qualification of the specialists (requirements for the personnel)
The device may only be set into operation by a qualified electrotechnician who is familiar with:
– installation and operation of electrical control systems,
– the applicable regulations for operating safety-engineered systems,
– the applicable regulations for accident protection and occupational safety, and
– the documentation for the product.
1.2.3 Range of application and certifications
Standards and test values which the product complies with and fulfils can be found in the “Technical
data” section (appendix A of the documentation GDCP-CMMP-AS-M3-HW-...). The product-relevant
EU directives can be found in the declaration of conformity.
Certificates and the declaration of conformity for this product can be found at
www.festo.com.

2 Operating modes and functions
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 11
2 Operating modes and functions
2.1 Overview
The following operating modes are available to support your application.
Operating mode/func-
tions
Description
Profile Positioning
Mode
(Profile Position Mode)
Operating mode for executing a positioning record (record selection) or a
positioning task (direct mode). In addition to operation with speed control,
a higher-level position controller (setpoint value generator) is active; it
processes deviations between setpoint position and actual position and
converts it into corresponding setpoint specifications for the speed control-
ler. For position control, the current settings for speed, acceleration, brak-
ing deceleration, etc. are taken into account.
Speed-controlled
operation
(Profile Velocity Mode)
Operating mode for executing a positioning record (direct mode). Regula-
tion in accordance with speed setpoint values and profiles. In speed-con-
troller operation, current limitation can be activated through specification
of a force/torque limit value.
Force/torque
operation
(Profile Force/Torque
Mode)
Operating mode for executing a positioning record (direct mode) with
force/torque control (current control). This operating mode permits spe-
cification to the controller of an external force/torque setpoint value (relat-
ive to the motor current). All specifications on forces/torques refer to the
motor nominal torque or the motor nominal current. Since force/torque are
proportional to the motor current, only the current regulator is activated in
this operating case. In addition, speed limiting can be activated through
specification of a limit value.
Homing
(Homing)
Positioning mode with a sequence established through the homing method
for definition of the mechanical reference system (homing point).
Interpolated
positioning mode
(Interpolated position
mode in accordance
with CiA 402)
Positioning mode with a sequence established through the homing method
for definition of the mechanical reference system (homing point)
– Travelling along trajectory curves
– Coupling of axes for multiple axis systems
– Axis error compensation.
The movement is parameterised for several axes in advance in the shape of
data points (position, speed, time) and loaded into the controllers.
Between the data points, the various axes interpolate independently and
work off the movement profile synchronously in time.
Tab. 2.1 Overview of operating modes

3 Control interfaces
12 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
3 Control interfaces
3.1 Control interfaces
Control interfaces Setpoint specification via Signal type
Analogue [X1] (±10 V) Analogue signal
Synchronisation [X10] (5 V) A/B – tracking signals (RS422)
CLK/DIR – pulse/direction
CW/CCW – pulse
I/O [X1] (24 V) Digital I/O – signals for control of
record selection and jog mode
Fieldbus CANopen (FHPP/CiA DSP 402)
PROFIBUS-DP (FHPP)
DeviceNet (FHPP)
EtherCAT (FHPP/CiA 402)
EtherNet/IP (FHPP)
PROFINET (FHPP)
Tab. 3.1 Control interfaces
3.1.1 Overview of interfaces
Control interface Function Operation Mode Reference 
Analogue Analogue setpoint spe-
cification
– Speed adjustment
– Torque regulation
Chap. 6.5.1
45 ff
Synchronisation – Flying saw
– Synchronisation
(slave)
– Cam disc
–Chap. 6.5.2
47 ff
I/O – Record selection
–Jogmode
– Linked position sets
–Homingrun
– Cam disc
Position control Chap. 6.1.2
24 ff
Fieldbus Depending on the field-
bus profile
– Speed adjustment
– Torque regulation
– Position control
GDCP-CMMP-
M3-C-HP-...
GDCP-CMMP-
M3-C-CO-...
Tab. 3 .2 Interf aces

4 Fieldbus options
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 13
4 Fieldbus options
4.1 Supported fieldbuses
Different fieldbuses can be used with the CMMP-AS-...-M3. Standard with the CMMP-AS-...-M3 is that
the CAN bus is permanently integrated in the motor controller. Optionally, additional fieldbus interfaces
or card modules can be used. But only one fieldbus can be active at any given time.
For all fieldbuses, the Festo Profile for Handling and Positioning (FHPP) has been implemented as the
communication protocol. Additionally, for the CAN bus, the communication protocol based on the
CANopen profile in accordance with the CiA DS-301 and the drive profile in accordance with the CiA 402
have been implemented.
Independent of the field bus, a factor group can be used so that application data can be transferred
into user-specific units.
Fieldbus Connection Interface
(type)
Documentation – type
CANopen [X4] — GDCP-CMMP-M3-C-CO-... (CiA 402)
GDCP-CMMP-M3-C-HP-... (FHPP)
DeviceNet [Ext1] CAMC-DN GDCP-CMMP-M3-C-HP-... (FHPP)
DriveBus [X4] — GDCP-CMMP-M3-C-CO-... (CiA 402)
EtherCAT [Ext2] CAMC-EC GDCP-CMMP-M3-C-CO-... (CiA 402)
GDCP-CMMP-M3-C-HP-... (FHPP)
PROFIBUS DP [Ext2] CAMC-PB GDCP-CMMP-M3-C-HP-... (FHPP)
PROFINET [Ext2] CAMC-F-PN GDCP-CMMP-M3-C-HP-... (FHPP)
Ethernet/IP [Ext2] CAMC-F-EP GDCP-CMMP-M3-C-HP-... (FHPP)
Tab. 4.1 Fieldbus support
Fieldbus support files are included on the CD-ROM in the scope of supply of the motor
controller CMMP-AS-...-M3. Update on www.festo.com/download.

4 Fieldbus options
14 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
4.2 Required I/O connection for fieldbus control
CMMP-AS-...-M3
Fieldbus
X1/Pin
9
21
22
10
24
12
24 V DC
Controller enable / DIN5
Output stage enable / DIN4
Limit switch0 / DIN61)
Limit switch1 / DIN71)
Operating status / DOUT0
Default - motion complete / DOUT1
The connection plan shows the switch position in the active operating state.
1) The limit switches are set by default to N/C contact (configuration over FCT)
Fig. 4.1 Connection diagram: required I/O interface

5Service
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 15
5Service
5.1 Supported functions
Medium
Firmware Parameter file
load save load save
Memory card X – X X
Ethernet (TFTP) X – X X
FCT (Ethernet/USB) X – X X
Tab. 5.1 Supported functions
5.2 Memory card
Characteristic Description
Functions Copying (loading) a parameter set from the memory card to the
CMMP-AS-...-M3.
Copying (saving) a parameter set from the CMMP-AS-...-M3 to the
memory card.
Copying (loading) a firmware from the memory card to the
CMMP-AS-...-M3.
Supported card types MMC
1)
(version 3)
SD
1)
(version 1 and 2)
SDHC
1)
(from class 2)
Supported file systems FAT16
FAT32
Format filename 8.3
1) Recommended are industry-suitable cards from the Festo accessories programme.
Tab. 5.2 Characteristics of the memory card
Note
The filenames may only consist of upper case letters.
If lower case letters are used when the filename is issued, Windows automatically saves
the file in the file format for long filenames!
Filename extension Description Example
.mot Firmware file FW_CMMP-AS-M3_4P0_2P0.MOT
.dco Parameter file CMMP01.DCO
.txt Info file INFO.TXT
Tab. 5.3 Filename extension

5Service
16 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
5.2.1 Load firmware via memory card
Procedure for loading firmware via the memory card:
1. Make sure that the output stage enable is switched off.
2. Shift the switch [S3] onto ON.
3. Insert the memory card with the firmware into the module [M1].
4. Actuate the reset button
5. The motor controller checks whether a memory card is plugged in and includes loadable firmware.
Memory card plugged in and valid firmware version firmware is loaded.
6. The firmware update is signaled through “F.” on the digit representation with 7 segments.
7. The motor controller automatically starts the firmware by triggering a RESET.
8. The motor controller searches for the newest parameter file on the memory card and loads it into
the motor controller.
9. Shift the switch [S3] to ON.
Errors may occur in firmware download. Possible causes for this are:
– Memory card not plugged in
– Invalid firmware version
– Firmware file includes lower case letters
If one of these points is applicable, the firmware update is cancelled and an error reported.
The decimal point in the digit representation with 7 segments is also displayed in case of
errors that were detected or triggered through the bootloader.
If no memory card was found or there is no parameter set on the memory card, the para-
meter set valid before the firmware download is loaded.
If no memory card was found or there is no firmware on the memory card:
– Error 29-0 is reported
– The boot process is stopped (displayed through a decimal point on the digit repres-
entation with 7 segments).
It is recommended to have only one firmware file at a time on the SD card. In the case of
several files, the newest one is always loaded!
If the newest file is already included on the motor controller, no firmware update is car-
ried out.
5.2.2 Load parameter set from memory card
Parameterisation in the FCT can establish whether a parameter set is loaded from the memory card
when the motor controller is reset. Possible options:
– Use the newest parameter file.
– Load parameter file with specific name.
Loading of the parameter set is shown with a “d” on the digit representation with 7 segments.

5Service
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 17
5.3 Ethernet (TFTP)
5.3.1 Load firmware via Ethernet
Firmware can be loaded via the Ethernet interface [X18].
For computers that use Windows Vista or Windows 7 as operating system, the TFTP client and ports
must be specially activated or opened for the firewall.
Procedure with the program TFTP.EXE:
1. Make sure that the output stage enable is switched off.
2. Start the program CMD.EXE
3. Call up the program TFTP.EXE with the following syntax
4. tftp -i <ip-address> PUT <FILENAME.MOT>
<ip-address> = IP address of the motor controller
<FILENAME.MOT> = Filename of the firmware
5. The PC copies the firmware file locally into the motor controller.
6. The motor controller checks whether the firmware is appropriate.
7. If yes, the firmware version is checked.
Firmware version is the same -> error message “File already exists”
Firmware version is different -> Firmware update is started.
8. The firmware update is signaled through “F.” on the digit representation with 7 segments.
9. The motor controller automatically starts the firmware by triggering a RESET.
A firmware download is also possible if the firmware programming has been cancelled
and the controller does not have valid firmware. But observe that the controller in this
case may have a different IP address (if it procures it through DHCP).
Errors may occur in firmware download. Possible causes for this are:
– The firmware to be loaded is unsuitable for the device! (see FW header)
– Faulty S record received.
– Error when programming the S record in FLASH.
The decimal point in the digit representation with 7 segments is also displayed in case of
errors that were detected/triggered through the bootloader.
5.3.2 Load parameter set via Ethernet
A parameter set can be loaded via the Ethernet interface [X18].
For computers that use Windows Vista or Windows 7 as operating system, the TFTP client and ports
must be specially activated or opened for the firewall.
Procedure with the program TFTP.EXE:
1. Make sure that the output stage enable is switched off.
2. Start the program CMD.EXE
3. Call up the program TFTP.EXE with the following syntax

5Service
18 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
4. tftp -i <ip-address> PUT <FILENAME.DCO>
<ip-address> = IP address of the motor controller
<FILENAME.DCO> = Filename of the parameter set
5. The PC copies the firmware file locally into the motor controller.
6. The motor controller checks the parameter set.
Parameter set is the same -> Parameter set is not loaded
Parameter set is different => Parameter set update is started.
7. The parameter set update is signaled through “d” on the digit representation with 7 segments.
8. The motor controller automatically starts the firmware by triggering a RESET.
During Parameter set download, error 49-0 may occur. Possible causes for this are:
– Formatting error in the DCO file
– Faulty parameters in the DCO file (invalid value).
– Error during parameter access (read or write)
5.3.3 Save parameter set via Ethernet
A parameter set can be stored via the Ethernet interface [X18].
For computers that use Windows Vista or Windows 7 as operating system, the TFTP client and ports
must be specially activated or opened for the firewall.
Procedure with the program TFTP.EXE:
1. Make sure that the output stage enable is switched off.
2. Start the program CMD.EXE
3. Call up the program TFTP.EXE with the following syntax
4. tftp -i <ip-address> GET <FILENAME.DCO>
<ip-address> = IP address of the motor controller
<FILENAME.DCO> = Filename of the parameter set
5. Through the GET command, creation of the DCO file is started.
Creation of the DCO file takes approx. 1-2 seconds. Therefore, the first GET command is
answered with the error message “File not found”.
6. Enter the command “tftp -i <ip-address> GET <FILENAME.DCO>” again.
7. The motor controller copies the parameter set into the PC.

6Functions
Festo – GDCP-CMMP-M3-FW-EN – 1203NH 19
6 Functions
6.1 Position controller
6.1.1 Basic principles of the position controller
In the positioning mode, a certain position is specified to which the motor must move. The current posi-
tion is obtained from the information gained from the internal encoder analysis. The position deviation
is processed in the position controller and passed on to the speed regulator.
The integrated position controller allows jerk-limited or time-optimised positioning, either relative to
the current position or absolute with respect to a reference point. It provides setpoint values to the
position controller and, to improve the dynamic response, also to the speed regulator.
With absolute positioning, travel occurs directly to a defined target position. With relative positioning,
travel occurs around a parameterised path. The positioning range of 2
32
full rotations ensures that
relative positioning can occur as often as desired in a given direction. After the positioning range is
reached, the actual position runs over it without triggering an error. This overrunning must be taken into
account by the controller.
The positioning controller is parameterised via a target table. This contains entries for parameterising a
target via a communication interface and also target positions that can be access via the digital inputs.
The positioning method, travel profile, acceleration and braking times, and maximum speed can be
specified for every entry. All targets can be pre-parameterised. Positioning then only requires an entry
to be selected and a start command to be issued.
In the motor controller CMMP-AS-...-M3, 255 position records can be stored.
All position records have the following possible settings:
– Mode (relative or absolute positioning)
– Target position
– Speed
– Acceleration
– Braking deceleration
– Smoothing
– Start Condition
– Direction of rotation with modulo positioning
– Step criterion
– Record at digital input NEXT1
– Record at digital input NEXT2
– Ignore stop input
– End speed
– Synchronisation
– Remaining path message
– Torque feed forward
– Torque limitation
–StartDelay

6Functions
20 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
The positioning records can be addressed via digital inputs, fieldbus or the parameterisation software
FCT.
Absolute positioning linear/rotative axis
Here, the positioning target is moved to regardless of the current position. With absolute positioning
the target position is a fixed (absolute) position relative to the zero point or reference point.
Absolute positioning, modulo axis
The target position of the positioning record is travelled to with modulo correction. Example: 490°
for modulo 360, the axis is positioned to 130°.
Relative positioning, linear/rotative axis
With relative positioning, the target position is obtained by adding a value to the current position. Ref-
erencing is necessary to bring the drive into a defined position.
Concatenation of relative positioning can be used to continuously position in the same direction, such
as for a trimming unit or conveyor (incremental dimensions). The following options are available:
– Relative reference to the last target position
– Relative reference to the current position (actual position)
Relative positioning, modulo axis
The target position of the positioning record is not travelled to with modulo correction. Example: 490°
, the axis travels positively around 490°.
Positioning with analogue setpoint
The target position is determined through the analogue setpoint specification at AIN0 [X1]. The follow-
ing options are available:
– Absolute reference to the project zero point
– Relative reference to the last target position
– Relative reference to the current position
– Continuous positioning corresponding to the analogue setpoint specification (joystick function)
Speed
The maximum speed at which movement to the position is to take place.
Acceleration
Setpoint value of acceleration for the positioning record.
Deceleration
Setpoint value of the positioning record deceleration.
Smoothing
With travel profiles, a distinction is made between time-optimised and jerk-limited positioning. With
time-optimised positioning, motion occurs with the maximum specified acceleration and braking. The
drive moves to the target in the shortest possible time, the speed sequence is trapezoidal and the ac-
celeration sequence square. With jerk-limited positioning, the acceleration is trapezoidal and the speed
curve is third-order. Since the acceleration constantly changes, the drive moves in a manner that is
especially gentle to the mechanics.