Festo VTEM Parts list manual

8102588
VTEM
Motion Terminal
8102588
2019-03b
[8102590]
Description|Function,
Parameterisation

Translation of the original instructions
CANopen®, CC-LINK®, GOOGLECHROME®, DeviceNet®, EtherCAT®, EtherNet/IP®, Ethernet
POWERLINK®, FIREFOX®, INTERNET EXPLORER®, MICROSOFT EDGE®, MODBUS®, PI PROFIBUS
PROFINET®, SercosIII® are registered trademarks of the respective trademark owners in certain coun-
tries.
2 Festo — VTEM — 2019-03b

3Festo — VTEM — 2019-03b
1 About this document................................................................................................... 7
1.1 Applicable documents.................................................................................................. 7
1.2 Target group................................................................................................................. 7
1.3 Product version............................................................................................................ 8
1.3.1 Product labelling.....................................................................................................9
2 Function........................................................................................................................11
2.1 General..........................................................................................................................11
2.1.1 Product design........................................................................................................11
2.1.1.1 CPX terminal electronics side..................................................................................11
2.1.1.2 Motion Terminal controller CTMM‐S1‐C.................................................................. 12
2.1.1.3 Manifold rail............................................................................................................14
2.1.1.4 Pilot pressure regulator.......................................................................................... 14
2.1.1.5 Input module CTMM-S1-A/D-… (optional)...............................................................14
2.1.1.6 Cover plate VABB-P11-27-T.....................................................................................14
2.1.1.7 Valves..................................................................................................................... 15
2.1.2 Display components............................................................................................... 15
2.1.2.1 Controller................................................................................................................15
2.1.2.2 Valve.......................................................................................................................16
2.1.2.3 Input modules.........................................................................................................17
2.1.3 Control elements.....................................................................................................17
2.1.4 Connecting components......................................................................................... 17
2.1.4.1 Electrical................................................................................................................. 17
2.1.4.2 Pneumatic...............................................................................................................19
2.1.5 Definition of the direction of movement/position of the drive................................ 20
2.2 Firmware designs......................................................................................................... 20
2.3 WebConfig user interface............................................................................................. 20
2.3.1 Manual override......................................................................................................21
2.3.2 Access control.........................................................................................................21
2.3.3 Export/import of parameterisation and settings..................................................... 21
2.3.3.1 Behaviour during export......................................................................................... 22
2.3.3.2 Behaviour during import.........................................................................................22
2.4 Motion Apps................................................................................................................. 23
2.4.1 Motion App ID.........................................................................................................23
2.4.2 Licences..................................................................................................................23
2.4.3 Parameter............................................................................................................... 23
2.4.3.1 System parameters.................................................................................................24
2.4.3.2 Application parameters...........................................................................................29
2.4.3.3 Tuning parameter................................................................................................... 30
2.4.3.4 Sensor parameters................................................................................................. 30
2.4.3.5 Teach-in data.......................................................................................................... 31
Table of contents

2.4.3.6 Parameter sets....................................................................................................... 31
2.4.4 Setpoint and actual values..................................................................................... 32
2.4.5 Waiting time between Motion Apps....................................................................... 32
2.5 Communication between PLC and Motion Terminal.......................................................33
2.5.1 Numerical representation...................................................................................... 33
2.5.2 Structure of the process data when running a Motion App..................................... 33
2.5.2.1 Structure of the output data (PDO)........................................................................ 34
2.5.2.2 Structure of the input data (PDI)............................................................................ 36
2.5.3 Running a Motion App........................................................................................... 38
2.5.3.1 Requirements........................................................................................................ 38
2.5.3.2 Starting a Motion App............................................................................................ 38
2.5.3.3 Controlling a Motion App....................................................................................... 39
2.5.3.4 Ending a Motion App.............................................................................................. 39
2.5.3.5 Feedback in the case of invalid output data........................................................... 39
2.5.4 Transfer mode........................................................................................................ 40
2.5.4.1 Structure of the process data in transfer mode...................................................... 41
2.5.4.2 Information on the status of the Motion Terminal (information channel)................ 47
2.5.4.3 Feedback in the case of invalid output data........................................................... 58
2.5.4.4 Saving settings as persistent data......................................................................... 59
2.6 Motion App #01: Directional control valve functions..................................................... 63
2.6.1 Function description.............................................................................................. 63
2.6.2 Required sensors................................................................................................... 63
2.6.3 System parameters used....................................................................................... 64
2.6.3.1 Sensor input for end position sensing, retracted((2) pressurised, (4) exhausted)...64
2.6.3.2 Sensor input for end position sensing, advanced((4) pressurised, (2)
exhausted)
.. 65
2.6.4 Application parameters used................................................................................. 65
2.6.5 Default values........................................................................................................ 66
2.6.5.1 Setting of the Motion App (app option).................................................................. 66
2.6.5.2 Control of the Motion App (app control)................................................................. 66
2.6.5.3 Setpoint value 1 and 2 (setpoint value 1, setpoint value 2).................................... 71
2.6.6 Return values......................................................................................................... 71
2.6.6.1 Status of the Motion App (app state)..................................................................... 71
2.6.6.2 Actual value 1 and 2 (actual value 1, actual value 2).............................................. 72
2.7 Teach-in run.................................................................................................................. 73
2.7.1 Prerequisites for starting the teach-in run.............................................................. 73
2.7.2 Default values........................................................................................................ 73
2.7.2.1 Selection of the teach-in run mode........................................................................ 73
2.7.2.2 Controlling the manual teach-in run....................................................................... 74
2.7.3 Return values......................................................................................................... 75
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2.7.3.1 End position sensing...............................................................................................75
2.7.3.2 Status of teach-in run............................................................................................. 75
2.7.4 Sequence of teach-in run........................................................................................ 75
2.7.4.1 Automatic teach-in run............................................................................................75
2.7.4.2 Manual teach-in run................................................................................................76
2.7.5 Saving the teach-in data......................................................................................... 76
2.7.6 Validity of teach-in data based on parameter changes............................................76
2.8 Diagnostics options...................................................................................................... 77
2.8.1 LED display components.........................................................................................77
2.8.1.1 Controller................................................................................................................77
2.8.1.2 Valve.......................................................................................................................79
2.8.1.3 Analogue input module...........................................................................................80
2.8.1.4 Digital input module............................................................................................... 80
2.8.2 Diagnostic interface................................................................................................81
2.8.3 Diagnostics channel in transfer mode..................................................................... 81
2.8.3.1 Errors and warnings................................................................................................81
2.8.3.2 Structure of the malfunction message.................................................................... 82
2.8.3.3 Structure of the VTEM diagnostic memory.............................................................. 83
2.8.3.4 Behaviour when an error occurs............................................................................. 84
2.8.3.5 Readout of a malfunction list.................................................................................. 84
2.8.3.6 Acknowledging errors............................................................................................. 86
3 Parameterisation......................................................................................................... 87
3.1 Setting system, application and tuning parameters.......................................................87
3.1.1 Requirements......................................................................................................... 87
3.1.2 Sequence................................................................................................................88
3.2 Reading out system, application and tuning parameters...............................................89
3.2.1 Requirements......................................................................................................... 89
3.2.2 Sequence................................................................................................................90
3.3 Setting sensor parameters........................................................................................... 92
3.3.1 Requirements......................................................................................................... 92
3.3.2 Sequence................................................................................................................93
3.4 Save parameterisation as persistent data.................................................................... 95
3.5 Changing an active parameter set................................................................................ 95
3.5.1 Requirements......................................................................................................... 95
3.5.2 Sequence................................................................................................................95
3.5.3 Example.................................................................................................................. 96
4 Technical appendix..................................................................................................... 98
4.1 Technical data.............................................................................................................. 98
4.1.1 General................................................................................................................... 98
4.1.2 Power supply.......................................................................................................... 100
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4.1.3 Approvals............................................................................................................... 101
4.1.4 Input modules........................................................................................................ 101
5 Supported peripherals................................................................................................. 102
5.1 Supported CPX bus nodes............................................................................................. 102
5.2 List of supported drives.................................................................................................102
6 Licences........................................................................................................................103
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1 About this document
This document describes the function and parameterisation of the product stated in the title. Safe use
of the product is described in a separate document è 1.1 Applicable documents.
1.1 Applicable documents
User document
ation
Name, type Contents
Quick Guide Motion Terminal, VTEM Quick Guide for the Motion Terminal VTEM
Instruction
manual
Motion Terminal, CPX,
VTEM
Mounting the Motion Terminal VTEM together with
the CPX terminal
Instruction
manual
Motion Terminal, VTEM Instructions on safe use and important notes on hand-
ling, installation, commissioning and maintenance of
the Motion Terminal VTEM
Descriptions Motion Apps, GAMM-Ax Detailed description of the Motion Apps for the Festo
Motion Terminal VTEM
Description CPX terminal,
P.BE-CPX-SYS-…
Information on the complete system of the CPX ter-
minal
Application Note Malfunction codes VTEM Tables with all application-relevant malfunction codes
èwww.festo.com/sp èVTEM èExpert knowledge
Application Note Supported drives VTEM List of all drives released for the Festo Motion Termin-
al (VTEM) èwww.festo.com/sp èVTEM èExpert
knowledge.
Tab. 1 Documentation on the product
All available documents for the product èwww.festo.com/pk.
1.2 Target group
This document is intended for qualified personnel. Experience with electrical and pneumatic control
systems is required in order to understand this documentation.
About this document

1.3 Product version
This document refers to the following product versions:
Product Version
VTEM-… Motion Terminal VTEM from revision 01
CTMM-S1-C Controller of the Motion Terminal VTEM from revision 01
Firmware Firmware of the controller CTMM from version 4.12.0
VEVM-S1-27-… Valve for Motion Terminal VTEM from revision 01
CTMM-S1-D-8E-M8-3 Digital input module for Motion Terminal VTEM from revision 02
CTMM-S1-A-8E-A-M8-4 Analogue input module for Motion Terminal VTEM from revision 02
Browser1) – Firefox From version 38 (recommended)
– Chrome From version 64
– Internet Explorer From version 11
– Microsoft Edge From version 38
1) Use current version.
Tab. 2 Product version
The product version can be identified from the product labelling or with the help of appropriate soft-
ware from Festo.
Appropriate software for determining the product version can be found in the Festo Support Portal
èwww.festo.com/sp.
Information on using the software can be found in the integrated Help function.
NOTICE!
There may be an updated version of this document for these or later product versions.
• Check if there is an updated version of this document èwww.festo.com/sp.
About this document
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1.3.1 Product labelling
Product labelling is made up of several individual labels. These are shown below.
The Product Key for the Motion Terminal and the associated Data Matrix Code are shown on the labels
on the Motion Terminal (è1,4). Scanning the Data Matrix Code with an appropriate device opens
the Festo Support Portal with information appropriate for the product. Alternatively, the Product Key
(11-digit alphanumeric code on the product labelling) can be entered in the search field of the Support
Portal.
1Motion Terminal label with Product Key
(Motion Terminal)
2Label on input module
3Label on valve
4Product Key (Motion Terminal)
5Label on controller
Fig. 1 Product labelling
Label on Motion Terminal
1Part number
2Operating pressure range
3Registration number for KC certification
4Data Matrix Code
5Product key
6Pilot pressure range
7Revision
8Serial number
Fig. 2 Label on Motion Terminal
About this document
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Label on input module
1Order code
2Part number
3Serial number
4Product key
5Data Matrix Code
6Revision
Fig. 3
Label on valve
1Order code
2Part number
3Product key
4Circuit symbol
5Information on initial position of valve
C: Normally closed
6Data Matrix Code
7Revision
8Serial number
Fig. 4 Label on valve
Label on controller
1Serial number
2Order code
3Product key
4Data Matrix Code
Fig. 5
About this document
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2 Function
2.1 General
The Motion Terminal VTEM provides a range of pneumatic open-loop and closed-loop control func-
tions that are executed in the form of Motion apps (MA). Parameters and setpoint values for executing
a Motion App can be specified. The Motion App converts these specifications into control commands
at the corresponding valve.
2.1.1 Product design
The product can consist of the following modules, dependent on the configuration ordered:
1CPX terminal electronics side
2Motion Terminal controller CTMM‐S1‐C
3Manifold rail
4Pilot pressure regulator
5Input module CTMM-S1-A/D-… (optional)
6Cover plate VABB-P11-27-T (optional)
7Valve slice VEVM-S1-27-…
Fig. 6 Product design
2.1.1.1 CPX terminal electronics side
The CPX terminal establishes the connection to a higher-order controller
(è 5.1 Supported CPX bus nodes) by means of an internal controller (CPX-CEC-...-V3) or a bus node.
Function
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2.1.1.2 Motion Terminal controller CTMM‐S1‐C
The Motion Terminal controller forms the interface between the CPX terminal and the components of
the Motion Terminal.
The controller has an Ethernet interface for accessing the WebConfig user interface for the Motion Ter-
minal. Compressed air (1) and common exhaust or vacuum (3), as well as pilot exhaust air (84) and
pressure compensation (L) can be connected to the controller housing.
From the perspective of the CPX terminal, the Motion Terminal is a single component and is modelled
with a defined amount of input and output data in the process data of the CPX terminal
è 2.5 Communication between PLC and Motion Terminal.
The terminal CPX and the CPX module CTMM-S1-C can be parameterised with the operator unit (CPX-
MMI), the Festo Maintenance Tool (CPX-FMT) software or the higher-level system.
Further information about parameterisation of the CPX system and its modules can be found in the
description of the CPX terminal (è 1.1 Applicable documents).
The following tables give an overview and a description of the CPX module parameters included in the
CTMM-S1-C.
Function number1) Bit Parameter Default
0 Monitoring short circuit/overload sensor sup-
ply (SCS)
Active4828 + m × 64 + 0
2 Monitoring of undervoltage outputs/valves
UOUT/UVAL
Active
4828 + m × 64 + 6 0 Monitoring of negative pressure Active
1) m = module number (counting from left to right, beginning with 0)
Tab. 3 Overview of the CPX module parameters
Function
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Description of the CPX module parameters
Monitoring of short circuit/overload, monitoring of undervoltage UOUT/UVAL
Function number 4828 + m × 64 + 0
m = module number (0…47)
Description Monitoring of the Motion Terminal for the following error:
– Short circuit or overload in sensor supply
– Undervoltage at the valves UVAL
The monitoring of the errors can be individually activated or deactivated.
Active monitoring has the following effect:
– Error message at the CPX field bus nodes
– Malfunction message in the VTEM diagnostic memory
Both types of monitoring can also be activated respectively for the entire CPX
terminal. For details, see system description of the CPX terminal
(è 1.1 Applicable documents).
Bit 0 Monitoring of short-circuit or overload of the sensor supply
Bit 1 Reserved
Bit 2 Undervoltage monitoring at the valves UVAL
Allocation
Bit 3…7 Reserved
0 = inactiveValues Bit 0, 2
1 = active (default)
Monitoring of negative pressure
Function number 4828 + m × 64 + 6
m = module number (0…47)
Description Monitoring of the Motion Terminal for the following errors:
– Supply pressure too low (< 3bar)
The monitoring of the error can be activated or deactivated. For an operating
pressure of under 3 bar, the monitoring must be deactivated. Active monitor-
ing has the following effect:
– Error message at the CPX field bus nodes
– Malfunction message in the VTEM diagnostic memory
Bit 0 Monitoring of negative pressureAllocation
Bit 1…7 Reserved
0 = inactiveValues Bit 0
1 = active (default)
Tab. 4 Description of the CPX module parameters
Function
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2.1.1.3 Manifold rail
The manifold rail provides the air ports (2) and (4) for each of the valves, as well as the ports for com-
pressed air supply (1) and common exhaust (3). In addition, the manifold rail can be connected to an
external pilot air supply (14). The changeover between internal and external pilot air is effected using
a blanking plug or selector in the manifold rail (è 1.1 Applicable documentsInstructions for use of
the Motion Terminal VTEM).
2.1.1.4 Pilot pressure regulator
The pressure regulator ensures a constant pilot pressure for the valves.
The pressure regulator is set and sealed at the factory. The setting must not be changed; doing so will
invalidate the warranty.
2.1.1.5 Input module CTMMS1A/D… (optional)
Individual Motion Apps include the evaluation of digital or analogue sensor signals. The sensors
necessary for this are connected to the CTMM input modules. The assignment of the inputs to a valve
and thus to a Motion App is done via the system parameters è 2.4.3.1 System parameters.
0 1 2 3 4 5 6 7
Fig. 7 Input module CTMM-S1-D
The inputs are evaluated only by the controller of the Motion Terminal. The states of the inputs cannot
be queried directly by the higher-order controller. However, various Motion Apps provide information
about the states or values of the sensors.
The characteristics of the peripherals that are connected to the inputs of the input module must be
made known to the system (input module configuration).
Required specifications è 2.4.3.4 Sensor parameters:
– Sensor type
– Sensor orientation (for position sensors on the analogue input module CTMM-S1-A-...)
2.1.1.6 Cover plate VABBP1127T
Vacant valve or module positions must be sealed with a cover plate.
Function
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2.1.1.7 Valves
The valves together with the controller form the central component of the Motion Terminal. A valve
VEVM-S1- 27-… in each case contains 4x 2/2-way dynamic control valves with piezo pilot valves inter-
connected to form a full bridge. Each valve is additionally equipped with sensors so as to be able to
detect the actual status of the valve and regulate it.
(2) (4)
(1)
(3)
Fig. 8 Switching the full bridge of a valve slice
One of the licensed Motion Apps can be run on each valve, independently of the other valves.
Numbering of the valves
The slots for the valves are numbered sequentially in ascending order from left to right, starting at the
right of the controller with slot 0. The number (address) of a valve is given by the slot on which it is
mounted.
2.1.2 Display components
For behaviour of display components and diagnostics options see è 2.8.1 LED display components.
2.1.2.1 Controller
1CPX-specific LEDs
2Ethernet-specific LED
Fig. 9 LED displays on the controller
Function
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LED Meaning
PL
(gree-
n)
Power Load Monitoring of the load voltage supply UVAL
M
(yel-
low)
Modify Parameterisation mode (via CPX bus node or WebConfig interface)
SF
(red)
System Failure Communication error
PS
(gree-
n)
Power System Monitoring of the operating voltage supply UEL/SEN
Tab. 5 CPX-specific LEDs
LED Meaning
TP
(gree-
n)
Ethernet
Link/Traffic
Ethernet connection/data traffic
Tab. 6 Ethernet-specific LED
2.1.2.2 Valve
1LED display on valve (red/blue)
Fig. 10 LED display on valve
LED Meaning
(red) Valve error
(blue) Operation/update
Tab. 7 LED display on valve
Function
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2.1.2.3 Input modules
1LED display for input status (green, only digital input
modules CTMM-S1-D-...)
2LED display for module error (red)
Fig. 11 LED displays of input modules
LED Meaning
(gree-
n)
Input status (digital input modules CTMM-S1-D-… only)
P
(red) Short circuit/overload
Tab. 8 LED displays of input modules
2.1.3 Control elements
The product has no mechanical control elements. Parameters and setpoint values are only set using
the WebConfig interface or the higher-order controller (PLC). The WebConfig interface can be opened
with a web browser if there is an existing Ethernet connection to the controller of the Motion Terminal
(è 2.3 WebConfig user interface).
2.1.4 Connecting components
2.1.4.1 Electrical
Functional earth connection
Connect the earth terminal with low impedance to the earth potential.
1Functional earth connection
Fig. 12 Functional earth connection
Function
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The functional earth connection must also be connected at the left end plate of the CPX terminal.
Details are given in the installation section of the system description for the CPX terminal
(è 1.1 Applicable documents).
Ethernet interface
1Ethernet interface
Fig. 13 Ethernet interface
The Ethernet interface is located on the controller behind a transparent cover. The Ethernet interface is
used exclusively for accessing the WebConfig interface for the controller.
The Ethernet interface is only used for set-up and maintenance and may not be used during operation.
NOTICE!
Unauthorised access to the device can cause damage or malfunctions. When connecting the device to
a network:
• Protect the network against unauthorised access.
Measures to protect the network include:
– Firewall
– Intrusion Prevention System (IPS)
– Network segmentation
– Virtual LAN (VLAN)
– Virtual private Network (VPN)
– Security at physical access level (port security)
For additional information èGuidelines and standards for security in information technology, e.g.
IEC62443, ISO/IEC27001.
Input modules
CTMM...D... CTMM...A...
1 +24 V USEN 1 +24 V USEN
3 0 V USEN 2 Input
3 0 V USEN 4 Input
4 n. c.
Tab. 9
Function
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2.1.4.2 Pneumatic
Ports for compressed air supply (1) and common exhaust (3) are available both on the controller and
on the right-hand end of the manifold rail. The ports are internally connected in each case and can be
used as alternatives or in parallel.
For flow-intensive applications, the ports (1) and (3) on the manifold rail should be selected. To
improve further, an independent, parallel circuitry for both the supply and exhaust ports should be
selected. More information can be found in Specialist knowledge èwww.festo.com/sp.
For an operating pressure of under 3 bar, the negative pressure monitoring must be deactivated via
the corresponding CPX module parameters (è Tab. 3 Overview of the CPX module parameters).
1M7 port for pressure compensation (L)
2G3/8 port for collected common
exhaust/vacuum (3)
3G3/8 port for compressed air supply (1)
4M7 port for pilot exhaust air (84)
5G1/8 ports for supply air (2)
6G1/8 port for supply air (4)
7Selector for external pilot air or blanking
plugs for internal pilot air M5
8G3/8 port for compressed air supply (1)
9G3/8 port for collected common
exhaust/vacuum (3)
10 M5 port for external pilot air (14) or blanking
plugs for internal pilot air
Fig. 14 Pneumatic connections
Function
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2.1.5 Definition of the direction of movement/position of the drive
In this document and on the WebConfig interface, the direction of movement or the position of drives
that are controlled by the Motion Terminal are generally described using the terms ‘advancing’ or
‘advanced’ and ‘retracting’ or ‘retracted’, respectively, which relate to piston rod cylinders with a pis-
ton rod at one end. Depending on the pneumatic function, the meaning of the terms can be used for
other drives.
Term Port (4) Port (2) Switching position of the
valve
Advancing/advanced Pressurised Exhausted 14
Retracting/retracted Exhausted Pressurised 12
Tab. 10 Definition of the direction of movement
2.2 Firmware designs
Changes to a Firmware design for the following can be found in the successive Release Notes, which
are provided with the Firmware installation files in the Support Portal (èwww.festo.com/sp). This
version of the description refers to the following Firmware design: è Tab. 2 Product version.
An update of the device to a new Firmware design is carried out with the aid of the Festo Field Device
Tool (FFT) (see Quick Guide for the Motion Terminal VTEM è 1.1 Applicable documents). The device
will subsequently function in accordance with the factory settings. If required, existing parameterisa-
tion data and settings can be exported to a configuration file before a Firmware update and re-impor-
ted once the update has been completed (è 2.3.3 Export/import of parameterisation and settings).
2.3 WebConfig user interface
The Motion Terminal has a WebConfig interface for commissioning and functional testing.
This can be opened using a browser on a device connected to the Motion Terminal controller. It is not
possible to access the WebConfig interface for the controller using the Ethernet connection of a bus
node in the CPX terminal.
Settings, configurations and actual values of the Motion Terminals can only be viewed without enter-
ing the password; they cannot be changed. The password must be entered via the menu bar of the
WebConfig and can be changed after successful authentication. A forgotten password can only be
reset by carrying out a Firmware update.
Function
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