Festo CMMS-ST Operating and installation instructions

Trimming:
On top: 61.5 mm
Underneath: 61.5 mm
Left: 43.5 mm
Right: 43.5 mm
PROFIBUS for motor controller
CMMS/CMMD
Description
PROFIBUS
CMMS-ST
CMMS-AS
CMMD-AS
Description
554 346
en 1103a
[757 738]

Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 3
Edition ____________________________________________________en 1103a
Designation _______________________________ P.BE-CMMS-FHPP-PB-SW-EN
Order no. ___________________________________________________554 346
(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)
Internet: http://www.festo.com
E-mail: [email protected]
The reproduction, distribution and utilisation of this document as well as the communica-
tion of its contents to others without explicit authorisation is prohibited. Offenders will be
held liable for compensation of damages. All rights reserved, in particular the right to file
patent, utility model or registered design applications.

4 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
Index of revisions
Author:
Name of manual: P.BE-CMMS-FHPP-PB-SW-EN
File name:
File saved at:
Consec. no. Manual Index of revisions Date of amendment
001 Creation 0708NH 01.08.2007
002 Revision 1103a 02.03.2011
Trademarks
PROFIBUS, PROFIBUS-DP®, SIMATIC® are registered trademarks of the respective trade-
mark owners in certain countries.

Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 5
TABLE OF CONTENTS
1. General remarks ..................................................................................................... 6
1.1 Intended use ......................................................................................................... 6
1.2 Safety instructions ................................................................................................ 6
1.3 Target group.......................................................................................................... 7
1.4 Service .................................................................................................................. 7
1.5 Important user instructions ................................................................................... 7
2. Festo Handling and Positioning Profile (FHPP).................................................... 10
2.1 PROFIBUS data exchange .................................................................................... 10
3. Mounting and installation .................................................................................... 11
3.1 Mounting............................................................................................................. 11
3.2 Installation .......................................................................................................... 11
3.2.1 Connection and display elements ........................................................ 12
3.2.2 Pin assignment of PROFIBUS interface................................................. 13
3.2.3 Termination and bus terminating resistors .......................................... 14
4. Configuration of the PROFIBUS interface ............................................................. 15
4.1 Adjustment of the DIP switch on the CMMS/CMMD ............................................ 15
4.2 PROFIBUS communication................................................................................... 17
4.3 Assignment of the I/O data for CMMD................................................................. 18
4.4 PROFIBUS configuration...................................................................................... 19
4.5 PROFIBUS station configuration .......................................................................... 19
4.6 PROFIBUS master configuration .......................................................................... 19
4.6.1 Configuration with SIMATIC manager (CMMS-ST example).................. 20
5. Diagnostics ........................................................................................................... 23
5.1 Network status LED ............................................................................................. 23
5.2 PROFIBUS error codes ......................................................................................... 23
A. Technical data....................................................................................................... 24

1. General remarks
6 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
1. General remarks
1.1 Intended use
This documentation describes how to connect the field bus to the CMMP/CMMD motor
controller in a PROFIBUS-DP network. It describes how to configure the PROFIBUS and
explains the user protocol FHPP. For a detailed description of the FHPP parameters please
refer to the FHPP documentation.
The documentation contains safety instructions which must be observed.
The complete set of information can be found in the documentation
for the motor controller used:
-Description P.BE-CMM...-HW-...:
-Mechanics - electrical engineering - overview of the function
range.
Please note
Always follow the safety-related instructions listed in the product
manual for the motor controller used.
1.2 Safety instructions
When commissioning and programming positioning systems, you must always observe the
safety regulations in the descriptions and operating instructions for the 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 suit-
able 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 people 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.
Warning
Errors in parametrisation can cause injury to people and damage to
property.
Enable the controller only if the axis system has been correctly in-
stalled and parametrised.

1. General remarks
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 7
1.3 Target group
This manual is intended exclusively for technicians trained in control and automation tech-
nology, who have experience in installing, commissioning, programming and performing
diagnostics on 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 prod-
uct 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 seri-
ous personal injury or damage to property.
Caution
... means that failure to observe this instruction may result in per-
sonal injury or damage to property.
Please note
... means that failure to observe this instruction may result in dam-
age to property.
The following pictogram marks passages in the text which describe activities with electro-
statically sensitive devices:
Electrostatically sensitive components: Incorrect handling can re-
sult in damage to components.

1. General remarks
8 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
Identification of special 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.
Version information
This manual refers to versions according to Table 1.1
You can find the specifications on the version status as follows:
-Hardware version and firmware version in the Festo Configuration Tool (FCT) with ac-
tive device connection under "Device Data"
Controller Firmware GSD Comment
CMMS-ST-... Version 1.3.0.1.14
and up
S-ST0AB7.gsd Standard motor controller for stepper motors
CMMS-AS-... Version 1.3.0.1.16
and up
S-AS0B67.gsd Standard motor controller for servo motors
CMMD-AS-... Version 1.4.0.3.2 and
up
D-AS0B68.gsd Standard double motor controller for servo motors
Table 1.1 Controller and firmware versions

1. General remarks
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 9
For older versions:
If necessary, use the associated older version of this document.
Please note
With newer firmware versions, check whether there is a newer ver-
sion of this description available: www.festo.com

2. Festo Handling and Positioning Profile (FHPP)
10 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
2. Festo Handling and Positioning Profile (FHPP)
Festo has developed an optimised data profile, the "Festo Handling and Positioning Profile
(FHPP)", tailored to the target applications for handling and positioning tasks.
The FHPP enables uniform control and programming for the various field bus systems and
controllers from Festo.
In addition in an extensive and uniform way it defines for the user
•operating modes,
•I/O data structure,
•parameter objects,
•sequence control.
···
Fieldbus communication
Record selection Direct mode Parametrisation
1 Position Speed Torque
2
….
n
Free access to all
parameters
- read and write
···
Table 2.1 The FHPP principle
Information on the FHPP profile (parameters, device data…) is provided in the P.BE-CMM-
FHPP-SW-DE documentation.
2.1 PROFIBUS data exchange
PROFIBUS (PROcess FIeldBUS) is a standard developed by the PROFIBUS User Organisa-
tion. A complete description of the field bus system can be found in the following stan-
dard:
IEC 61158 „Digital data communication for measurement and control – Fieldbus for use in
industrial control systems“: This standard contains several parts and defines 10 „field bus
protocol types.“ PROFIBUS is specified amongst these as type 3. PROFIBUS exists in two
designs. PROFIBUS-DP can be found for fast data exchange in manufacturing technology
and building automation (DP = decentral periphery). The incorporation into the ISO/OSI
layer model is also described in this standard.
Further information, contact addresses etc. can be found under www.PROFIBUS.com.

3. Mounting and installation
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 11
3. Mounting and installation
3.1 Mounting
Caution
The motor controller must be disconnected from all current carrying
cables before an additional module is fitted. After switching off the
operating voltage, you must wait 1 minute before the capacitors in
the motor controller are fully discharged.
Caution
Make sure that measures for ESD protection are taken when han-
dling the additional module.
Use a suitable screwdriver to remove the front cover over the module shaft of the motor
controller. The additional module is now placed in the open module shaft so that the prin-
ted circuit board slides into the guides on the sides of the module shaft. Push the board in
as far as possible. The front plate of the additional module is then screwed to the motor
controller housing with a Phillips screw. Make sure that the front plate fits flush with the
front in order that it has conductive contact with the housing.
3.2 Installation
On the CMMS/CMMD motor contrllers the PROFIBUS interface has been designed in the
form of an optional additional module.
Warning
PROFIBUS cabling
Due to the possibly very high baud rates, we recommend also the
use of the standardized cable and plug connector. These are in so-
me cases provided with additional diagnostic possibilities and in
the event of a fault they facilitate the fast analysis of the field bus
hardware.
When setting up the PROFIBUS network, it is essential that you fol-
low the advice in the relevant literature or the following information
and instructions in order to maintain a stable, faultless system. If
the cabling is not correct, faults may occur on the PROFIBUS which
cause the motor controller to switch off with a fault for safety rea-
sons.

3. Mounting and installation
12 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
3.2.1 Connection and display elements
The following elements can be found on the front plate of the CAMC-PB:
-a green LED for the bus readiness message.
-a 9-pin DSUB socket
-two DIP switches for actuating the terminating resistors
1two DIP switches
29-pin sub-D so-
cket
3LED for the bus
readiness message
Fig. 3.1 Connecting and display elements on the PROFIBUS-DP interface
2
1
3

3. Mounting and installation
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 13
3.2.2 Pin assignment of PROFIBUS interface
Fig. 3.2 PROFIBUS module - pin assignment
Pin no. Name Value Type
1 Shield - Cable shield
6 +5V +5 V +5V – output (potential isolated) 1)
2 - - not assigned
7 - - not assigned
3 RxD / TxD-P Received / transmitted data B cable
8 RxD / TxD-N Received / transmitted data A cable
4 RTS / LWL Request to Send 2)
9 - - not assigned
5 GND5V 0 V Reference potential GND 5V 1)
1) Use for external bus termination or for suppling transmitter / receiver of an external LWL module.
2) Signal is optional, serves for direction control when used with an external LWL module.
Table 3.1 Connector pin assignments: PROFIBUS-DP interface
GND 5V
RTS/LWL
B-cable (RxD/TxD-P)
n.c.
Shield
n.c.
A-cable (RxD/TxD-N)
n.c.
+ 5V

3. Mounting and installation
14 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
3.2.3 Termination and bus terminating resistors
Each bus segment of a PROFIBUS network must be fitted with terminating resistors in or-
der to minimize cable reflexions and to set a defined rest potential on the cable. The bus
termination is made at the beginning and end of a bus segment.
An incorrect bus termination is often the cause of a fault
The terminating resistors are already provided on most commercially-available PROFIBUS
plug connectors. The PROFIBUS-DP interface has its own terminating resistors for coupling
to buses without terminating resistors. These can be switched via the two DIP switches on
the module (both switches to ON).
In order that the terminating resistors can be switched off, both switches must be set to
OFF.
In order that the network can be operated reliably, only one bus termination must be used,
internal (via DIL switch) or external.
The external circuitry can also be set up discretely (see Fig. 3.3). The 5 V supply voltage
required for the externally switched terminating resistors is provided at the PROFIBUS plug
of the PROFIBUS-DP interface (see pin assignment in the Table 3.1).
Fig. 3.3 Bus terminal
If the set baud rate is greater than 1.5 Mbit/s, plugs with integrated series inductance
(110 nH) must be used due to the capacitive load of the station and the cable reflexion
thereby created.
390 ohms
390 ohms
220 ohms
GND 5 V
Line B
Line A

4. Configuration of the PROFIBUS interface
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 15
4. Configuration of the PROFIBUS interface
Several steps are required in order to produce a functioning PROFIBUS interface. Some of
these settings should or must be carried out before the PROFIBUS communication is acti-
vated. This chapter provides an overview of the relevant steps. The exact procedure is
described in the following chapters in more detail.
When planning the PROFIBUS interface, the user must make firm decisions. Only then
should the parametrisation of the fieldbus connection on both sides be made. We recom-
mend that the parametrisation of the slave be undertaken first. Then the master should be
configured. With correct parametrisation the application is ready immediately without
communication faults.
As some parameters are not effective until after saving and reset, we recommend the fol-
lowing procedure.
1. Adjuating the DIP switch.
2. Parametrisation and commissioning with the FCT. Especially also the adjustment of the
physical units.
3. Configuration of the PROFIBUS master
For correct functioning it is necesary to define the physical units of the processing data
transmitted via the fieldbus. These can be set via the FCT.
4.1 Adjustment of the DIP switch on the CMMS/CMMD
The inserted PROFIBUS module will be recognized automatically when the motor controller
is switched on. In order to activate, you must deactivate the CAN interface with DIP switch
11 on the motor controller.
Each device(PROFIBUS module) in the network must be assigned a unique bus address.
The MAC ID must be set with DIP switches 1 … 7 on the motor controller.

4. Configuration of the PROFIBUS interface
16 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
1DIP switch 1 ... 7 (bus address)
2 DIP switch 11
3DIP switch for terminating resistors
(these terminating resistors can be
switched on via the two DIP switches)
4PROFIBUS card slot
Fig. 4.1 Adjustment of the DIP switch on the CMMS/CMMD
Permitted bus addresses are 1 … 126.
Addresses cannot be assigned by the master because the service Set_Slave_Address is
not supported. Each address is only assigned once.
1
4
2
3

4. Configuration of the PROFIBUS interface
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 17
DIP switch Significance
1
2
3
4
5
6
7
Bus address.
See example
8 Bootloader (If the switch is set to ON, the system searches for new firmware on the SD
card)
9
10
reserved (auto baudrate, for PROFIBUS no setting required)
11 Activation of the CAN interface, must be set to OFF for operation of the PROFIBUS card.
12 Terminating resistor of the CAN interface
Table 4.1 Assignment of the DIP switches
DIP switch ON/OFF Significance
1 ON
2 ON
3 OFF
4 ON
5 ON
6 OFF
7 ON
DIP switch 1 is the lowest-value bit. 1011011=91
Table 4.2 Bus address example
4.2 PROFIBUS communication
After setting the bus address the PROFIBUS communication can be activated. Please note
that the above mentioned parameters can only be modified when the protocol is deacti-
vated. All parameters are only valid when the PROFIBUS communication is deactivated and
then re-activated.

4. Configuration of the PROFIBUS interface
18 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
Please note that the PROFIBUS communication can only be acti-
vated when the parameter records have been saved and a Reset
has been carried out.
4.3 Assignment of the I/O data for CMMD
With CMMD, control via FHPP for axis 1 and axis 2 always takes place over a shared field-
bus interface. If an interface is activated, it is always valid for both axes.
Each axis has its own I/O data.
Assignment of the I/O data over the fieldbus depends on the control interface used:
PROFIBUS:
The two axes have a shared bus address, which is set via the DIP switches.
The I/O data for the two axes are transferred in a shared telegram of double length.
Example (with FPC):
Byte 1 ... 8: control/status bytes axis 1
Byte 9 ... 16: FPC axis 1
Byte 17 ... 24: control/status bytes axis 2
Byte 25 ... 32: FPC axis 2
Please note
With PROFIBUS and DeviceNet, the I/O data for axis 2 are read by
axis 1, passed on to axis 2 and evaluated there. The answer is re-
turned to axis 1 with the next internal communication task (every
1.6 ms) at the earliest. Only then can the answer be returned via the
fieldbus.
This means that the processing time of the fieldbus protocol is twice
as long as with CMMS.

4. Configuration of the PROFIBUS interface
Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a 19
4.4 PROFIBUS configuration
PROFIBUS configuration Cyclic I/O update Acyclic data
2 modules can be selected:
Module 1: Name = „FHPP Standard"
Identifier = 0xB7 (8 bytes I/O consistent)
PROFIBUS
Module 2: Name = „FHPP Standard +
FPC"
Identifier = 0xB7, 0xB7
(2 x 8 bytes I/O consistent)
-
Table 4.3 PROFIBUS configuration
4.5 PROFIBUS station configuration
This section provides an overview of the steps required by the slave for parametrisation
and configuration. As some parameters are only effective after saving and reset, we re-
commend that commissioning with the FCT without connection to the PROFIBUS be carried
out first.
Note on commissioning with the Festo Configuration Tool can be
found in the help to the device-specific FCT PlugIn.
Important processing data for position, velocity and acceleration are transferred in physi-
cal units. These should be parametrised before starting communication because they de-
termine how the data are to be interpreted in the motor controller.
4.6 PROFIBUS master configuration
This section provides an overview of the steps required by the master for parametrisation
and configuration. We recommend the following procedure:
1. Installing the GSD file
2. Slave address
3. Configuration of the input and output data
On the part of the master, the motor controller must be incorporated in the PROFIBUS. First
the GSD file is installed if this has not already been done. Finally, the address and the in-
put and output data for the slave must be configured.
In order to make commissioning fast and simple, the abilities of the PROFIBUS interface of
the motor controller are described in an EDS file. By using a suitable configuration tool you
can configure a device within a network. The EDS file is contained on the CD supplied with
the product.

4. Configuration of the PROFIBUS interface
20 Festo P.BE-CMMS-FHPP-PB-SW-EN en 1103a
The latest version can be downloaded from our home page (www.festo.com – Sup-
port/Downloads).
EDS file Manual
S-ST0AB7.gsd Motor controller CMMS-ST
S-AS0B67.gsd Motor controller CMMS-AS
D-AS0B68.gsd Motor controller CMMD-AS
Table 4.4 EDS file
Use the following icon files in order to represent the motor controller in your configuration
software (e.g. SIEMENS SIMATIC S7).
Normal operating sta-
tus
Diagnostic case Special operating sta-
tus
Motor controller
cmmsst_n.bmp cmmsst_d.bmp cmmsst_s.bmp CMMS-ST
cmmsas_n.bmp cmmsas_d.bmp cmmsas_s.bmp CMMS-AS
cmmdas_n.bmp cmmdas_d.bmp cmmdas_s.bmp CMMD-AS
Table 4.5: Bitmap motor controller
This is shown below as an example of integration under SIEMENS SIMATIC S7.
4.6.1 Configuration with SIMATIC manager (CMMS-ST exam-
ple)
The software package SIMATIC Manager serves for project planning and commissioning in
conjunction with PROFIBUS masters from Siemens or compatible masters.
In order that the motor controller can be incorporated into the PROFIBUS network, it must
be selected in the hardware catalogue (HW-Config) –SIMATIC…). The motor controller
CMMP-ST can be found under "PROFIBUS-DP\Additional Field Devices \Drives\Festo").
1. Pull the station type „Festo CMMP-ST“ by drag and drop onto the PROFIBUS-DP mas-
ter system.