Festo CMMS-ST Series User manual

CANopen for Motor Controller
CMMS/CMMD
Manual
CANopen
CMMS-ST
CMMS-AS
CMMD-AS
Manual
554 352
en 1012a
[757 730]

Festo P.BE-CMMS-CO-SW-EN 1012a 3
Original ________________________________________________________ de
Edition ____________________________________________________en 1012a
Designation____________________________________ P.BE-CMMS-CO-SW-EN
Order no. ___________________________________________________554 352
(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)
Internet: http://www.festo.com
E-mail: [email protected]
The reproduction of this document and disclosure to third parties and the utilisation or
communication of its contents without explicit authorization is prohibited. Offenders will
be held liable for compensation of damages. All rights reserved, in particular the right to
carry out patent, utility model or ornamental design registrations.

4 Festo P.BE-CMMS-CO-SW-EN 1012a
Index of revisions
Author: Festo AG & Co. KG
Name of manual: CANopen for Motor Controller CMMS/CMMD
File name:
File saved at:
Consec. no. Description Index of revisions Date of amendment
001 Creation 0708NH 26.07.2007
002 Revision 1012a 17.02.2011
Trademarks
CANopen®and CiA®are registered brand names of the respective brand holders in certain
countries.

CONTENTS
Festo P.BE-CMMS-CO-SW-EN 1012a 5
CONTENTS
1. General remarks ..................................................................................................... 8
1.1 Intended use ......................................................................................................... 8
1.2 Safety instructions ................................................................................................ 8
1.3 Target group.......................................................................................................... 9
1.4 Service .................................................................................................................. 9
1.5 Important user instructions ................................................................................... 9
2. CANopen................................................................................................................ 12
2.1 Overview ............................................................................................................. 12
2.2 Cabling and Plug Assignment .............................................................................. 13
2.2.1 Pin allocations ..................................................................................... 13
2.2.2 Cabling Note ........................................................................................ 14
2.3 Activation of CANopen......................................................................................... 15
3. Access Procedure .................................................................................................. 17
3.1 Introduction......................................................................................................... 17
3.2 SDO Access ......................................................................................................... 18
3.2.1 SDO Sequences for Reading and Writing ............................................. 19
3.2.2 SDO Error Messages ............................................................................ 20
3.2.3 Simulation of SDO Access via RS232 ................................................... 21
3.3 PDO Message ...................................................................................................... 22
3.3.1 Description of the Objects ................................................................... 23
3.3.2 Objects for PDO Parameter Setting...................................................... 26
3.3.3 Activation of PDOs ............................................................................... 30
3.4 SYNC-Message .................................................................................................... 30
3.5 EMERGENCY-Message ......................................................................................... 31
3.5.1 Structure of the EMERGENCY-Message................................................ 31
3.5.2 Description of the Objects ................................................................... 43
3.6 Heartbeat / Bootup (Error Control Protocol)........................................................ 45
3.6.1 Structure of the Heartbeat Message .................................................... 45
3.6.2 Structure of the Bootup Message ........................................................ 46
3.6.3 Description of the Objects ................................................................... 46
3.7 Network Management (NMT Service) .................................................................. 47
3.8 Nodeguarding (Error Control Protocol) ................................................................ 49
3.8.1 Overview.............................................................................................. 49
3.8.2 Structure of the Nodeguarding Messages............................................ 49
3.8.3 Description of the Objects ................................................................... 50
3.9 Table of Identifiers .............................................................................................. 51

CONTENTS
6 Festo P.BE-CMMS-CO-SW-EN 1012a
4. Setting Parameters ............................................................................................... 52
4.1 Load and Save Parameter Sets............................................................................ 52
4.1.1 Overview.............................................................................................. 52
4.1.2 Description of the Objects ................................................................... 53
4.2 Conversion Factors (Factor Group) ...................................................................... 55
4.2.1 Overview.............................................................................................. 55
4.2.2 Description of the Objects ................................................................... 56
4.3 Output stage parameter ...................................................................................... 67
4.3.1 Overview.............................................................................................. 67
4.3.2 Description of the Objects ................................................................... 67
4.4 Current Regulator and Motor Adjustment............................................................ 69
4.4.1 Overview.............................................................................................. 69
4.4.2 Description of the Objects ................................................................... 70
4.5 Speed regulator................................................................................................... 75
4.5.1 Overview.............................................................................................. 75
4.5.2 Description of the Objects ................................................................... 75
4.6 Position Controller (Position Control Function).................................................... 77
4.6.1 Overview.............................................................................................. 77
4.6.2 Description of the Objects ................................................................... 79
4.7 Setpoint value limitation ..................................................................................... 85
4.7.1 Description of the objects .................................................................... 85
4.8 Digital inputs and outputs................................................................................... 87
4.8.1 Overview.............................................................................................. 87
4.8.2 Description of the Objects ................................................................... 87
4.9 Limit switch ......................................................................................................... 89
4.9.1 Overview.............................................................................................. 89
4.9.2 Description of the Objects ................................................................... 89
4.10 Sampling of positions.......................................................................................... 90
4.10.1 Overview.............................................................................................. 90
4.10.2 Description of the Objects ................................................................... 90
4.11 Device Information .............................................................................................. 91
4.11.1 Description of the Objects ................................................................... 92
4.12 Error management............................................................................................... 95
4.12.1 Overview.............................................................................................. 95
4.12.2 Description of the Objects ................................................................... 95

CONTENTS
Festo P.BE-CMMS-CO-SW-EN 1012a 7
5. Device Control....................................................................................................... 97
5.1 Status Diagram (State Machine).......................................................................... 97
5.1.1 Overview.............................................................................................. 97
5.1.2 Status diagram of the motor controller (State Machine) ...................... 98
5.1.3 controlword (control word) ................................................................ 102
5.1.4 Read-out of the motor controller status............................................. 105
5.1.5 statusword (Status words)................................................................. 106
6. Operating modes ................................................................................................ 111
6.1 Setting the operating mode............................................................................... 111
6.1.1 Overview............................................................................................ 111
6.1.2 Description of the Objects ................................................................. 111
6.2 Operating mode homing (Homing Mode) .......................................................... 113
6.2.1 Overview............................................................................................ 113
6.2.2 Description of the Objects ................................................................. 114
6.2.3 Reference Travel Processes ............................................................... 117
6.2.4 Control of Reference Travel................................................................ 121
6.3 Positioning Operating Mode (Profile Position Mode)......................................... 122
6.3.1 Overview............................................................................................ 122
6.3.2 Description of the Objects ................................................................. 123
6.3.3 Functional description ....................................................................... 127
6.4 Interpolated Position Mode............................................................................... 129
6.4.1 Overview............................................................................................ 129
6.4.2 Description of the Objects ................................................................. 130
6.4.3 Functional description ....................................................................... 135
6.5 Speed adjustment operating mode (Profile Velocity Mode) .............................. 137
6.5.1 Overview............................................................................................ 137
6.5.2 Description of the Objects ................................................................. 139
6.6 Torque regulation operating mode (Profile Torque Mode) ................................ 144
6.6.1 Overview............................................................................................ 144
6.6.2 Description of the Objects ................................................................. 145
7. Index ................................................................................................................... 149

1. General remarks
8 Festo P.BE-CMMS-CO-SW-EN 1012a
1. General remarks
1.1 Intended use
This manual describes how the motor controller of the CMMS/CMMD 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 which must be followed.
The complete set of information can be found in the documentation
for the motor controller in question:
-Description P.BE-CMM...-HW-...:
Mechanics – electrical engineering – function range overview
Note
Always observe the safety-related instructions listed in the product
manual for the motor controller being used.
1.2 Safety instructions
When commissioning and programming positioning systems, you must always observe
the safety regulations in this manual as well as those in the operating instructions for the
other components used.
The user must make sure that nobody is within the sphere of influence of the connected
actuators or axis system. Access to the potential danger area must be prevented by
suitable measures such as barriers and warning signs.
Warning
Axes can move with high force and at high speed. Collisions can
lead to serious injury to human beings and damage to components.
Make sure that nobody can reach into the sphere of influence of the
axes or other connected actuators and that no items are within the
positioning range while the system is connected to energy sources.

1. General remarks
Festo P.BE-CMMS-CO-SW-EN 1012a 9
Warning
Faults in the parametrisation can cause injury to human beings and
damage to property.
Enable the controller only if the axis system has been correctly
installed and parametrised.
1.3 Target group
This manual is intended exclusively for technicians trained in control and automation
technology, who have experience in installing, commissioning, programming and
diagnosing positioning systems.
1.4 Service
Please consult your local Festo Service or write to the following e-mail address if you have
any technical problems:
[email protected]
1.5 Important user instructions
Danger categories
This description contains instructions on the possible dangers which can occur if the
product is not used correctly. These instructions are marked (Warning, Caution, etc),
printed on a shaded background and marked additionally with a pictogram.
A distinction is made between the following danger warnings:
Warning
... Means that failure to observe this instruction may result in
serious personal injury or damage to property.
Caution
... Means that failure to observe this instruction may result in
personal injury or damage to property.
Note
... Means that failure to observe this instruction may result in
damage to property.

1. General remarks
10 Festo P.BE-CMMS-CO-SW-EN 1012a
The following pictogram marks passages in the text which describe activities with
electrostatically sensitive devices:
Electrostatically sensitive devices: Incorrect handling can result in
damage to components.
Identification of specific information
The following pictograms designate texts that contain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information
Accessories:
information on necessary or useful accessories for the Festo
product.
Environment:
information on environmentally friendly use of Festo products.
Text designations
•Bullet points indicate activities that may be carried out in any order.
1. Numerals denote activities which must be carried out in the numerical order specified.
-Arrowheads indicate general lists.
About the Version
This description refers to versions corresponding to Table 1.1