Festo CMMT-ST-SW User manual

8097136
CMMT-ST-SW
Servo drive
8097136
2019-02
[8097138]
Description| Software,
Function, Fieldbus,
Device profile

Translation of the original instructions
BISS®, CANopen®, CODESYS®, CiA®, EtherCAT®, PI PROFIBUS PROFINET® are registered trademarks of
the respective trademark owners in certain countries.
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1 About this document................................................................................................... 12
1.1 Applicable documents.................................................................................................. 12
1.2 Product version............................................................................................................ 13
1.3 Safety instructions........................................................................................................ 13
1.4 Conventions................................................................................................................. 13
2 CMMT-ST Plug-in........................................................................................................ 13
2.1 CMMT-ST Getting to know the plug-in.......................................................................... 13
2.1.1 Overview.................................................................................................................13
2.1.2 Interface................................................................................................................. 15
2.1.2.1 Overview.................................................................................................................15
2.1.2.2 Contexts..................................................................................................................15
2.1.2.3 Toolbar................................................................................................................... 16
2.1.2.4 Navigator................................................................................................................ 19
2.1.2.5 Working area in the title bar....................................................................................19
2.1.2.6 Display of real-time values......................................................................................19
2.1.3 Cross-context elements and error messages...........................................................19
2.1.3.1 Adorner...................................................................................................................19
2.1.3.2 Pop-up for automatic values changes..................................................................... 21
2.1.4 Key combinations................................................................................................... 21
2.1.5 Basic and user units................................................................................................22
2.1.6 Automatic data synchronisation............................................................................. 23
2.2 Working with CMMT-ST the plug-in............................................................................... 23
2.2.1 Open plug-in...........................................................................................................23
2.2.2 Connecting the plug-in to the device.......................................................................23
2.2.2.1 Connection control..................................................................................................23
2.2.2.2 Establishing and disconnecting a connection......................................................... 26
2.2.2.3 Synchronising device data...................................................................................... 31
2.2.2.4 Synchronising the configuration and parameters................................................... 31
2.2.2.5 Device control (master control)...............................................................................34
2.2.3 Initial commissioning assistant...............................................................................34
2.2.3.1 Overview.................................................................................................................34
2.2.3.2 Drive configuration................................................................................................. 36
2.2.3.3 Setting application data..........................................................................................41
2.2.3.4 Activating the hardware switch...............................................................................43
2.2.3.5 Setting the referencing........................................................................................... 43
2.2.3.6 Setting the software limit positions........................................................................ 44
2.3 Parameterisation.......................................................................................................... 46
2.3.1 Interface................................................................................................................. 46
2.3.2 Entering parameters............................................................................................... 49
2.3.3 Drive configuration................................................................................................. 51
Table of contents

2.3.4 Device settings...................................................................................................... 56
2.3.5 Fieldbus................................................................................................................. 57
2.3.6 Digital I/O.............................................................................................................. 57
2.3.7 Encoder interface................................................................................................... 58
2.3.8 Axis 1..................................................................................................................... 59
2.3.8.1 Motor..................................................................................................................... 59
2.3.8.2 Gearbox................................................................................................................. 60
2.3.8.3 Axis.........................................................................................................................60
2.3.8.4 Record list.............................................................................................................. 64
2.3.8.5 Monitoring functions.............................................................................................. 67
2.3.8.6 Open loop.............................................................................................................. 68
2.3.8.7 Closed loop............................................................................................................ 68
2.3.8.8 Auto tuning............................................................................................................ 72
2.3.8.9 Assistant for auto-tuning....................................................................................... 73
2.3.8.10 Notch filter............................................................................................................. 76
2.3.8.11 Feed forward control.............................................................................................. 76
2.3.8.12 Jog mode................................................................................................................ 77
2.3.9 Parameter list........................................................................................................ 77
2.4 Diagnosis.......................................................................................................................78
2.4.1 Interface................................................................................................................ 78
2.4.2 Device state........................................................................................................... 78
2.4.3 I/O state................................................................................................................ 80
2.4.4 Error log................................................................................................................. 81
2.4.5 Error classification................................................................................................. 82
2.4.6 Trace configuration................................................................................................ 83
2.4.7 Trace display.......................................................................................................... 86
2.4.8 Auto tuning (evaluation)........................................................................................ 93
2.5 Control...........................................................................................................................95
2.5.1 Interface................................................................................................................ 95
2.5.2 Manual movement................................................................................................. 95
2.5.3 Record list.............................................................................................................. 97
2.6 Integrating a device in a Festo controller....................................................................... 98
3 Product configuration...................................................................................................101
3.1 Controllers.....................................................................................................................101
3.1.1 Communication interfaces..................................................................................... 101
3.1.2 Firmware................................................................................................................ 101
3.1.2.1 CiA 402.................................................................................................................. 103
3.1.3 Parameter set........................................................................................................ 104
3.1.4 Master control....................................................................................................... 105
3.1.5 Device services...................................................................................................... 106
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3.1.5.1 Reset device........................................................................................................... 107
3.1.5.2 Controller parameter set switchover....................................................................... 107
3.1.5.3 Saving zero point offset.......................................................................................... 107
3.1.5.4 Request ReInit........................................................................................................ 107
3.1.5.5 Delete parameter set.............................................................................................. 108
3.1.5.6 Save parameter set.................................................................................................108
3.1.5.7 Cam controller 0......................................................................................................108
3.1.5.8 Cam controller 1......................................................................................................109
3.1.5.9 Position capture (touch probe) 0............................................................................ 109
3.1.5.10 Position capture (touch probe) 1............................................................................ 109
3.2 Fundamentals of parameterisation............................................................................... 109
3.2.1 Depiction of the parameters................................................................................... 109
3.2.2 Data types...............................................................................................................110
3.2.3 Depiction of the device-profile-specific objects.......................................................111
3.2.4 Measuring units......................................................................................................112
3.2.4.1 Defined measuring units.........................................................................................112
3.2.4.2 Configurable measuring units ("user unit")............................................................112
3.2.4.3 Scaling of internal units for the fieldbus ("factor group").......................................115
3.2.5 Measuring reference system...................................................................................120
3.2.5.1 Function..................................................................................................................120
3.2.5.2 CiA 402................................................................................................................... 125
3.3 Drive configuration....................................................................................................... 125
3.3.1 Motor configuration................................................................................................125
3.3.1.1 Function..................................................................................................................125
3.3.1.2 Parameter and diagnostic messages for motor data from the user configuration... 127
3.3.1.3 CiA 402................................................................................................................... 132
3.3.1.4 Parameter and diagnostic messages for motor data from the EEPROM memory.....133
3.3.1.5 CiA 402................................................................................................................... 138
3.3.1.6 Active motor data parameters.................................................................................140
3.3.1.7 CiA 402................................................................................................................... 145
3.3.2 Brake control.......................................................................................................... 146
3.3.2.1 Function..................................................................................................................146
3.3.2.2 Parameters and diagnostic messages.....................................................................149
3.3.2.3 CiA 402................................................................................................................... 152
3.3.3 Encoder configuration.............................................................................................152
3.3.3.1 Function..................................................................................................................152
3.3.3.2 Encoder parameters and diagnostic messages....................................................... 153
3.3.3.3 CiA 402................................................................................................................... 161
3.3.3.4 Parameters of digital incremental encoders (A, B and N signals)............................ 162
3.3.3.5 CiA 402................................................................................................................... 164
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3.3.3.6 Parameters of encoders with the BiSS C protocol.................................................. 164
3.3.3.7 CiA 402.................................................................................................................. 166
3.3.3.8 Parameters of the actual value management......................................................... 166
3.3.3.9 CiA 402.................................................................................................................. 167
3.3.3.10 Parameters of the direction of rotation manager................................................... 168
3.3.3.11 CiA 402.................................................................................................................. 169
3.3.3.12 Parameters of the commutation-angle detection................................................... 169
3.3.3.13 CiA 402.................................................................................................................. 172
3.3.3.14 Replacement of motors without an electronic data sheet....................................... 172
3.3.4 Gear unit................................................................................................................ 173
3.3.4.1 Function................................................................................................................. 173
3.3.4.2 CiA 402.................................................................................................................. 177
3.3.5 Digital inputs and outputs..................................................................................... 179
3.3.5.1 Function................................................................................................................. 179
3.3.5.2 CiA 402.................................................................................................................. 183
3.4 Protective functions.......................................................................................................184
3.4.1 I²t monitoring of the power output stage............................................................... 184
3.4.1.1 CiA 402.................................................................................................................. 187
3.4.2 I²t monitoring of motor.......................................................................................... 188
3.4.2.1 CiA 402.................................................................................................................. 190
3.4.3 Temperature monitoring of the servo drive............................................................ 190
3.4.3.1 CiA 402.................................................................................................................. 192
3.4.4 System monitoring................................................................................................. 193
3.4.5 Mains and DC link monitoring................................................................................ 193
3.4.5.1 Mains voltage monitoring...................................................................................... 193
3.4.5.2 Monitoring of the DC link voltage........................................................................... 194
3.4.5.3 Return energy feed................................................................................................ 197
4 Motion control..............................................................................................................200
4.1 Operating modes...........................................................................................................200
4.1.1 Finite state machine............................................................................................... 200
4.1.2 Operating modes for performing motion commands.............................................. 203
4.1.2.1 Dynamic operating mode switch............................................................................ 204
4.1.2.2 CiA402................................................................................................................... 205
4.1.3 Positioning mode(PP)............................................................................................ 206
4.1.3.1 Function................................................................................................................. 206
4.1.3.2 CiA 402.................................................................................................................. 209
4.1.4 Velocity mode (PV)................................................................................................. 213
4.1.4.1 Function................................................................................................................. 213
4.1.4.2 CiA 402.................................................................................................................. 216
4.1.5 Force/torque mode (PT) with or without holding brake.......................................... 220
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4.1.5.1 Function..................................................................................................................220
4.1.5.2 CiA 402................................................................................................................... 222
4.1.6 Cyclic synchronised positioning mode (CSP)...........................................................225
4.1.6.1 Function..................................................................................................................225
4.1.6.2 CiA 402................................................................................................................... 229
4.1.7 Cyclic synchronised velocity mode (CSV)................................................................ 233
4.1.7.1 Function..................................................................................................................233
4.1.7.2 CiA 402................................................................................................................... 236
4.1.8 Cyclic synchronised force/torque mode (CST)........................................................ 239
4.1.8.1 Function..................................................................................................................239
4.1.8.2 CiA 402................................................................................................................... 241
4.1.9 Switch-on/off behaviour and closed-loop controller enable................................... 244
4.1.9.1 Function..................................................................................................................244
4.1.9.2 CiA 402................................................................................................................... 251
4.2 Stop...............................................................................................................................251
4.2.1 Function..................................................................................................................251
4.2.2 CiA 402................................................................................................................... 253
4.3 Hold...............................................................................................................................254
4.3.1 Function..................................................................................................................254
4.3.2 CiA 402................................................................................................................... 255
4.4 Homing..........................................................................................................................255
4.4.1 Function..................................................................................................................255
4.4.2 Timing.....................................................................................................................262
4.4.3 Homing methods.................................................................................................... 265
4.4.3.1 Method 37: Current position...................................................................................266
4.4.3.2 Method 33/34: current position with zero pulse in negative/positive direction......266
4.4.3.3 Method 17/18 negative/positive limit switch......................................................... 267
4.4.3.4 Method 1/2: negative/positive limit switch with zero pulse................................... 268
4.4.3.5 Method 23/27: positive/negative reference switch................................................ 269
4.4.3.6 Method 7/11: positive/negative reference switch with zero pulse......................... 270
4.4.3.7 Method -23/-27: positive/negative stop/limit switch with run to reference
switch
.. 271
4.4.3.8 Method -17/-18 negative/positive stop..................................................................272
4.4.3.9 Method -1/-2 negative/positive stop with zero pulse............................................. 273
4.4.3.10 Travel to axis zero-point..........................................................................................274
4.4.4 CiA 402................................................................................................................... 275
4.5 Command for record selection...................................................................................... 279
4.5.1 Record selection..................................................................................................... 279
4.5.1.1 Function..................................................................................................................279
4.5.2 Record sequencing................................................................................................. 288
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4.5.2.1 Function................................................................................................................. 288
4.5.3 Monitoring of events.............................................................................................. 293
4.5.3.1 Function................................................................................................................. 293
4.5.4 CiA 402.................................................................................................................. 295
4.6 Jog mode....................................................................................................................... 296
4.6.1 Function................................................................................................................. 296
4.6.2 CiA 402.................................................................................................................. 302
5 Motion monitoring........................................................................................................304
5.1 Motion monitoring functions......................................................................................... 304
5.2 Target window reached................................................................................................. 310
5.2.1 CiA 402.................................................................................................................. 313
5.3 Following error.............................................................................................................. 313
5.3.1 CiA 402.................................................................................................................. 316
5.4 Target area monitoring.................................................................................................. 316
5.4.1 CiA 402.................................................................................................................. 319
5.5 Hardware limit switch reached...................................................................................... 319
5.5.1 CiA 402.................................................................................................................. 321
5.6 Software limit position reached.....................................................................................322
5.6.1 CiA 402.................................................................................................................. 325
5.7 Standstill monitoring.....................................................................................................325
5.7.1 CiA 402.................................................................................................................. 328
5.8 Stop reached................................................................................................................. 329
5.8.1 CiA 402.................................................................................................................. 331
5.9 Stroke limit reached...................................................................................................... 331
5.9.1 CiA 402.................................................................................................................. 333
5.10 Speed monitoring (spinning protection)........................................................................ 334
5.10.1 CiA 402.................................................................................................................. 334
5.11 Pushback monitoring.....................................................................................................335
5.11.1 CiA 402.................................................................................................................. 336
5.12 Remaining distance monitoring.....................................................................................336
5.12.1 CiA 402.................................................................................................................. 337
5.13 Trajectory completed.....................................................................................................337
5.14 Reference switch activated............................................................................................338
5.14.1 Function................................................................................................................. 338
5.14.2 CiA 402.................................................................................................................. 339
5.15 Directional lock..............................................................................................................339
5.15.1 Function................................................................................................................. 339
5.15.2 CiA 402.................................................................................................................. 340
6 Control..........................................................................................................................341
6.1 Cascade controller.........................................................................................................341
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6.1.1 Function..................................................................................................................341
6.1.2 Position controller.................................................................................................. 342
6.1.2.1 CiA 402................................................................................................................... 345
6.1.3 Velocity Control...................................................................................................... 346
6.1.3.1 CiA 402................................................................................................................... 349
6.1.4 Current regulator.................................................................................................... 349
6.1.4.1 CiA 402................................................................................................................... 355
6.1.5 Control parameter sets........................................................................................... 356
6.1.5.1 CiA 402................................................................................................................... 358
6.2 Limitations.................................................................................................................... 359
6.2.1 Limitation of application......................................................................................... 359
6.2.1.1 CiA 402................................................................................................................... 362
6.2.2 Control limitation....................................................................................................362
6.2.2.1 CiA 402................................................................................................................... 367
6.2.3 Torque limitation.................................................................................................... 369
6.2.3.1 CiA 402................................................................................................................... 371
6.3 Pilot control (Setpoint value control)............................................................................ 372
6.3.1 Setpoint value connection...................................................................................... 372
6.3.2 Inertia and friction compensation........................................................................... 377
6.3.3 CiA 402................................................................................................................... 380
6.4 Notch filter.................................................................................................................... 381
6.4.1 Function..................................................................................................................381
6.4.2 CiA 402................................................................................................................... 383
6.5 Auto tuning................................................................................................................... 384
6.5.1 Function..................................................................................................................384
6.5.1.1 CiA 402................................................................................................................... 390
6.5.2 Test run...................................................................................................................391
6.5.2.1 CiA 402................................................................................................................... 394
7 Technology functions.................................................................................................. 394
7.1 Cam controller (position trigger)................................................................................... 394
7.1.1 Function..................................................................................................................394
7.1.2 CiA 402................................................................................................................... 407
7.2 Position detection (touch probe).................................................................................. 408
7.2.1 Function..................................................................................................................408
7.2.2 CiA 402................................................................................................................... 420
7.3 Open-loop operation.................................................................................................... 423
7.3.1 CiA 402................................................................................................................... 427
7.4 Field weakening............................................................................................................ 427
7.4.1 CiA 402................................................................................................................... 428
8 Safety signals.............................................................................................................. 428
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8.1 Function........................................................................................................................ 428
8.2 CiA402...........................................................................................................................430
9 Diagnostics and fault clearance................................................................................... 430
9.1 Diagnostics options.......................................................................................................430
9.2 Classification of diagnostic events.................................................................................431
9.3 Diagnostic status...........................................................................................................434
9.3.1 CiA 402.................................................................................................................. 435
9.4 Servo drive messages....................................................................................................435
9.4.1 Status of messages................................................................................................ 435
9.4.2 Structure of messages........................................................................................... 436
9.4.3 Message directory................................................................................................. 438
9.4.4 Error memory......................................................................................................... 438
9.4.5 Acknowledging messages and errors..................................................................... 438
9.4.6 Diagnostic messages with information for fault clearance...................................... 440
9.5 Recording measuring data (trace)..................................................................................498
9.5.1 CiA 402.................................................................................................................. 506
9.6 Condition monitoring.....................................................................................................508
9.6.1 Mileage counter..................................................................................................... 508
9.6.1.1 CiA 402.................................................................................................................. 509
9.6.2 Load change counter............................................................................................. 510
9.6.2.1 CiA402................................................................................................................... 511
9.6.3 Operating hour counter.......................................................................................... 511
9.6.3.1 CiA402................................................................................................................... 512
10 Web server....................................................................................................................512
10.1 Function........................................................................................................................ 512
10.2 CiA 402.......................................................................................................................... 514
11 EtherCAT.......................................................................................................................515
11.1 General..........................................................................................................................515
11.2 ETG standards............................................................................................................... 515
11.3 EtherCAT communication...............................................................................................515
11.3.1 Overview of EtherCAT communication and synchronisation....................................515
11.3.2 EtherCAT bus......................................................................................................... 518
11.3.3 EtherCAT Slave Controller ESC............................................................................... 518
11.3.4 Protocol................................................................................................................. 518
11.4 EtherCAT final state machine.........................................................................................520
11.5 Sync Manager................................................................................................................523
11.5.1 Sync Manager communication............................................................................... 523
11.5.1.1 CiA 402.................................................................................................................. 525
11.5.2 Synchronisation..................................................................................................... 525
11.5.2.1 CiA 402.................................................................................................................. 529
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11.6 Distributed clocks DC (Distributed Clocks)................................................................... 530
11.7 Process data communication........................................................................................ 531
11.7.1 PDO Mapping..........................................................................................................532
11.7.1.1 Function: RxPDO1 mapping.................................................................................... 532
11.7.1.2 Function: TxPDO1 mapping, axis 1..........................................................................532
11.7.1.3 Function: TxPDO2 mapping, EtherCAT, diagnostic history...................................... 533
11.7.1.4 Function: TxPDO3 mapping, EtherCAT, DC time stamp............................................534
11.7.1.5 Parameters and diagnostic messages.....................................................................535
11.7.1.6 CiA 402................................................................................................................... 536
11.8 Mailbox communication............................................................................................... 536
11.8.1 SDO communication............................................................................................... 537
11.8.1.1 SDO write command (SDO download/download SDO)........................................... 537
11.8.1.2 SDO read command (SDO upload/upload SDO)..................................................... 538
11.8.1.3 SDO error message (Abort SDO transfer request)................................................... 538
11.8.2 Emergency communication.....................................................................................540
11.8.2.1 CiA 402................................................................................................................... 541
11.8.2.2 Error finite state machine........................................................................................541
11.8.3 Ethernet over EtherCAT-Communication (EoE)........................................................547
11.9 Objects reference list.................................................................................................... 548
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1 About this document
Notes regarding this documentation
This documentation is intended to help you safely work with the servo drive and contains the follow-
ing information:
Plug-in:
– Functions and operation of the software
– Initial commissioning assistant
Firmware functions:
– Configuration and parameterisation
– Operating modes and operational functions
– Diagnostics and optimisation
Bus protocol/control:
– Bus protocol EtherCAT and device profile CiA402
Open-loop control and parameterisation with CiA402
Target 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 electrical
drive systems.
1.1 Applicable documents
All available documents for the product èwww.festo.com/pk.
The user documentation for the product also includes the following documents:
Designation Contents
Product instruction manual Installation, safety sub-function
Detailed description of assembly, installationProduct descriptions
Detailed description of safety sub-function
Description/online help plug-in Plug-in:
– Functions and operation of the software
– Initial commissioning assistant
Firmware functions:
– Configuration and parameterisation
– Operating modes and operational functions
– Diagnostics and optimisation
Bus protocol/control:
– Device profile
– Controller and parameterisation
About this document
Festo — CMMT-ST-SW — 2019-0212

Designation Contents
Festo Automation Suite online
help
– Function of the Festo Automation Suite
– Management and integration of device-specific plug-ins
Tab. 1 User documentation for the product
1.2 Product version
This documentation refers to the following version:
– Servo drive CMMT-ST-C8-1C-EC revision 1 and higher, see product labelling
– Firmware package version V015 and higher
– CMMT-ST Plug-in for Festo Automation Suite version 1.1.x
With newer firmware versions, check whether a newer version of this document is
availableèwww.festo.com/sp
1.3 Safety instructions
– Prior to commissioning, ensure that the resulting movements of the connected actuators cannot
endanger anyone.
– During commissioning: systematically check all control functions and the communication and sig-
nal interface between controller and drive regulator.
– Incorrect parameterisation may cause the drive system to perform unwanted or unexpected move-
ments.
General safety instructions for the servo drive: Instructions, Installation, Safety sub-function
è 1.1 Applicable documents.
1.4 Conventions
The following conventions are used in this document:
– Hexadecimal values are marked by a prefixed “0x”.
– Parameters and diagnostic messages are marked by the corresponding prefixed letter. The struc-
ture and presentation are described here:
– Parameters è 3.2.1 Depiction of the parameters
– Diagnostic messages è 9.4.2 Structure of messages
– Device-specific objects assigned to the parameters
è 3.2.3 Depiction of the device-profile-specific objects
2 CMMT-ST Plug-in
2.1 CMMT-ST Getting to know the plug-in
2.1.1 Overview
Function
The CMMT-ST plug-in is integrated in the Festo Automation Suite, enabling parameterisation, commis-
sioning, diagnostics and manual control of servo drives from the range. CMMT-ST.
CMMT-ST Plug-in
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The plug-in can be loaded and used in a Festo Automation Suite project.
When inserting Festo components, the component-specific parameters are copied from a device dir-
ectory (database) and do not have to be entered. The application-specific parameters are entered by
the user. This applies to all components within the drive configuration.
The plug-in keeps the data automatically synchronised. Entries added to the plug-in are immediately
transferred to the device if there is an existing device connection
è 2.1.6 Automatic data synchronisation.
Functions of the Festo Automation Suite
Installing, updating, uninstalling and changing the language of the plug-in are managed by the Festo
Automation Suite è Online help for Festo Automation Suite.
If a text in the plug-in is not available in the selected language, it switches back to the standard lan-
guage – English.
Projects that contain the devices are also managed via the Festo Automation Suite.
Device parameter record
The device parameter record (user parameter record) is part of the project and is managed with the
project.
Recommendation: Archive completed projects so that the parameter record is available if the device is
replaced.
Projects can be saved to any desired drive with the Save As function of the Festo Automation Suite.
The project folder can also be backed up manually. In the default setting, Festo Automation Suite
projects are saved to the path "%USERPROFILE%\Documents\Festo Automation Suite Projects".
CMMT-ST Plug-in
14 Festo — CMMT-ST-SW — 2019-02

2.1.2 Interface
2.1.2.1 Overview
1Context è 2.1.2.2 Contexts
2Backstage area of the Festo Automation
Suite
3Program areas of the Festo Automation Suite
4Tabs of device entities that are currently
open
5Title bar of working area
è 2.1.2.5 Working area in the title bar
6Toolbar è 2.1.2.3 Toolbar
7Display of real-time values
è 2.1.2.6 Display of real-time values
8Working area
è 2.1.2.5 Working area in the title bar
9Navigator è 2.1.2.4 Navigator
Fig. 1 Interface of the plug-in
2.1.2.2 Contexts
To gain a better overview, functions and commands in the plug-in are separated by context.
Contexts represent the phases during which the user uses the plug-in in conjunction with the servo
drive. These are the standard commissioning and optimisation activities of a servo drive.
The plug-in contains the following contexts:
Context Description
"Parameterisation" Parameterise drive by reading and writing device parameters
è 2.3.
"Diagnosis" Performing diagnostics on the device status è 2.4.
"Control" Manually control the device è 2.5.
Tab. 2 Description of the contexts
The corresponding function is displayed in the working area by clicking on one of the contexts.
The content of the toolbar and sidebar are adjusted to the relevant context that is selected.
CMMT-ST Plug-in
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2.1.2.3 Toolbar
Overview
The toolbar contains commands frequently required for the currently displayed context.
Some commands are the same in all contexts. Additional commands are provided for the currently
selected context:
– Parameterisation è Toolbar
– Diagnosis è Toolbar
– Control è Toolbar
The following commands are available in every context:
Fig. 2 Toolbar area
No. Section/command Description
1
Connection control
Functions:
– Connect plug-in to a device
– Display current connection and device status
– Manage plug-in communication settings
Additional information è 2.2.2.1 Connection control.
Function:
– Assign master control to the plug-in or higher-level
controller
The scroll bar shows the current setting.
"Control"
The command can be executed if the following pre-
requisite is met:
– The plug-in is connected to a device.
– No other plug-in has the master control.
2
If another plug-in has the master control, an information
symbol is displayed over the deactivated command
"Control".
The tool tip for the command "Control" contains the IP
address and the port number of the device.
3
"Powerstage"
Function:
– Release final stage of the servo drive
The scroll bar shows the current setting.
CMMT-ST Plug-in
16 Festo — CMMT-ST-SW — 2019-02

No. Section/command Description
The command can be executed if the following pre-
requisites are met:
– The plug-in is connected to a device.
– The plug-in has the master control.
– The device is not in error status.
"Powerstage"
During activation of controller enable, a check determ-
ines whether a reinitialisation is required. If a reinitial-
isation is required, a query is displayed offering the fol-
lowing options:
– "Ok": The reinitialisation is executed and controller
enable is activated.
– "Cancel": The reinitialisation is not executed and
controller enable remains deactivated.
3
If another plug-in has the master control, an information
symbol is displayed over the deactivated command
"Powerstage".
The tool tip for the command "Powerstage" contains the
IP address and the port number of the device.
Function:
– Send stop command to the servo drive (category 2
stop)
4
"Stop" The command can be executed if the following pre-
requisite is met:
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.
Function:
– Acknowledge all cancelled diagnostic messages for
the servo drive
Additional information è 2.4.2.
5
"Acknowledge all"
The command can be executed if the following pre-
requisite is met:
– The plug-in is connected to a device.
– The plug-in has the master control.
6 Function:
– Permanently save current parameterisation on the
device
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No. Section/command Description
6 "Store on device" The command can be executed if the following pre-
requisite is met:
– The plug-in is connected to a device.
Function:
– Reinitialising the device
Some device parameters require a reinitialisation to be
completed for changes to become effective. The com-
mand is highlighted, if device parameters that will only
be implemented following a reinitialisation have been
changed.
A reinitialisation will update the device parameters but
not save them.
7
"Reinitialize"
The command can be executed if the following pre-
requisites are met:
– The plug-in is connected to a device.
– The device parameters that required a reinitialisa-
tion have been changed.
– Controller enable is deactivated.
Function:
– Restart the device
Restarting the device includes a reinitialisation. The
command is highlighted, if device parameters that will
only be implemented following a restart of the device,
have been changed.
The command can be executed if the following pre-
requisite is met:
– The plug-in is connected to a device.
8
Once the command has been acknowledged, a query is
displayed offering the following options:
– "Store and restart": The data are saved on the
device before the restart.
– "Restart device only": The device is restarted
without saving the data.
Tab. 3 Description of the toolbar sections and commands
Handling unknown and missing device methods
A corresponding message is displayed, if a command cannot be executed due to an unknown or miss-
ing device method.
This ensures that the plug-in can also handle the latest and older firmware versions.
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2.1.2.4 Navigator
All of the content pages for the selected context are displayed in a navigation tree within the navigator
and can be selected to be displayed in the working area è Working area in the title bar.
2.1.2.5 Working area in the title bar
The working area displays the currently selected content page for the selected context.
The title bar of the work area contains commands for the current content page.
The following command is available on all of the content pages:
Symbol Description
Current content page is opened in own window.
Tab. 4 Description of the symbols in the title bar of the working area
Different commands are displayed depending on the selected content page:
– All parameter panels è 2.3
– Diagnostics panel "Error log" è 2.4.4
– Control side "Manual movement" è 2.5.2
2.1.2.6 Display of real-time values
The sidebar displays real-time values that are cyclically read and updated by the device.
Selecting real-time values to be displayed
The real-time values that are displayed in the sidebar can be selected.
Proceed as follows to select real-time values:
1. Actuate "Select..." button.
2. Select checkboxes for real-time values that should be displayed.
3. Actuate "Apply"button.
ÄThe selected real-time values are displayed in the sidebar.
2.1.3 Cross-context elements and error messages
2.1.3.1 Adorner
Overview
Adorners provide additional information for parameters. If the cursor is moved over the adorner, a
pop-up window with the additional information opens.
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Interface
1Adorner
2Status symbol
3Title
4Close pop-up
5Description of the display or control element
6Status message
7Command area
Fig. 3 Design of an adorner and the pop-up
The description of the display and operating components contains, for example, the following informa-
tion for device parameters or internal parameters:
– Hexadecimal value of parameter
– Data type of parameter
– ID of device parameter or the internal parameter
– Description of the parameter
Information on structure of IDs of device parameters (P...) è 3.2.1 Depiction of the parameters.
With internal parameters (I...), the plug-in displays, forexample, settings on several device paramet-
ers (P...) or device-independent information.
Changing values using the command area
Depending on the device parameter, the values can be changed via the command area of the pop-up.
The value is applied by actuating the corresponding button.
Actuate the Description
"Minimum" Resets the device parameter to the minimum value shown.
"Maximum" Resets the device parameter to the maximum value shown.
"Default" Resets the device parameter to the standard value shown.
"Recomm. minimum" Resets the device parameter to the recommended minimum value shown.
"Recomm. maximum" Resets the device parameter to the recommended maximum value shown.
"Last saved" Resets the device parameter to the most recently saved value in the
project.
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