Festo CMMS-AS-G2 Series Operating and installation instructions

Description
Functions
Firmware design:
from 1.4.0.2.6
8026161
1310NH
Motor controller
CMMS-AS-...-G2

CMMS-AS-...-G2
2 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Translation of the original instructions
GDCP-CMMS-AS-G2-FW-EN
Windows
®
,CiA
®
,CANopen
®
, DeviceNET
®
,PROFIBUS
®
, Heidenhain
®
,EnDat
®
,CANopen
®
are regis-
tered 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.

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 3
Table of contents – CMMS-AS-...-G2
1 Safety and requirements for product use 12......................................
1.1 Safety 12..................................................................
1.1.1 Safety instructions 12................................................
1.1.2 Intended use 13.....................................................
1.2 Requirements for product use 14...............................................
1.2.1 Technical prerequisites 14............................................
1.2.2 Qualification of the specialists (requirements for the personnel) 14............
1.2.3 Range of application and certifications 14................................
2Interfaces 15...............................................................
2.1 Motor controller interfaces 15..................................................
2.1.1 Overview: control section interfaces 15..................................
2.1.2 Overview: power section interfaces 16...................................
2.2 Control interfaces – operating modes – functions 17................................
2.2.1 Overview: control interfaces/connection/device profile/operating
mode/function 17...................................................
2.2.2 Positioning mode 18.................................................
2.2.3 Speed mode and force/torque mode 19.................................
2.2.4 Synchronisation 20..................................................
2.2.5 Encoder emulation, flying measurement, analogue monitor
and endless positioning 21............................................
3 Control interfaces 22.........................................................
3.1 Digital inputs/outputs [X1] 22..................................................
3.1.1 Select operating mode via mode bits 22.................................
3.1.2 Digital inputs (DIN0…13) 25...........................................
3.1.3 Digital outputs (DOUT0…3) 29.........................................
3.2 Analogue inputs/outputs [X1] 32...............................................
3.2.1 Analogue inputs (AIN0/#AIN0) 32......................................
3.2.2 Analogue output (AMON0) 32..........................................
3.3 Encoder inputs/outputs [X1/X10] 33............................................
3.3.1 Encoder input (synchronisation) 33.....................................
3.3.2 Encoder output (encoder emulation) 33..................................
3.3.3 Incremental signal (A/#A/B/#B/N/#N) 34................................
3.3.4 Pulse/direction signals (CLK/#CLK/DIR/#DIR) 35..........................
3.3.5 Forward/reverse signals (CW/#CW/CCW/#CCW) 36........................
3.4 Fieldbuses [X4/X5/EXT] 37....................................................
3.4.1 Supported fieldbuses 37..............................................
3.4.2 Required digital inputs/outputs with a fieldbus activation 38.................

CMMS-AS-...-G2
4 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
3.5 Device profiles for fieldbuses 39................................................
3.5.1 Festo Handling and Positioning Profile (FHPP) 39..........................
3.5.2 CANopen device profile CiA 402 (for electric drives) 39......................
4 Dimension reference system 40................................................
4.1 Dimension reference system for electric drives 40..................................
4.1.1 Dimension reference system for linear drives 40...........................
4.1.2 Dimension reference system for rotative drives 41.........................
4.2 Calculation rules for the dimension reference system 42.............................
4.3 Limit switch (hardware) and software end position 42...............................
4.3.1 Limit switch LSN/LSP (hardware) 42....................................
4.3.2 Software end position SLN/SLP 42......................................
5 Commissioning and in operation 43.............................................
5.1 Sequence control in operation 43...............................................
5.1.1 Flow diagram: motor controller 43......................................
5.1.2 Flow diagram: motor controller regulation 44.............................
5.2 Data interfaces (parameter/firmware) 45.........................................
5.3 Festo Configuration Tool (FCT) 46...............................................
5.3.1 Installing the FCT 46.................................................
5.3.2 Starting the FCT 47..................................................
5.3.3 FCT help 47........................................................
5.3.4 Download/synchronise FCT project/firmware /parameter data
(data in the motor controller) 48........................................
5.3.5 Data backup: upload/synchronise FCT project/parameter data
(data from the motor controller) 48.....................................
5.3.6 Memory card 49.....................................................
5.3.7 Parameter/firmware files 49...........................................
5.3.8 Download firmware file (xxx.S) (Memory card >> Motor controller) 50...........
5.3.9 Download parameter file (xxx.DCO) (Memory card >> Motor controller) 51.......
5.4 Master control over the motor controller 52.......................................
5.4.1 FCT master control over the motor controller 53...........................
5.5 Switching the motor controller on and off 54......................................
5.5.1 Behaviour of the motor controller during switch-on 54......................
5.5.2 Behaviour of the motor controller during switch-off 56......................
5.6 Interruption of the mains supply 58.............................................
5.6.1 Behaviour of the motor controller when the mains supply is interrupted 58......

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 5
5.7 Fieldbus configuration (via DIP switches) 60......................................
5.7.1 Overview of DIP switches [S1.1…12] 60..................................
5.7.2 Configure fieldbus address/MAC-ID 60..................................
5.7.3 Configure data rate 61...............................................
5.7.4 Configure fieldbus interface 61.........................................
5.7.5 Configure terminating resistor 62.......................................
6 Positioning mode 63.........................................................
6.1 Overview: Positioning mode (position control) 63..................................
6.2 Record selection, positioning record and positioning record profile 64..................
6.2.1 Function: record selection, positioning record and positioning record profile 64..
6.2.2 Actuate record selection/positioning record via fieldbus or digital inputs 65.....
6.2.3 Parameterise positioning record 67.....................................
6.2.4 Parameterise positioning record profiles 69..............................
6.3 Direct mode 73..............................................................
6.3.1 Function: Direct mode: 73.............................................
6.3.2 Activating direct mode via fieldbus 73...................................
6.3.3 Connection: digital inputs/outputs 74...................................
6.3.4 Parameterise direct mode 75..........................................
6.4 Single position operation 76...................................................
6.4.1 Function: single position operation 76...................................
6.4.2 Actuate individual-record operation via fieldbus or digital inputs 76...........
6.4.3 Connection: digital inputs/outputs 77...................................
6.4.4 Timing diagram: start/cancel individual record 78..........................
6.4.5 Parameterise individual record operation 79..............................
6.5 Record linking operation 80....................................................
6.5.1 Function: record linking operation 80....................................
6.5.2 Actuate record-chaining operation via fieldbus/digital inputs 80..............
6.5.3 Connection: digital inputs/outputs 81...................................
6.5.4 Timing diagram: start/interrupt/cancel record sequence 82..................
6.5.5 Parameterise record linking operation 86................................
6.6 Interpolated positioning mode 87...............................................
6.6.1 Function: interpolated positioning mode 87...............................
6.6.2 Activate interpolated positioning mode via fieldbus 87......................
6.6.3 Connection: digital inputs/outputs 88...................................
6.7 Homing mode/homing 89.....................................................
6.7.1 Function: homing mode 89............................................
6.7.2 Activate homing mode via fieldbus/digital inputs 89........................
6.7.3 Connection: digital inputs/outputs 90...................................
6.7.4 Timing diagram: cancel homing to limit switch/stop/ 91.....................
6.7.5 Homing mode/configure and parameterise homing 95......................

CMMS-AS-...-G2
6 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
6.8 Jog operation 104.............................................................
6.8.1 Function: jog operation 104............................................
6.8.2 Activate jog operation via fieldbus/digital inputs 104........................
6.8.3 Activate jog operation via Festo Configuration Tool (FCT) 105..................
6.8.4 Connection: digital inputs/outputs 106...................................
6.8.5 Timing diagram: creep-speed travel/jog travel/jog+/jog– 107.................
6.8.6 Parameterise jog mode 110............................................
6.9 Teach mode 111..............................................................
6.9.1 Function: teach mode 111..............................................
6.9.2 Activate teach mode via fieldbus/digital inputs 111.........................
6.9.3 Connection: digital inputs/outputs 112...................................
6.9.4 Timing diagram: teach 113.............................................
6.9.5 Parameterise teach mode 114..........................................
7 Speed mode and force/torque mode 115..........................................
7.1 Speed mode 115.............................................................
7.1.1 Overview: speed mode (speed adjustment) 115............................
7.1.2 Function: speed mode 116.............................................
7.1.3 Activate speed mode via fieldbus/analogue input 116.......................
7.1.4 Connection: analogue and digital I/O modules 117..........................
7.1.5 Parameterise speed mode 118..........................................
7.2 Force/torque mode 120........................................................
7.2.1 Overview: force/torque mode (current control) 120.........................
7.2.2 Function: force/torque mode 121........................................
7.2.3 Activate force/torque mode via fieldbus/analogue input 121..................
7.2.4 Connection: analogue and digital I/O modules 122..........................
7.2.5 Parameterise force/torque mode 123....................................
8 Synchronisation 125..........................................................
8.1 Synchronisation (slave operation) 125............................................
8.1.1 Function: synchronisation 125..........................................
8.1.2 Activate synchronisation via encoder signal 126............................
8.1.3 Connection: digital I/O modules, encoder input, 5 V 127......................
8.1.4 Connection: digital I/O modules, encoder input, 24 V 128....................
8.1.5 Timing diagram: start synchronisation via Start Sync signal 129................
8.1.6 Configure/parameterise synchronisation 130..............................

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 7
9 Motor controller functions 131..................................................
9.1 Encoder emulation (master operation) 131........................................
9.1.1 Function: encoder emulation 131........................................
9.1.2 Output encoder emulation through encoder output 131......................
9.1.3 Connection: encoder output, 5 V 132.....................................
9.1.4 Configure/parameterise encoder emulation 132............................
9.2 Flying measurement 133.......................................................
9.2.1 Function: flying measurement 133.......................................
9.2.2 Activate flying measurement via digital input 133...........................
9.2.3 Connection: digital input 134...........................................
9.3 Analogue monitor 135.........................................................
9.3.1 Function: analogue monitor 135.........................................
9.3.2 Output analogue monitor through digital output 135........................
9.3.3 Connection: analogue output 135.......................................
9.3.4 Configure/parameterise analogue monitor 136.............................
9.4 Endless positioning 138........................................................
9.4.1 Function: endless positioning 138.......................................
9.4.2 Relative positioning records 139........................................
10 Service 140.................................................................
10.1 Protective and service functions 140..............................................
10.1.1 Overview 140........................................................
10.1.2 Overload current and short-circuit monitoring of the motor output 140..........
10.1.3 Monitoring of interruption and failure of the mains supply 140.................
10.1.4 Overvoltage and undervoltage monitoring for the intermediate circuit 141.......
10.1.5 Output stage temperature monitoring 141.................................
10.1.6 Monitoring of the motor 141............................................
10.1.7 I2t monitoring 141....................................................
10.2 Operating mode and error messages 142..........................................
10.2.1 LED displays (Ready/CAN) 142..........................................
10.2.2 Seven-segments display 142...........................................
10.2.3 Acknowledgement of error messages 143.................................
10.2.4 Diagnostic messages 143..............................................
A Diagnostic messages 144......................................................
A.1 Explanations on the diagnostic messages 144......................................
A.2 Diagnostic messages with instructions for fault clearance 145.........................
A.3 Error codes via CiA 301/402 158.................................................
A.4 PROFIBUS diagnostics 160.....................................................

CMMS-AS-...-G2
8 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
B Serial interface RS232 (diagnostics/parameterisation interface) 162..................
B.1 Activate motor controller via the interface RS232 162................................
B.1.1 Master data of the interface RS232 162...................................
B.1.2 Basic setting of the interface RS232 162..................................
B.1.3 Connect RS232 interface with a program 162..............................
B.1.4 Connection [X5]: pin allocation of the interface RS232 163...................
B.2 Commands/syntax of the RS232 interface 163......................................
B.2.1 General commands 163...............................................
B.2.2 Control motor controller via CAN-Interpreter (CI) 164........................
C Serial interface RS485 (control interface) 167.....................................
C.1 Activate motor controller via the interface RS485 167................................
C.1.1 Master data of the interface RS485 167...................................
C.1.2 Factory setting of the interface RS485 167.................................
C.1.3 Connection [X5]: pin allocation of the interface RS485 168...................
C.2 Configure RS485 interface in the Festo Configuration Tool (FCT) 169....................
C.3 Commands/syntax of the RS485 interface 170......................................

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 9
Instructions on this description
This documentation is intended to help you safely work with the motor controller CMMS-AS-…-G2 and
describes the functions, commissioning and error messages.
Tar get group
This documentation is intended exclusively for technicians trained in control and automation techno-
logy, who have experience in installation, commissioning, programming and diagnostics of positioning
systems.
Product identification, versions
This documentation refers to the following versions:
– Motor controller CMMS-AS-C4-3A-G2: from Rev. 04
– Firmware: from Version 1.4.0.2.6
– Software for configuration/parameterisation (Festo Configuration Tool):
FCT plug-in “CMMS-AS”, from Version 2.0.0.x
Note
Before using a newer firmware version, check whether a newer version of the FCT plug-
in or user documentation is available for it
Support portal: http://www.festo.com/sp.
Service
Please consult your regional Festo contact if you have any technical problems.
Rating plate CMMS-AS-…-G2 Significance
…
CMMS-AS-…-G2
572986
CN98 P0021912
Rev 02
In: 1k(95…250)V AC
(50…60)Hz 4A
Out: 3k(0…Input Voltage)V AC
(0…1000)Hz 4A
Type designation CMMS-AS-…-G2
Part number e.g. 572986
Revision e.g. Rev 02
Serial number e.g. CN98 P0021912
Input voltage (In) 95 … 250 V AC ±10 %
50 … 60 Hz, 4 A
Output voltage (Out) 0 … Input voltage V AC
0 … 1000 Hz, 4 A
Tab. 1 Rating plate CMMS-AS-…-G2 (example)

CMMS-AS-...-G2
10 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Type codes
CMMS –
Interfaces
AS C4 3A G2
–––
CMMS Motor controller, standard
Motor technology
AS AC synchronous
Nominal cur-
rent
C4 4A
Input voltage
3A 230 V AC
Generation
G2 2nd generation
Fig. 1 Type codes

CMMS-AS-...-G2
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 11
Documentation
You will find information on the motor controller in the following documentation:
User documentation on the motor controller CMMS-AS-...-G2
Name, type Contents
Description of hardware,
GDCP-CMMS-AS-G2-HW-...
Mounting, installation, pin allocations and error messages
Description of the safety function
STO, GDCP-CMMS-AS-G2-S1-...
Functional safety engineering for the motor controller with the
STO safety function
Description of function,
GDCP-CMMS-AS-G2-FW-...
– Functional description and commissioning with FCT
– Control interfaces and device profiles
Description of device profile FHPP,
P.BE-CMM-FHPP-SW-...
Control and parameterisation of the motor controller via the
device profile FHPP from Festo
Description of device
profile CiA 402,
P.BE-CMMS-FHPP-CO-SW-...
– Description of the CAN interface of the motor controller
– Control and parameterisation of the motor controller via the
device profile CiA 402 (DS 402)
PROFIBUS description,
P.BE-CMM-FHPP-PB-SW-...
Description of the PROFIBUS interface of the motor controller.
DeviceNet description,
P.BE-CMMS-FHPP-DN-SW-...
Description of the DeviceNet interface of the motor controller.
Help on the FCT plug-in CMMS-AS User interface and functions of the CMMS-AS plug-in for the
Festo Configuration Tool. www.festo.com/sp
Tab. 2 Documentation on the motor controller CMMS-AS-...-G2

1 Safety and requirements for product use
12 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
1 Safety and requirements for product use
1.1 Safety
1.1.1 Safety instructions
Warning
Danger of electric shock
Touching live parts causes severe injuries and can lead to death:
– when the module or cover plate is not mounted on the card slot [EXT]
– when cables are not mounted to the plugs [X6] and [X9]
– when connecting cables are disconnected when powered.
The product must be installed in a control cabinet and may only be used if all safeguard-
ing has 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.
Caution
Danger of burns from hot surfaces
Dependent on the load of the motor controller, housing temperatures > 80°C are pos-
sible in operation.
• Protect hot surfaces from contact in operation.
• Touch them only in a switched-off, cooled-off status.
Note
Danger from unexpected movement of the motor or axis
• Make sure that the movement does not endanger anyone.
• Perform a risk assessment in accordance with the EC Machinery Directive.
• Based on this risk assessment, design the safety system for the entire machine,
taking into account all integrated components. This also includes the electric drives.
Bypassing of safety equipment is impermissible.

1 Safety and requirements for product use
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 13
1.1.2 Intended use
The motor controller CMMS-AS-...-G2 is a digital positioning controller for servo motors for
– supply and activation of the motor
– regulation of speed (current), torque and position.
The motor controller supports the following safety function:
– Safe Torque Off (STO)
Category 3 / PL d in accordance with EN ISO 13849-1.
Use exclusively:
– in faultless technical condition
– in original status, without unauthorised modifications
– within the limits of the product defined by the technical data
Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1.
– in an industrial environment
– as an installed device in a control cabinet.
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
14 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
1.2 Requirements for product 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 legal regulations applicable for the destination as well as:
– regulations and standards,
– regulations of the testing organizations and insurers,
– national specifications.
1.2.1 Technical prerequisites
For correct and safe use of the product:
• Comply with the connection and ambient conditions of the product specified in the technical data
Hardware description GDCP-CMMS-AS-G2-HW-..., Appendix A.1, and of all connected compon-
ents. Compliance with the limit values and load limits permits operation of the product in compli-
ance 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 product may only be placed in 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 operational reliability, and
– the documentation for the product.
1.2.3 Range of application and certifications
The motor controller with integrated STO safety function is a safety-related part of the control systems.
The motor controller carries the CE mark, standards and test values
Hardware description, GDCP-CMMS-AS-G2-HW-..., Appendix A.1.
The product-relevant EU directives can be found in the declaration of conformity.
Certificates and the declaration of conformity for this product www.festo.com/sp

2Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 15
2 Interfaces
2.1 Motor controller interfaces
2.1.1 Overview: control section interfaces
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
RS232
Memory card
Encoder emulation
Digital signals
Analogue signals
Control interfaces
Control section
Fieldbus
X1
EXT
X5
DriveBus
DeviceNet
Analogue outputs
X5
PC/notebook
M1
X9
Motor temperature sensor
Motor
Supply voltage
X2
Encoder
Control section: 24 V DC
Operating modes
Controllers
X1Drives Limit switch
Encoder
Encoder input
Parameter
Firmware
Digital inputs/outputs
Data interfaces
Motor
Flying measurement
Analogue monitor
Endless positioning
X1
X6
Functions
Synchronisation
Synchronisation
Shaft encoder motor
X6
Holding brake
Analogue input
Trigger output
Encoder output X10
STO “Safe Torque Off” X3 Safety functionSafety switching device
Fig. 2.1 Overview: control section interfaces

2Interfaces
16 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.1.2 Overview: power section interfaces
CMMS-AS-...-G2
X9Load component: 230 V AC
External braking resistor
Motor
Power section
Supply voltage
X6Motor
Braking resistor
Fig. 2.2 Overview: power section interfaces

2Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 17
2.2 Control interfaces – operating modes – functions
The motor controller can be operated through a number of interfaces. Various operating modes and
functions are available, dependent on the selected control interface and the device profile (only for
fieldbus). The connection is permanently assigned to the selected control interface. In the “EXT” con-
nection, mounting of the corresponding interface module is required.
You can take the possible combinations from the following overviews.
2.2.1 Overview: control interfaces/connection/device profile/operating mode/function
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
RS485
Control interfaces
Connection
EXT
X5
DriveBus
DeviceNet
Synchronisation
1)
CiA402
5)
FHPP
6)
CI
7)
Device profile
Functions:
– Encoder emulation
– Flying measurement
– Analogue monitor
– Endless positioning
Operating modes:
– Positioning mode
– Speed mode
– Force/torque mode
– Synchronisation
X4
EXT
X1
2)
Digital I/O modules
Analogue input/output X1
3)
Fieldbus
X1
2)
/X10
4)
Operating mode/function
1) Encoder input
2) HTL signal (high transistor logic) with a max. high level = 24 V
3) Analogue input signal: ±10 V/analogue output signal: +10 V
4) TTL signal (transistor-transistor logic) with a max. high
level = 5 V
5) CANopen device profile CiA 402
6) Festo handling and positioning profile (FHPP)
7) CAN-Interpreter
Fig. 2.3 Overview: control interfaces/connection/device profile/operating mode/function

2Interfaces
18 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.2.2 Positioning mode
Control interfaces page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder input Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F= FHPP (Festo) FFF
C= CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Operating modes
Positioning mode (position control) page 63
Direct mode page 73
Direct application F/C FFCI
Individual record operation page 76
Record selection (positioning
record 1…63)
DIN FFF
Record linking operation page 80
Record selection (positioning
record 1…7)
DIN
Record selection (positioning
record 1…63)
FFF
Interpolated positioning mode page 87
Direct application C C
Homing mode/homing page 89
Direct application CF/C FFCI
Record selection (positioning
record 0)
DIN
Jog operation page 104
Direct application FFF
Digital inputs DIN
Teach mode page 111
Direct application FFF
Record selection (positioning
record 1…63)
DIN
Tab. 2.1 Overview: positioning mode

2Interfaces
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 19
2.2.3 Speed mode and force/torque mode
Control interfaces page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder input Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F= FHPP (Festo) FFF
C= CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Operating modes
Speed mode (speed adjustment) page 115
Direct mode
Direct application F/C FFCI
Analogue setpoint value
Analogue input AIN
Force/torque mode (current control) page 120
Direct mode
Direct application F/C FFCI
Analogue setpoint value
Analogue input AIN
Tab. 2.2 Overview: speed mode and force/torque mode

2Interfaces
20 Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
2.2.4 Synchronisation
Control interfaces page 22
Inputs/outputs Digital I/O modules (DIN/DOUT)[24 V, HTL]
Analogue input (AIN)[±10 V]
Encoder inputs/outputs Synchronisation [5 V, TTL]
Fieldbus DriveBus (motion control)
CANopen
PROFIBUS DP
DeviceNet
RS485
Connection
Terminal marking [X1] [X1] [X10] [X4] [X4] [EXT] [EXT] [X5]
Device profile
F= FHPP (Festo) FFF
C= CiA 402 (CANopen) C C
CI = CAN-Interpreter (CiA 402, SDO) CI
Synchronisation
Synchronisation (position control) page 125
Incremental signal (A/#A/B/#B/N/#N)
Incremental inputs IN
Pulse/direction signal (CLK/DIR)
Incremental inputs IN
Digital inputs DIN
Forward/reverse signal (CW/CCW)
Incremental inputs IN
Digital inputs DIN
Tab. 2.3 Overview: synchronisation