Festo CMMP-AS-***-M3 Series User manual

Description
Device profile
CiA 402
for motor controller
CMMP-AS-...-M3
via fieldbus:
– CANopen
– EtherCAT
with interface
CAMC-EC
for motor controller
CMMP-AS-...-M0
via fieldbus:
– CANopen
8046795
1510b
CMMP‐AS‐...‐M3/-M0
CiA 402 for motor controller

CMMP‐AS‐...‐M3/-M0
2 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b –
Translation of the original instructions
GDCP-CMMP-M3/-M0-C-CO-EN
CANopen®, CiA®, EthetCAT®, TwinCAT®are registered trademarks of the respective trademark owners
in certain countries.
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries or serious material damage
Other symbols:
Note
Material damage or loss of function
Recommendations, tips, references to other documentation
Essential or useful accessories
Information on environmentally sound usage
Text designations:
 Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
Result of an action/References to more detailed information

CMMP‐AS‐...‐M3/-M0
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Table of Contents – CMMP‐AS‐...‐M3/-M0
Instructions on this documentation 7.................................................
Target group 7...................................................................
Service 7.......................................................................
Information on the version 7........................................................
Documentation 8................................................................
1 Fieldbus interfaces 9........................................................
2 CANopen [X4] 10............................................................
2.1 General information on CANopen 10.............................................
2.2 Cabling and pin assignment 11.................................................
2.2.1 Pin allocations 11...................................................
2.2.2 Cabling instructions 11...............................................
2.3 Configuration of CANopen stations on the CMMP-AS-...-M3 13........................
2.3.1 Setting of the node number 14.........................................
2.3.2 Setting of the transmission rate with DIP switches 15.......................
2.3.3 Activation of CANopen communication with DIP switches 15.................
2.3.4 Setting the physical units (factor group) 15...............................
2.4 Configuration of CANopen participants on the CMMP-AS-...-M0 16.....................
2.4.1 Setting the node number via DINs and FCT 17.............................
2.4.2 Setting the transmission rate via DINs or FCT 17...........................
2.4.3 Setting the protocol (data profile) via DINs or FCT 18.......................
2.4.4 Activation of CANopen communication via DINs or FCT 18...................
2.4.5 Setting the physical units (factor group) 19...............................
2.5 Configuration CANopen master 19..............................................
3 CANopen access procedure 20.................................................
3.1 Introduction 20.............................................................
3.2 SDO Access 21..............................................................
3.2.1 SDO Sequences for Reading and Writing 22...............................
3.2.2 SDO Error Messages 23...............................................
3.2.3 Simulation of SDO access 24..........................................
3.3 PDO Message 25............................................................
3.3.1 Description of the Objects 26..........................................
3.3.2 Objects for PDO Parametrisation 29.....................................
3.3.3 Activation of PDOs 34................................................
3.4 SYNC message 35...........................................................
3.5 EMERGENCY Message 36.....................................................
3.5.1 Overview 36........................................................
3.5.2 Structure of the EMERGENCY Message 37................................

CMMP‐AS‐...‐M3/-M0
4 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
3.5.3 Description of the Objects 37..........................................
3.6 Network Management (NMT Service) 39..........................................
3.7 Bootup 41.................................................................
3.7.1 Overview 41........................................................
3.7.2 Structure of the Bootup Message 41....................................
3.8 Heartbeat (Error Control Protocol) 42............................................
3.8.1 Overview 42........................................................
3.8.2 Structure of the Heartbeat Message 42..................................
3.8.3 Description of the Objects 42..........................................
3.9 Nodeguarding (Error Control Protocol) 43.........................................
3.9.1 Overview 43........................................................
3.9.2 Structure of the Nodeguarding Messages 43..............................
3.9.3 Description of the Objects 44..........................................
3.9.4 Object 100Dh: life_time_factor 45......................................
3.9.5 Table of Identifiers 45................................................
4 EtherCAT with CoE 46........................................................
4.1 Overview 46................................................................
4.2 EtherCat-Interface CAMC-EC 46.................................................
4.3 Installing the EtherCAT interface in the controller 48................................
4.4 Pin allocation and cable specifications 48.........................................
4.5 Configuration of EtherCAT participants 50........................................
4.5.1 Setting of the physical units of measure (Factor Group) 50...................
4.6 CANopen communication interface 51...........................................
4.6.1 Configuration of the Communication Interface 51..........................
4.6.2 New and revised objects under CoE 54...................................
4.6.3 Objects not supported under CoE 61....................................
4.7 Communication Finite State Machine 62..........................................
4.7.1 Differences between the finite state machines of CANopen and EtherCAT 64....
4.8 SDO Frame 65..............................................................
4.9 PDO Frame 66..............................................................
4.10 Error Control 68.............................................................
4.11 Emergency Frame 68.........................................................
4.12 XML Device Description File 69.................................................
4.12.1 Fundamental structure of the device description file 69.....................
4.12.2 Receive PDO configuration in the RxPDO node 71..........................
4.12.3 Transmit PDO configuration in the TxPDO node 73..........................
4.12.4 Initialisation commands via the “Mailbox” node 73.........................
4.13 Synchronisation (Distributed Clocks) 74..........................................
5 Setting parameters 75.......................................................
5.1 Loading and Saving Parameter Sets 75...........................................

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5.2 Compatibility settings 78......................................................
5.3 Conversion factors (factor group) 80.............................................
5.4 Output stage parameter 90....................................................
5.5 Current Regulator and Motor Adjustment 96......................................
5.6 Speed Control 103............................................................
5.7 Position Controller (Position Control Function) 105..................................
5.8 Setpoint value limitation 116....................................................
5.9 Encoder Adjustments 118......................................................
5.10 Incremental Encoder Emulation 122..............................................
5.11 Setpoint/Actual Value Activation 124.............................................
5.12 Analogue inputs 127..........................................................
5.13 Digital inputs and outputs 129..................................................
5.14 Limit Switch/Reference Switch 134...............................................
5.15 Sampling of Positions 137......................................................
5.16 Brake Activation 140..........................................................
5.17 Device Information 141........................................................
5.18 Error Management 148........................................................
6 Device Control 150............................................................
6.1 Status Diagram (State Machine) 150.............................................
6.1.1 Overview 150........................................................
6.1.2 Status diagram of the motor controller (state machine) 151...................
6.1.3 Control word (controlword) 156.........................................
6.1.4 Read-out of the motor controller status 159...............................
6.1.5 Status words (statuswords) 160.........................................
6.1.6 Description of the additional objects 170..................................
7 Operating modes 173.........................................................
7.1 Setting the operating mode 173.................................................
7.1.1 Overview 173........................................................
7.1.2 Description of the Objects 173..........................................
7.2 Operating mode reference travel (homing mode) 175................................
7.2.1 Overview 175........................................................
7.2.2 Description of the Objects 176..........................................
7.2.3 Reference Travel Processes 180.........................................
7.2.4 Control of Reference Travel 184.........................................
7.3 Positioning Operating Mode (Profile Position Mode) 186..............................
7.3.1 Overview 186........................................................
7.3.2 Description of the objects 187..........................................
7.3.3 Description of function 190.............................................
7.4 Synchronous position specification (interpolated position mode) 193...................
7.4.1 Overview 193........................................................

CMMP‐AS‐...‐M3/-M0
6 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
7.4.2 Description of the Objects 193..........................................
7.4.3 Description of function 199.............................................
7.5 Speed Adjustment Operating Mode (Profile Velocity Mode) 201........................
7.5.1 Overview 201........................................................
7.5.2 Description of the Objects 203..........................................
7.6 Speed ramps 209.............................................................
7.7 Torque Regulation Operating Mode (Profile Torque Mode) 212.........................
7.7.1 Overview 212........................................................
7.7.2 Description of the Objects 213..........................................
A Technical appendix 218........................................................
A.1 Technical Data Interface EtherCAT 218............................................
A.1.1 General 218.........................................................
A.1.2 Operating and environmental conditions 218...............................
B Diagnostic messages 219......................................................
B.1 Explanations on the diagnostic messages 219......................................
B.2 Error codes via CiA 301/402 220.................................................
B.3 Diagnostic messages with instructions for fault clearance 223.........................
Index 282........................................................................

CMMP‐AS‐...‐M3/-M0
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 7
Instructions on this documentation
This documentation describes the device profile CiA 402 (DS 402) for the motor controllers
CMMP‐AS‐...‐M3/-M0 conforming to the section “Information on the version” through the fieldbus
interfaces:
– CANopen – interface [X4] integrated into the motor controller.
– EtherCAT – optional interface CAMC-EC in the slot Ext2, only for CMMP-AS-...-M3.
This provides you with supplementary information about control, diagnostics and parametrisation of
the motor controllers via the fieldbus.
 Unconditionally observe the general safety regulations for the CMMP‐AS‐...‐M3/-M0.
The general safety regulations for the CMMP‐AS‐...‐M3/-M0 can be found in the hardware
description, GDCP-CMMP-AS-M3-HW-... or GDCP-CMMP-AS-M0-HW-..., see Tab. 2.
Target group
This description is intended exclusively for technicians trained in control and automation technology,
who have experience in installation, commissioning, programming and diagnosing of positioning
systems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This description refers to the following versions:
Motor controller Version
CMMP-AS-...-M3 Motor controller CMMP-AS-...-M3 from Rev 01
FCT plug-in CMMP-AS from Version 2.0.x.
CMMP-AS-...-M0 Motor controller CMMP-AS-...-M0 from Rev 01
FCT plug-in CMMP-AS from Version 2.0.x.
Tab. 1 Versions
This description does not apply to the older variants CMMP-AS-.... Use the assigned
CANopen description for the motor controller CMMP‐AS for these variants.
Note
With newer firmware versions, check whether there is a newer version of this descrip
tion available: www.festo.com/sp

CMMP‐AS‐...‐M3/-M0
8 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Documentation
You will find additional information on the motor controller in the following documentation:
User documentation on the motor controller CMMP-AS-...-M3/-M0
Name, type Contents
Hardware description,
GDCP-CMMP-M3-HW-...
Mounting and installation of the motor controller
CMMP-AS-...-M3 for all variants/output classes (1-phase,
3-phase), pin assignments, error messages, maintenance.
Description of functions,
GDCP-CMMP-M3-FW-...
Functional description (firmware) CMMP-AS-...-M3, instructions
on commissioning.
Hardware description,
GDCP-CMMP-M0-HW-...
Mounting and installation of the motor controller
CMMP-AS-...-M0 for all variants/output classes (1-phase,
3-phase), pin assignments, error messages, maintenance.
Description of functions,
GDCP-CMMP-M0-FW-...
Functional description (firmware) CMMP-AS-...-M0, instructions
on commissioning.
Description of FHPP,
GDCP-CMMP-M3/-M0-C-HP-...
Control and parameterisation of the motor controller via the
FHPP Festo profile.
– Motor controller CMMP-AS-...-M3 with the following
fieldbuses: CANopen, Modbus TCP, PROFINET, PROFIBUS,
EtherNet/IP, DeviceNet, EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbuses CANopen,
Modbus TCP.
Description of CiA 402 (DS 402),
GDCP-CMMP-M3/-M0-C-CO-...
Control and parameterisation of the motor controller via the
device profile CiA 402 (DS402)
– Motor controller CMMP-AS-...-M3 with the following
fieldbuses: CANopen and EtherCAT.
– Motor controller CMMP-AS-...-M0 with fieldbus CANopen.
Description of CAM editor,
P.BE-CMMP-CAM-SW-...
Cam disc function (CAM) of the motor controller
CMMP-AS-...-M3/-M0.
Description of the safety module,
GDCP-CAMC-G-S1-...
Functional safety engineering for the motor controller
CMMP-AS-...-M3 with the safety function STO.
Description of the safety module,
GDCP-CAMC-G-S3-...
Functional safety engineering for the motor controller
CMMP-AS-...-M3 with the safety functions STO, SS1, SS2, SOS,
SLS, SSR, SSM, SBC.
Description of the safety function
STO, GDCP-CMMP-AS-M0-S1-...
Functional safety engineering for the motor controller
CMMP-AS-...-M0 with the integrated safety function STO.
Description for exchange and
project conversion
GDCP-CMMP-M3/-M0-RP-...
Motor controller CMMP-AS-...-M3/-M0 as a replacement device
for previous motor controller CMMP-AS. Changes to the
electrical installation and description of project conversion.
Help for the FCT plug-in CMMP-AS User interface and functions of the CMMP-AS plug-in for the
Festo Configuration Tool.
www.festo.com/sp
Tab. 2 Documentation on the motor controller CMMP-AS-...-M3/-M0

1 General remarks
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 9
1 Fieldbus interfaces
Control and parameterisation via CiA 402 for the CMMP‐AS‐...‐M3/-M0 is supported correspondingly
through the fieldbus interfaces.Tab. 1.1 The CANopen interface is integrated into the motor controller;
through interfaces, the motor controller can be extended with additional fieldbus interfaces. The field
bus is configured with the DIP switches [S1].
Fieldbus Interface Description
CANopen [X4] – integrated Chapter 2
EtherCAT Interface CAMC-EC Chapter 4
Tab. 1.1 Fieldbus interfaces for CiA 402
M0 The motor controllers CMMP-AS-…-M0 are only equipped with the CANopen fieldbus
interface and do not feature any slots for interfaces, switches or safety modules.
1
2
3
4
5
1DIP switches [S1] for fieldbus settings
on the switch or safety module in slot Ext3
2Slots Ext1/Ext2 for interfaces
3CANopen terminating resistor [S2]
4CANopen interface [X4]
5CAN-LED
Fig. 1.1 Motor controller CMMP‐AS‐...‐M3: Front view, example with micro switch module in
Ext3

2 CANopen [X4]
10 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
2 CANopen [X4]
2.1 General information on CANopen
CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manu
facturers are organised in this network. This standard has largely replaced the current manufacturer-
specific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA Draft Standard 201 … 207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopen manual, so procurement of
DS 201 … 207 is generally not necessary.
CiA Draft Standard 301:
This book describes the fundamental design of the object directory of a CANopen device and access to
it. The statements of DS201 … 207 are also made concrete. The elements of the object directory
needed for the CMMP motor controller families and the related access methods are described in this
manual. Procurement of DS 301 is recommended but not unconditionally necessary.
CiA Draft Standard 402:
This book deals with the specific implementation of CANopen in drive controllers. Although all imple
mented objects are also briefly documented and described in this CANopen manual, the user should
have this book available.
Source address: www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1CiA Draft Standard 301, Version 4.02, 13 February 2002
2CiA Draft Standard Proposal 402, Version 2.0, 26 July 2002

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 11
2.2 Cabling and pin assignment
2.2.1 Pin allocations
The CAN interface is already integrated in the motor controller CMMP‐AS‐...‐M3/-M0 and thus is always
available. The CAN bus connection is designed as a 9-pole DSUB plug in accordance with standards.
[X4] Pin no. Designation Value Description
1 – – Unused
6CAN-GND – Ground
2 CAN-L – Negative CAN signal (dominant low)
7 CAN-H – Positive CAN signal (dominant high)
3CAN-GND – Ground
8 – – Unused
4 – – Unused
9 – – Unused
5CAN shield – Screening
Tab. 2.1 Pin assignment for CAN-interface [X4]
CAN bus cabling
When cabling the motor controller via the CAN bus, you should unconditionally observe
the following information and instructions to obtain a stable, trouble-free system.
If cabling is improperly done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for safety reasons.
Termination
A terminating resistor (120Ω) can, if required, be switched by means of DIP switch S2 = 1 (CAN Term)
on the basic unit.
2.2.2 Cabling instructions
The CAN bus offers a simple, fail-safe ability to network all the components of a system together. But a
requirement for this is that all of the following instructions on cabling are observed.

2 CANopen [X4]
12 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
120 Ω120 Ω
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
Fig. 2.1 Cabling example
– The individual nodes of the network are connected point-to-point to each other, so the CAN cable is
looped from controller to controller (Fig. 2.1).
– A terminating resistor of exactly 120Ω +/5% must be available at both ends of the CAN cable.
Such a terminating resistor is often already integrated into CAN cards or PLCs, which must be taken
into account correspondingly.
– A screened cable with precisely two twisted conductor pairs must be used for the cabling.
One twisted pair is used for connecting CAN-H and CAN-L. The conductors of the other pair are used
together for CAN-GND. The cable screening is connected to the CAN shield connection at all nodes.
(A table with the technical data of usable cables is located at the end of this chapter.)
– The use of adapters is not recommended for CAN bus cabling. If this is unavoidable, then metallic
plug housings should be used to connect the cable screening.
– To keep the disturbance coupling as low as possible, motor cables should not be laid parallel to
signal lines. Motor cables must conform to specifications. Motor cables must be correctly shielded
and earthed.
– For additional information on design of trouble-free CAN bus cabling, refer to the Controller Area
Network protocol specification, Version 2.0 from Robert Bosch GmbH, 1991.
Characteristic Value
Wire pairs – 2
Wire cross section [mm2]0.22
Screening – Yes
Loop resistance [Ω / m] 0.2
Surge impedance [Ω]100…120
Tab. 2.2 Technical data, CAN bus cable

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 13
2.3 Configuration of CANopen stations on the CMMP-AS-...-M3
M3 This section is only applicable for the motor controller CMMP-AS-…-M3.
Several steps are required in order to produce an operational CANopen interface. Some of these set
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. As some
parameters are only effective after saving and reset, we recommend that commissioning with the FCT
without connection to the CANopen bus should be carried out first.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the offset of the node number, bit rate and activation of the bus communication via DIP
switches.
The status of the DIP switches is read once at Power ON / RESET.
The CMMP-AS takes over changes to the switch setting in ongoing operation only at the
next RESET or restart
2. Parametrisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
–CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
–Basic address of the node number
–Protocol CANopen DS 402 (Operating parameter tab)
–Physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopen master Sections 2.5 and 3.

2 CANopen [X4]
14 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
2.3.1 Setting of the node number
Each device in the network must be assigned a unique node number.
The node number can be set via the DIP switches 1 … 5 on the module in slot Ext3 and in the program
FCT.
The resulting node number consists of the base address (FCT) and the offset
(DIP switches).
Permissible values for the node number lie in the range 1 … 127.
Setting of the offset of the node number with DIP switches
Setting of the node number can be made with DIP switch 1 … 5. The offset of the node number set via
DIP switches 1 … 5 is displayed in the program FCT on the Fieldbus page in the Operating Parameters
tab.
DIP switches Value Example
ON OFF Value
1 1 0 ON 1
2 2 0 ON 2
3 4 0 OFF 0
4 8 0 ON 8
5 16 0 ON 16
Total 1 … 5 = Offset 1 … 31 1) 27
1) The value 0 for the offset is interpreted in connection with a base address 0 as node number 1.
A node number greater than 31 must be set with the FCT.
Tab. 2.3 Setting of the offset of the node number
Setting the base address of the node number with FCT
With the FestoConfigurationTool (FCT), the node number is set as base address on the Fieldbus page
in the Operating Parameters tab.
Default setting = 0 (that means offset = node number).
If a node number is assigned simultaneously via DIP switches 1…5 and in the FCT pro
gram, the resulting node number consists of the sum of the base address and the offset.
If this sum is greater than 127, the value is automatically limited to 127.

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 15
2.3.2 Setting of the transmission rate with DIP switches
The transmission rate must be set with DIP switches 6 and 7 on the module in slot Ext3. The status of
the DIP switches is read one time at Power On/RESET. The CMMP-AS-...-M3 takes over changes to the
switch setting in ongoing operation only at the next RESET.
Transmission rate DIP switch 6 DIP switch 7
125 [kbit/s] OFF OFF
250 [kbit/s] ON OFF
500 [kbit/s] OFF ON
1 [Mbps] ON ON
Tab. 2.4 Setting of the transmission rate
2.3.3 Activation of CANopen communication with DIP switches
When the node number and transmission rate have been set, CANopen communication can be
activated. Please note that the above-mentioned parameters can only be revised when the protocol is
deactivated.
CANopen communication DIP switch 8
Deactivated OFF
Enabled ON
Tab. 2.5 Activation of CANopen communication
Please observe that CANopen communication can only be activated after the parameter set (the FCT
project) has been saved and a Reset carried out.
If another fieldbus interface is plugged into Ext1 or Ext2 (chapter 1), CANopen commu
nication is activated with DIP switch 8 instead of via [X4] of the corresponding fieldbus.
2.3.4 Setting the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section 5.3.
Parameterisation can be carried out via FCT or the fieldbus.

2 CANopen [X4]
16 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
2.4 Configuration of CANopen participants on the CMMP-AS-...-M0
M0 This section is only applicable for the motor controller CMMP-AS-…-M0.
Several steps are required in order to produce an operational CANopen interface. Some of these set
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parameterisation and configuration.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parameterisation of the fieldbus connection take place on both pages. We recommend that
parameterisation of the slave should be executed first. Then the master should be configured.
The CAN-bus-specific parameters can be set on two paths. These paths are separated from one another
and are accessed via the option “Fieldbus parameterisation via DINs” on the “Application data” page in
the FCT.
The option “Fieldbus parameterisation via DINs” is active on delivery and after a reset to the factory
settings. Parameterisation with FCT for activation of the CAN bus is thus not absolutely necessary.
The following parameters can be set via the DINs or FCT:
Parameters Setting via
DIN FCT
Node number 0 … 3 1) “Fieldbus” page, operating parameters.
Activation of the CAN bus is performed automatically by
FCT (dependent on device control):
– Device control by FCT }CAN deactivated
– Device control released }CAN activated
Transmission rate (bit rate) 12, 13 1)
Input/activation 8
Protocol (data profile) 9 2)
1) Only transferred in the event of inactive CAN communication
2) Only transferred after a device RESET
Tab. 2.6 Overview of settings for CAN parameters via DINs or FCT

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 17
2.4.1 Setting the node number via DINs and FCT
Each device in the network must be assigned a unique node number.
The node number can be set via the digital inputs DIN0 … DIN3 and in the FCT programme.
Permissible values for the node number lie in the range 1 … 127.
Setting the offset of the node number via DINs
The node number can be set via the circuitry of the digital inputs DIN0 … DIN3. The offset of the node
number set via the digital inputs is displayed in the FCT programme on the “Fieldbus” panel in the “Op
erating parameters” tab.
DINs Value Example
High Low Value
0 1 0 High 1
1 2 0 High 2
2 4 0 Low 0
3 8 0 High 8
Total 0 … 3 = node number 0 … 15 11
Tab. 2.7 Setting the node number
Setting the base address of the node number via FCT
The base address of the node number can be set via FCT on the “Fieldbus” panel in the “Operating
parameters” tab.
The resulting node number is dependent on the option “Fieldbus parameterisation via DINs” on the
“Application data” page. If this option is activated, the node number is determined by adding the base
address in the FCT to the offset via the digital inputs DIN0…3.
If the option is deactivated, the base address in the FCT corresponds to the resulting node number.
2.4.2 Setting the transmission rate via DINs or FCT
The transmission rate can be set via the digital inputs DIN12 and DIN13 or in the FCT.
Setting the transmission rate via DINs
Transmission rate DIN 12 DIN 13
125 [Kbit/s] Low Low
250 [Kbit/s] High Low
500 [Kbit/s] Low High
1 [Mbit/s] High High
Tab. 2.8 Setting the transmission rate

2 CANopen [X4]
18 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Setting the transmission rate via FCT
The transmission rate can be set via FCT on the “Fieldbus” panel in the “Operating parameters” tab. The
option “Fieldbus parameterisation via DINs” must be deactivated beforehand on the “Application data”
panel. When this option is deactivated, DIN12 and DIN13 can be parameterised freely again. Optionally,
however, AIN1 and AIN2 can also be parameterised with the FCT.
2.4.3 Setting the protocol (data profile) via DINs or FCT
The protocol (data profile) can be set via the digital input DIN9 or the FCT.
Setting the protocol (data profile) via DINs
Protocol (data profile) DIN 9
CiA 402 (DS 402) Low
FHPP High
Tab. 2.9 Activating the protocol (data profile)
Setting the protocol (data profile) via FCT
The protocol is set via FCT on the “Fieldbus” page in the “Operating parameters” tab.
2.4.4 Activation of CANopen communication via DINs or FCT
When the node number, transmission rate and protocol (data profile) have been set, CANopen commu
nication can be activated.
Activation of CANopen communication via DIN
CANopen communication DIN 8
Deactivated Low
Enabled High
Tab. 2.10 Activation of CANopen communication
The device does not need to be reset again for activation via digital input. The CAN bus is
activated immediately after a level change (Low }High) at DIN8.
Activation of CANopen communication via FCT
CANopen communication is automatically activated by the FCT if the option “Fieldbus parameterisation
via DINs” is deactivated.
The CAN bus is switched off for as long as the device control remains with FCT.

2 CANopen [X4]
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 19
2.4.5 Setting the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
section 5.3.
Parameterisation can be carried out via FCT or the fieldbus.
2.5 Configuration CANopen master
You can use an EDS file to configure the CANopen master.
The EDS file is included on the CD-ROM supplied with the motor controller.
You will find the most current version under www.festo.com/sp
EDS files Description
CMMP-AS-...-M3.eds Motor controller CMMP-AS-...-M3 with protocol “CiA402 (DS 402)”
CMMP-AS-...-M0.eds Motor controller CMMP-AS-...-M0 with protocol “CiA402 (DS 402)”
Tab. 2.11 EDS files for CANopen

3 CANopen access procedure
20 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
3 CANopen access procedure
3.1 Introduction
CANopen makes available a simple and standardised possibility to access the parameters of the motor
controller (e.g. the maximum motor current). To achieve this, a unique number (index and subindex) is
assigned to each parameter (CAN object). The totality of all adjustable parameters is designated an
object directory.
For access to the CAN objects through the CAN bus, there are fundamentally two methods available: a
confirmed access type, in which the motor controller acknowledges each parameter access (via so-
called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called
PDOs).
Confirmation from
the controller
Order from controller
Control
system
CMMP
SDO Confirmation from
the controller
Control
system
CMMP
PDO (transmit PDO)
Data from controller
Control
system
CMMP
PDO (receive PDO)
Fig. 3.1 Access procedure
As a rule, the motor controller is parametrised and also controlled via SDO access. In addition, other
types of messages (so-called communication objects), which are sent either by the motor controller or
the higher-level controller, are defined for special application cases:
Communication objects
SDO Service Data Object Used for normal parametrisation of the motor controller.
PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible
SYNC Synchronisation Message Synchronisation of multiple CAN nodes
EMCY Emergency message Transmission of error messages
NMT Network management Network service: All CAN nodes can be worked on
simultaneously, for example.
HEART
BEAT
Error Control Protocol Monitoring of the communications participants through
regular messages.
Tab. 3.1 Communication objects