Festo CMMP Series User manual

Beschneiden:
Oben: 61,5 mm
Unten: 61,5 mm
Links: 43,5 mm
Rechts: 43,5 mm
CANopen for Motor Controller
CMMP…
Manual
CANopen
CMMP…
Manual
557 344
de 0708NH
[723 757]

Festo P.BE-CMMP-CO-SW-EN 0708NH 3
Edition ____________________________________ _______________________en 0708NH
Description ________________________________ _____________ P.BE-CMMP-CO-SW-EN
Order no. __________________________________ _________________________ 557 344
(Festo AG & Co. KG, D-73726 Esslingen, 2008)
Internet: http://www.festo.com
Mail: [email protected]
The copying, distribution and utilization of this document as well as the communication of
its contents to others without expressed authorization is prohibited. Offenders will be
held liable for the payment of damages. All rights reserved, in particular the right to carry
out patent, utility model or ornamental design registrations.

4 Festo P.BE-CMMP-CO-SW-EN 0708NH
Index of Revisions
Preparer:
Festo AG & Co. KG
Manual name:
CANopen for Motor controller CMMP
File name:
File location:
Serial No.
Manual
Revision index
Date of change
001
Creation
0708NH
24.04.2008
Trade names
Microsoft and Windows are either registered trademarks or trademarks of Microsoft
Corporation in the United States and/or other countries.

C
Festo P.BE-CMMP-CO-SW-EN 0708NH 5
Contents
1. General information................................................................................................ 9
1.1 Documentation...................................................................................................... 9
1.2 CANopen ............................................................................................................. 10
2. Safety instructions for electrical drives and controllers ...................................... 11
2.1 General Information ............................................................................................ 11
2.2 Hazards due to Incorrect Use............................................................................... 12
2.3 Safety instructions .............................................................................................. 13
2.3.1 General safety information .................................................................. 13
2.3.2 Safety Instructions for Installation and Maintenance........................... 15
2.3.3 Protection against Contact with Electrical Parts................................... 17
2.3.4 Protection against Electrical Shocks through Low-Voltage
Protection (PELV) ................................................................................. 19
2.3.5 Protection against Hazardous Movements .......................................... 19
2.3.6 Protection against Contact with Hot Parts............................................ 20
2.3.7 Protection when Handling and Installing ............................................. 20
3. Cabling and Plug Assignment............................................................................... 22
3.1 Pin Allocations..................................................................................................... 22
3.2 Cabling Note........................................................................................................ 23
4. Activation of CANopen........................................................................................... 24
4.1 Overview ............................................................................................................. 24
5. Access Procedure .................................................................................................. 25
5.1 Introduction......................................................................................................... 25
5.2 SDO Access ......................................................................................................... 26
5.2.1 SDO Sequences for Reading and Writing ............................................. 26
5.2.2 SDO Error Messages ............................................................................ 28
5.2.3 Simulation of SDO Access via RS232 ................................................... 29
5.3 PDO Message ...................................................................................................... 30
5.3.1 Description of the Objects ................................................................... 31
5.3.2 Objects for PDO Parameter Setting...................................................... 34
5.3.3 Activation of PDOs ............................................................................... 40
5.4 SYNC message..................................................................................................... 40
5.5 EMERGENCY Message ......................................................................................... 41
5.5.1 Overview.............................................................................................. 41
5.5.2 Structure of the EMERGENCY Message ................................................ 42
5.5.3 Description of the Objects ................................................................... 45
5.6 Network Management (NMT Service) .................................................................. 47

C
C
6 Festo P.BE-CMMP-CO-SW-EN 0708NH
5.7 Bootup ................................................................................................................ 49
5.7.1 Overview.............................................................................................. 49
5.7.2 Structure of the Bootup Message ........................................................ 49
5.8 Heartbeat (error control protocol) ....................................................................... 49
5.8.1 Overview.............................................................................................. 49
5.8.2 Structure of the Heartbeat Message .................................................... 49
5.8.3 Description of the Objects ................................................................... 50
5.9 Nodeguarding (error control protocol) ................................................................ 50
5.9.1 Overview.............................................................................................. 50
5.9.2 Structure of the Nodeguarding messages............................................ 51
5.9.3 Description of the Objects ................................................................... 51
5.9.4 Objekt 100Dh: life_time_factor............................................................. 52
6. Setting Parameters ............................................................................................... 54
6.1 Load and Save Parameter Sets............................................................................ 54
6.1.1 Overview.............................................................................................. 54
6.1.2 Description of the Objects ................................................................... 56
6.2 Compatibility settings.......................................................................................... 57
6.2.1 Overview.............................................................................................. 57
6.2.2 Description of the Objects ................................................................... 57
6.3 Conversion Factors (Factor Group) ...................................................................... 59
6.3.1 Overview.............................................................................................. 59
6.3.2 Description of the Objects ................................................................... 60
6.4 Final stage parameters ........................................................................................ 68
6.4.1 Overview.............................................................................................. 68
6.4.2 Description of the Objects ................................................................... 69
6.5 Current Regulator and Motor Adjustment............................................................ 76
6.5.1 Overview.............................................................................................. 76
6.5.2 Description of the Objects ................................................................... 77
6.6 Speed regulator................................................................................................... 84
6.6.1 Overview.............................................................................................. 84
6.6.2 Description of the Objects ................................................................... 84
6.7 Position Controller (Position Control Function).................................................... 86
6.7.1 Overview.............................................................................................. 86
6.7.2 Description of the Objects ................................................................... 89
6.8 Nominal value limitation ..................................................................................... 98
6.8.1 Description of the Objects ................................................................... 98
6.9 Encoder adjustments......................................................................................... 101
6.9.1 Overview............................................................................................ 101
6.9.2 Description of the Objects ................................................................. 101

C
Festo P.BE-CMMP-CO-SW-EN 0708NH 7
6.10 Incremental encoder emulation......................................................................... 106
6.10.1 Overview............................................................................................ 106
6.10.2 Description of the Objects ................................................................. 106
6.11 Command/feedback value activation ................................................................ 107
6.11.1 Overview............................................................................................ 107
6.11.2 Description of the Objects ................................................................. 108
6.12 Analogue inputs ................................................................................................ 111
6.12.1 Overview............................................................................................ 111
6.12.2 Description of the Objects ................................................................. 111
6.13 Digital inputs and outputs................................................................................. 113
6.13.1 Overview............................................................................................ 113
6.13.2 Description of the Objects ................................................................. 113
6.14 Limit switch/homing switch............................................................................... 117
6.14.1 Overview............................................................................................ 117
6.14.2 Description of the Objects ................................................................. 117
6.15 Sampling of positions........................................................................................ 119
6.15.1 Overview............................................................................................ 119
6.15.2 Description of the Objects ................................................................. 120
6.16 Brake triggering................................................................................................. 123
6.16.1 Overview............................................................................................ 123
6.16.2 Description of the Objects ................................................................. 123
6.17 Device Information ............................................................................................ 124
6.17.1 Description of the Objects ................................................................. 124
6.18 Error management............................................................................................. 131
6.18.1 Overview............................................................................................ 131
6.18.2 Description of the Objects ................................................................. 131
7. Device control ..................................................................................................... 134
7.1 Condition diagram (state machine) ................................................................... 134
7.1.1 Overview............................................................................................ 134
7.1.2 The Condition Diagram of the Motor Controller (State Machine) ....... 135
7.1.3 Controlword (control word)................................................................ 139
7.1.4 Read-Out of the Motor Controller Condition ...................................... 142
7.1.5 Statuswords (status words)............................................................... 143
7.1.6 Description of the other objects......................................................... 151

C
C
8 Festo P.BE-CMMP-CO-SW-EN 0708NH
8. Operating modes ................................................................................................ 154
8.1 Setting the operating mode............................................................................... 154
8.1.1 Overview............................................................................................ 154
8.1.2 Description of the Objects ................................................................. 154
8.2 Operating Mode Reference Travel (Homing Mode)............................................ 156
8.2.1 Overview............................................................................................ 156
8.2.2 Description of the Objects ................................................................. 157
8.2.3 Reference Travel Processes ............................................................... 162
8.2.4 Control of Reference Travel................................................................ 167
8.3 Positioning Operating Mode (Profile Position Mode)......................................... 168
8.3.1 Overview............................................................................................ 168
8.3.2 Description of the Objects ................................................................. 169
8.3.3 Functional description ....................................................................... 172
8.4 Interpolated position mode ............................................................................... 174
8.4.1 Overview............................................................................................ 174
8.4.2 Description of the Objects ................................................................. 175
8.4.3 Functional description ....................................................................... 182
8.5 RPM Regulation Operating Mode (Profile Velocity Mode).................................. 184
8.5.1 Overview............................................................................................ 184
8.5.2 Description of the Objects ................................................................. 186
8.6 Velocity ramps................................................................................................... 192
8.7 Torque Regulation Operating Mode (Profile Torque Mode) ............................... 195
8.7.1 Overview............................................................................................ 195
8.7.2 Description of the Objects ................................................................. 196
9. Index ................................................................................................................... 201

1. General information
Festo P.BE-CMMP-CO-SW-EN 0708NH 9
1. General information
1.1 Documentation
This manual describes how the motor controller of the CMMP series can be integrated into
a CANopen network environment. It describes setting of the physical parameters,
activation of CANopen protocol, integration into the CAN network and communication with
the motor controller. It is directed at people who are already familiar with this motor
controller series.
It contains safety instructions that must be observed.
You will find additional information in the following manuals for the CMMP product family:
-Start-up "CMMP motor controller":
Description of the device function and software functions of the firmware, including
RS232 communication. Description of the parameterisation software with instructions
for the initial start-up of a motor controller of the CMMP series.
-Description "CMMP motor controller":
Description of the technical data and device function as well as information on the
installation and operation of the CMMP motor controller.
About the Version
The hardware version indicates the version status of the mechanical equipment and
electronics. The firmware version indicates the version status of the operating system.
You can find the specifications on the version status as follows:
-Hardware version and firmware version in the parameterisation software for active
device connection under "Device data".
Firmware
Hardware
Parameterisation
software
Comment
V1.0

1. General information
10 Festo P.BE-CMMP-CO-SW-EN 0708NH
1.2 CANopen
CANopen is a standard worked out by the "CAN in Automation" association. A number of
device manufacturers are organised in this association. This standard has largely replaced
the current manufacturer-specific CAN protocols. As a result, the end user has a
manufacturer-independent communication interface.
The following manuals, among others, can be obtained from this association:
CiA Draft Standard 201 … 207
These documents cover the general 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 DS201 … 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 DS301 is recommended but not
absolutely necessary.
CiA Draft Standard 402
This book covers concrete implementation of CANopen in drive regulators. Although all
implemented objects are also briefly documented and described in this CANopen manual,
the user should have this book available.
Source of supply:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: [phone]
Fax: [phone]
www.can-cia.de
The CANopen implementation of the motor controller is based on the following
standards:
[1]
-]
CiA Draft Standard 301,
Version 4.02,
13. February 2002
[2]
-]
CiA Draft Standard Proposal 402,
Version 2.0,
26. July 2002

2. Safety instructions for electrical drives and controllers
Festo P.BE-CMMP-CO-SW-EN 0708NH 11
2. Safety instructions for electrical drives and
controllers
2.1 General Information
Festo AG & Co.KG accepts no liability for damage due to failure to observe the warnings in
these operating instructions.
Please note
Before start-up, read Safety instructions for electrical drives and
controllers starting with page 11.
If the documentation in this language cannot be understood correctly, please ask and
inform the supplier.
Correct and safe operation of the motor controller requires appropriate and correct
transportation, storage, mounting and installation as well as careful operation and
maintenance.
Please note
Only trained and qualified personnel may work with electrical
equipment:
Trained and Qualified Personnel
as defined by this product manual or the warnings on the product itself are people who
are sufficiently familiar with the set-up, mounting, start-up and operation of the product
as well as with all warnings and protective measures in accordance with these operating
instructions and have the qualifications corresponding to their work:
-Training and instruction or authorisation to switch devices/system on and off, earth
and properly mark them in accordance with the standards of safety technology.
-Training or instruction in accordance with the standards of safety technology in the
maintenance and use of suitable safety equipment.
-Training in first aid.
The following remarks must be read before the system is placed in operation for the first
time to avoid bodily injury or property damage:
Always comply with these safety instructions.

2. Safety instructions for electrical drives and controllers
12 Festo P.BE-CMMP-CO-SW-EN 0708NH
Do not try to install the motor controller or place it into operation
before you have carefully read all safety instructions for electrical
drives and controls in this document.
These safety instructions and all other user instructions must be
read before each work with the motor controller.
If no user instructions are available for the motor controller, please
contact your sales representative.
Demand the immediate sending of these documents to the
person or persons responsible for safe operation of the motor
controller.
If the motor controller is sold, rented or lent or passed on to a third
party in any other way, these safety instructions must also be
passed on.
The operator is not permitted to open the motor controller for
safety and guarantee reasons.
The requirement for proper functioning of the motor controller is
correct project planning!
Warning
DANGER!
Incorrect handling of the motor controller and failure to observe the
warnings specified here as well as improper tampering with the
safety equipment may result in property damage, bodily injury,
electric shock or, in extreme cases, death.
2.2 Hazards due to Incorrect Use
Warning
DANGER!
High electrical voltage and high load current!
Danger of death or severe bodily injury from electric shock!

2. Safety instructions for electrical drives and controllers
Festo P.BE-CMMP-CO-SW-EN 0708NH 13
Warning
DANGER!
High electrical voltage due to incorrect connection!
Danger of death or bodily injury from electric shock!
Warning
DANGER!
Device housing surfaces may be hot!
Danger of injury! Danger of burns!
Warning
DANGER!
Dangerous movements!
Danger of death, severe bodily injury or property damage from
unintended movements of the motors!
2.3 Safety instructions
2.3.1 General safety information
Warning
The motor controller corresponds to protective class IP20 and
contamination class 1.
Care must be taken that the environment corresponds to this
protection and contamination class.
Warning
Use only accessories and replacement parts permitted by the
manufacturer.
Warning
In accordance with EN standards and VDE regulations, the motor
controllers must be connected in such a way that they can be
disconnected from the mains network with suitable isolation means
(e.g. main switch, fuse, circuit breaker).

2. Safety instructions for electrical drives and controllers
14 Festo P.BE-CMMP-CO-SW-EN 0708NH
The motor controller can be protected with an AC/DC-sensitive RCD
circuit breaker (RCD = Residual Current protective Device) of
300 mA.
Warning
For switching the control contacts, gold contacts or contacts with
high contact pressure should be used.
As a precautionary measure, fault-elimination measures for
switching systems must be taken, such as wiring fuses and relays
with RC filters or diodes.
Observe the safety regulations and stipulations of the country in
which the device is used.
Warning
The environmental conditions specified in the product
documentation must be complied with.
Safety-critical applications are not permitted unless expressly
approved by the manufacturer.
The instructions for an EMC-suitable installation should be taken
from the product manual of the CMMP family.
Compliance with the limit values required by the national
regulations is the responsibility of the manufacturer of the system
or machine.
Warning
The technical data, connection and installation requirements for
the motor controller must be taken from this product manual and
must absolutely be complied with.

2. Safety instructions for electrical drives and controllers
Festo P.BE-CMMP-CO-SW-EN 0708NH 15
Warning
DANGER!
The general construction and safety regulations for work on high-
voltage power installations (e.g. DIN, VDE, EN, IEC or other national
and international regulations) must be observed.
Failure to do so can result in death, bodily injury or significant
property damage.
The following precautionary measures also apply without claim to
completeness:
-VDE 0100 Stipulation for construction of power
installations of up to 1000 volts
-EN 60204 Electrical equipment of machines
-EN 50178 Equipping high-voltage systems with
electronic operating media
2.3.2 Safety Instructions for Installation and Maintenance
For installation and maintenance of the system, the relevant DIN, VDE, EN and IEC
regulations as well as all governmental and local safety and accident protection
regulations apply. The system builder or operator must ensure compliance with these
regulations:
Warning
Operation, maintenance and/or repair of the motor controller may
only be performed by personnel trained and qualified for the work
or for work with electrical devices.
Avoidance of accidents, bodily injury and/or property damage:
Warning
The standard-delivery motor brake or an external motor brake
controlled by the drive control device is not adequate by itself for
personal protection!
Additionally secure vertical axes against falling or dropping
after the motor is switched off, such as by:
- mechanical locking of the vertical axis,
- external brake/catch/clamping device or
- adequate counterbalancing of the axis.

2. Safety instructions for electrical drives and controllers
16 Festo P.BE-CMMP-CO-SW-EN 0708NH
Warning
During operation and up to about 5 minutes after the motor
controller is switched off, the external or internal braking resistance
can create dangerous intermediate circuit voltage, which can cause
death or severe bodily injury on contact.
Before performing maintenance work, make sure that the power
supply is switched off, interlocked and the intermediate circuit
discharged.
Switch off power to the electrical equipment via the main switch
and secure it against being switched back on. Wait until the
intermediate circuit is discharged for:
- maintenance work and repair
- cleaning
- long interruptions in operation.
Warning
Care must be taken during installation. During both installation and
later operation of the drive, make sure that no shavings, metal dust
or installation parts (screws, nuts, sections of pipe) fall into the
motor controller.
Also make sure that the external power supply of the control
section (24 V) is switched off.
Power to the power section must always be switched off before
switching off the 24 V power supply to the control section.
Warning
Perform work in the machine area Tonly with the AC or DC power
supply switched off and locked out.
Switched-off final stages or controller enable are not appropriate
lockouts. In case of malfunction, this can result in unintended
running of the drive.
Warning
Perform start-up with the motor running at idle to avoid
mechanical damage, such as through incorrect direction of
rotation.

2. Safety instructions for electrical drives and controllers
Festo P.BE-CMMP-CO-SW-EN 0708NH 17
Warning
Electronic devices are not fail-safe.
The user is responsible for returning the system to a safe
condition if the electrical device fails.
Warning
DANGER!
The motor controller and, in particular, the brake resistance,
external or internal, can take on high temperatures, which can
cause severe bodily burns on contact.
2.3.3 Protection against Contact with Electrical Parts
This section refers only to devices and drive components with voltages above 50 volts.
Parts with voltages above 50 volts can be hazardous to people and result in electric shock
if touched. When electrical devices are operated, certain parts of these devices are by
necessity under hazardous voltage.
Warning
Potentially fatal voltage!
High electrical voltage!
Danger of death or severe bodily injury from electric shock!
For installation and maintenance of the system, the relevant DIN, VDE, EN and IEC
regulations as well as all governmental and local safety and accident protection
regulations apply. The system builder or operator must ensure compliance with these
regulations:
Warning
Before switching on devices, attach intended covers and protective
equipment for protection against contact.
For installed devices, ensure protection against direct touching of
electrical parts by means of a control cabinet, for example.
The VGB4 regulations must be followed!
Warning
Always firmly connect the earthed conductor of the electrical
equipment and devices to the mains power supply.
Due to the integrated net filter, leakage current is greater than
3.5 mA!

2. Safety instructions for electrical drives and controllers
18 Festo P.BE-CMMP-CO-SW-EN 0708NH
Warning
In accordance with standard EN 60617, pay attention to the
minimum copper diameter for the protective conductor connection
in its entire length!
Warning
Prior to start-up, also for short-time measurement and testing
purposes, always connect the protective conductor to all electrical
devices in accordance with the connection plan or with the earthing
conductor.
Otherwise, high voltages may occur on the housing, which can
cause electric shock.
Warning
Do not touch the components' electrical connection points in the
switched-on state.
Warning
Before access to electrical parts with voltages greater than
50 volts, separate the device from the mains network or the
voltage source.
Secure to prevent switching back on.
Warning
During installation, pay attention to the level of intermediate circuit
voltage especially with regard to insulation and protective
measures.
Ensure proper earthing, conductor dimensioning and appropriate
protection against short circuiting.
Warning
The device has an intermediate fast discharge circuit in accordance
with EN 60204 section 6.2.4. In certain device constellations,
particularly where several motor controllers are switched parallel in
the intermediate circuit or with a non-connected braking resistance,
the fast discharge may not have any effect. The motor controllers
can remain under dangerous voltage for up to 5 minutes after they
are switched off (residual condensor charge).

2. Safety instructions for electrical drives and controllers
Festo P.BE-CMMP-CO-SW-EN 0708NH 19
2.3.4 Protection against Electrical Shocks through Low-Voltage
Protection (PELV)
All connections and terminals with voltages from 5 to 50 volts on the motor controller are
of the low-voltage protection type, which are designed to be shock-proof in accordance
with the following standards:
-International: IEC 60364-4-41
-European countries in the EU: EN 50178/1998, section 5.2.8.1
Warning
DANGER!
High electrical voltage due to incorrect connection!
Danger of death or injury from electric shock!
Only devices, electrical components and lines with low-voltage protection (PELV =
Protective Extra Low Voltage) can be connected to any connections and terminals with
voltages from 0 to 50 volts.
Connect only voltages and circuits with safe separation from dangerous voltages.
Safe separation is achieved through isolating transformers, secure optocouplers or
mains-free battery operation.
2.3.5 Protection against Hazardous Movements
Hazardous movements can also be caused by faulty triggering of connected motors.
The causes can be of the most varied of kinds:
-dirty or defective wiring or cabling
-errors in operating components
-faults in the measurement and signal transmitters
-defects or components that are not EMC-suitable
-faults in the software in the higher-level control system.
These malfunctions can occur immediately after switch-on or after an indefinite time in
operation.
Monitoring in the drive components exclude malfunctions in the connected drives as much
as possible. But this alone cannot be relied on when protection of people and especially
the danger of bodily injury and/or property damage are considered. Until the installed
monitoring takes effect, a defective drive movement must definitely be expected, the
amount of which depends on the type of control and the operating state.

2. Safety instructions for electrical drives and controllers
20 Festo P.BE-CMMP-CO-SW-EN 0708NH
Warning
DANGER!
Dangerous movements!
Danger of death or injury, severe bodily injury or property damage!
For the above reasons, personal protection must be ensured through monitoring or
higher-level system measures. These are planned according to the specific circumstances
of the system by the system builder based on a hazard and error analysis. These hereby
include the safety regulations applicable for the system. Through switching off or
bypassing of safety equipment or due to its failure to activate, unpredictable movements
of the machine or other malfunctions may occur.
2.3.6 Protection against Contact with Hot Parts
Warning
DANGER!
Device housing surfaces may be hot!
Danger of injury! Danger of burns!
Warning
Danger of burns!
Do not touch housing surfaces in the proximity of heat sources!
Before touching them, let devices cool off 10 minutes after
being switched off.
Touching hot parts of the equipment, such as device housings
containing heatsinks and resistances, can result in burns!
2.3.7 Protection when Handling and Installing
Handling and installation of specific parts and components in an inappropriate way can
result in burns.
Warning
DANGER!
Danger of injury from incorrect handling!
Bodily injury due to squeezing, shearing, cutting, hitting!