P.BE-CMM-FHPP-SW - Regulator Festo - Free user manual and instructions

Product Type	Motor Controller with Festo Handling and Positioning Profile (FHPP)
Brand	Festo
Model	P.BE-CMM-FHPP-SW (manual for FHPP profile)
Supported Controllers	CMMP-AS, CMMS-AS, CMMS-ST, CMMD-AS
Communication Protocols	CANopen, PROFIBUS, DeviceNet, EtherCAT
Operating Modes	Record selection, Direct mode (Profile Position, Profile Torque, Profile Velocity)
Control Data Format	8-byte control/status bytes (I/O), optional 8-byte FPC parameter channel, up to 24-byte FHPP+ extension
Homing Methods	Over 20 methods including limit switch, reference switch, index pulse, and stop
Diagnostics	Fault and warning memory, diagnosis via FHPP status bytes (SCON, SPOS, SDIR)
Parameters	Extensive parameter list (PNU) for axis, drive, and function configuration
Power Supply (Logic)	24 V DC
Power Supply (Load)	Depending on controller (e.g., 230 V AC or 24 V DC)
Dimensions (Typical Controller)	Approx. 200 x 100 x 80 mm (varies by model)
Weight (Typical Controller)	Approx. 1.5 kg (varies by model)
Safety	Follow safety instructions in manual; use barriers and warnings; only qualified technicians
Maintenance	No user maintenance required; refer to controller-specific manual
Spare Parts	Contact Festo service for spare parts; no field-replaceable parts listed
Environmental	Industrial environment; see controller manual for specific ratings

Frequently Asked Questions - P.BE-CMM-FHPP-SW Festo

What are the main operating modes of the FHPP profile?

The FHPP profile supports two main operating modes: Record selection (executing predefined positioning records) and Direct mode (transmitting setpoints directly in the I/O telegram). Direct mode includes Profile Position, Profile Torque, and Profile Velocity modes.

How do I enable the drive and start positioning?

Set CCON.B0 (ENABLE) to 1 to enable the drive. Then set CCON.B1 (STOP) to 1 to enable operation. To start a positioning task, set CPOS.B1 (START) with a rising edge while HALT is 1.

How can I perform homing?

Homing is started with a rising edge on CPOS.B2 (HOM). The homing method is configured via parameter PNU 1011 (Homing method). Supported methods include limit switch, reference switch, index pulse, and stop. After successful homing, SPOS.B7 (REF) is set.

What is the difference between Record selection and Direct mode?

In Record selection, a record number is transmitted in the cyclic I/O data, and the controller executes a pre-defined positioning record. In Direct mode, the setpoint values (position, velocity, torque) are sent directly in the I/O telegram, allowing dynamic setpoint changes from the PLC.

How do I configure the I/O data for FHPP?

The FHPP protocol uses 8 bytes of input and output data. Byte 1 is fixed as control/status byte CCON/SCON. Byte 2 is CPOS/SPOS. Bytes 3-8 depend on the operating mode. For Record selection, byte 3 is record number; for Direct mode, bytes 3-8 carry CDIR/SDIR and setpoint/actual values.

Can I chain multiple positioning records automatically?

Yes, using conditional record chaining via record control byte 2 (PNU 402). Set the step enabling condition (e.g., MC, position, time) to automatically proceed to the next record. Record chaining is configured via the Festo Configuration Tool (FCT).

How do I interpret the status bytes?

SCON shows drive enable, operation enabled, warnings, faults, and operating mode. SPOS indicates halt, start acknowledge, motion complete, axis moving, drag error, standstill control, and reference. SDIR (Direct mode) reflects control mode and function feedback.

What fieldbus protocols are supported?

The FHPP profile is designed for CANopen, PROFIBUS-DP, DeviceNet, and EtherCAT. Additional manuals describe the protocol-specific implementation for each fieldbus.

How do I diagnose and reset faults?

Faults are indicated by SCON.B3 (FAULT). The fault code can be read from the diagnostic memory. To reset a fault, set CCON.B3 (RESET) with a rising edge. Warnings are shown by SCON.B2 (WARN) and do not disable the drive.

What is the FHPP+ extension?

FHPP+ allows additional parameters (PNUs) to be transmitted in the cyclic telegram, beyond the standard 8-byte I/O data and optional FPC channel. It can include up to 24 bytes of additional data, configured via the FCT plug-in telegram editor.

USER MANUAL P.BE-CMM-FHPP-SW Festo

FESTO

Description FHPP

Motorcontroller Type

-C M M P - A S

-CMMS-ST

-CMMS-AS

-CMMD-AS

Festohandling and positioningprofile

Description

555696

en1011b

[757714]

Contentsandgeneralsafetyinstructions

Originalde....

Editionen1011b.

DesignationP.BE-CMM-FHPP-SW-EN.

Orderno.555696....

©(FestoAG&Co.KG,D-73726Esslingen,2010)

Internet:http://www.festo.com

E-Mail: [e-mail]

Thecopying,distributionandutilizationof thisdocument as wellasthe communicationofitscontentstootherswithout expressauthorizationisprohibited.Offenderswillbeheld liable for the payment of damages. All rights are reserved, inparticulartherighttocarry outpatent,registereddesign orornamentaldesign registration.

Contentsandgeneralsafetyinstructions

CANopen ^® , DeviceNet ^® , E t h e r C A, f n d P R O F I B ^® U a f e r g i s t e r e d t r a d e m a r k s o f t h e r e s p t e c i v e t r a d e m a r k o w n e r s i n c e r t a i n c o u r t i e r s.

Contents

IntendeduseVII....

SafetyinstructionsVIII.

TargetgroupIX.

Service IX

Important user instructions ...... X

Information about the version ..... XII

Terms and abbreviations ...... XIII

1. I/O data and sequence control 1-1

1.1 Overview of Festo Handling and Positioning Profile (FHPP) 1-3
1.2 Setpoint specification (FHPP operating modes) 1-5

1.2.1 Switching FHPP operating modes 1-5
1.2.2 Record selection 1-6
1.2.3 Direct mode 1-7

1.3 Configuration of the I/O data 1-8

1.3.1 Concept 1-8
1.3.2 Assignment of the I/O data for CMMD 1-9
1.3.3 I/O data in the various FHPP operating modes (control view) .... 1-10

1.4 Assignment of the control bytes and status bytes (overview) 1-11
1.5 Description of the control bytes 1-12

1.5.1 Control byte 1 (CCON) 1-12
1.5.2 Control byte 2 (CPOS) 1-13
1.5.3 Control byte 3 (CDIR) – Direct mode 1-14
1.5.4 Bytes 4 and 5 ... 8 - Direct mode ..... 1-15
1.5.5 Bytes 3 and 4 ... 8 - Record selection 1-15

1.6 Description of the status bytes 1-16

1.6.1 Status byte 1 (SCON) 1-16
1.6.2 Status byte 2 (SPOS) 1-17
1.6.3 Status byte 3 (SDIR) – Direct mode 1-18
1.6.4 Bytes 4 and 5 ... 8 - Direct mode ..... 1-19
1.6.5 Bytes 3, 4 and 5 ... 8 - Record selection 1-20

1.7FHPPfinitestatemachine1-22.....

1.7.1 Establishing thereadystatus1-24.
1.7.2 Positioning1-25.
1.7.3 Special features dependent on FHPP operating mode 1-27
1.7.4 Examples of control and status bytes 1-27

2. Drive functions 2-1

2.1 Reference system for electric drives 2-3
2.2 Calculation rules for the reference system 2-5
2.3 Homing 2-5
2.3.1 Homing for electric drives 2-7
2.3.2Homingmethods 2-8....

2.4 Jog mode 2-13

2.5 Teaching via fieldbus 2-15

2.6 Carry out record (Record selection) 2-17

2.6.1 Record selection sequence charts 2-18

2.6.2Recordstructure 2-22....

2.6.3 Conditional record chaining (PNU 402) 2-23

2.7 Direct mode 2-27

2.7.1 Sequence for discrete setpoint value 2-29

2.7.2 Sequence for Profile Torque mode (torque and current control) .. 2-30

2.7.3 Sequence for Profile Velocity mode 2-32

2.8 Standstill control 2-34

2.9 On-the-fly measurement (position sampling) 2-36

3. Fault reaction and diagnosis 3-1

3.1 Classifying the faults 3-3
3.1.1 Warnings 3-4
3.1.2 Fault type 1 3-5
3.1.3 Fault type 2 3-6

3.2 Diagnostic memory (faults) 3-7

3.3 Warning memory (CMMP only) 3-8

3.4Faultnumbers3-9.....

3.4.1CMMPfaultnumbers3-9.....
3.4.2CMMS/CMMDfaultnumbers3-47.....

3.5 Diagnosis using FHPP status bytes 3-53

1. Parameters 4-1

4.1 FHPP general parameter structure 4-3
4.2 Access protection 4-4

4.2.1 Access via PLC and FCT 4-4

4.3 Overview of FHPP parameters 4-5
4.4 Descriptions of FHPP parameters 4-12

4.4.1 Representation of the parameter entries 4-12
4.4.2 PNUs for the telegram entries for FHPP+ 4-13
4.4.3 Device data – Standard parameters 4-15
4.4.4 Device data – Extended parameters 4-16
4.4.5 Diagnostics 4-19
4.4.6 Process data 4-23
4.4.7 On-the-fly measurement 4-28
4.4.8 Record list 4-29
4.4.9 Project data – General project data 4-41
4.4.10 Project data – Teaching 4-42
4.4.11 Project data-Jog mode 4-43
4.4.12 Project data – Direct mode, Profile Position mode ..... 4-44
4.4.13 Project data – Direct mode, Profile Torque mode 4-45
4.4.14 Project data – Direct mode, Profile Velocity mode 4-46
4.4.15 Function data – Camming function 4-47
4.4.16 Function data – Position triggers and rotor position triggers ..... 4-49
4.4.17 Axis parameters for electric drives 1 – Mechanical parameters ... 4-52
4.4.18 Axis parameters for electric drives 1 – Homing parameters ..... 4-55
4.4.19 Axis parameters for electric drives 1 – Closed-loop controller parameters 4-57
4.4.20 Axis parameters for electric drives 1 – Electronic rating plate 4-60
4.4.21 Axis parameters for electric drives 1 – Standstill control ..... 4-61

4.4.22Axisparametersforelectricdrives1–Dragerrormonitoring4-62....
4.4.23 Axis parameters for electric drives 1 – Other parameters ..... 4-62
4.4.24Functionparametersfordigitall/Os4-63.....

5. Parametrisation with FPC 5-1

5.1 Parametrisation with FHPP 5-3

5.1.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) ..... 5-3
5.1.2 Task identifiers, response identifiers and error numbers ..... 5-5
5.1.3 Rules for task-response processing 5-7

A. Technical appendix ...... A-1

A.1 Conversion factors (factor group) A-3

A.1.1 Overview A-3
A.1.2 Objects in the factor group A-5
A.1.3 Calculating the positioning units A-6
A.1.4 Calculating the units of velocity A-9
A.1.5 Calculating the units of acceleration A-13

B. FHPP+ and cam disk expansions ...... B-1

B.1 FHPP+ overview B-3

B.1.1 Structure of the FHPP+ telegram B-4
B.1.2 Examples B-5
B.1.3 Configuration of the fieldbuses with FHPP+.... B-6
B.1.4 Telegram editor for FHPP+ B-6
B.1.5 Overview of FHPP+ parameters B-6

B.2 CMMP-AS - operation of cam disks B-7

B.2.1 Camming function in Direct mode B-8
B.2.2 Camming function in Record selection mode B-10
B.2.3 Parameters for the camming function B-10
B.2.4 Extended finite state machine with camming function ...... B-11

C. Index C-1

Intendeduse

ThisdescriptionincludestheFestoHandlingandPosition Profile(FHPP)fortheCMMxproductfamilycorrespondingto Tab.0/1inthe"Versioninformation"section.

This provides you with supplementary information about controlling, diagnosing and parametrising themotor controllers via the fieldbus.

The completesetofinformationcanbefoundinthedocumentationforthemotorcontrollerinquestion:

-DescriptionP.BE-CMM...-HW-...: Mechanicalsystem-Electricalsystem-Overviewofthe functionrange.

Note

Alwaysfollowthesafety-relatedinstructionslistedinthe productmanualforthemotorcontrollerinquestion.

Dependingonwhichfieldbusisused,youcanfindfurther informationinthefollowingmanualsfortheCMMxproduct family:

-DescriptionP.BE-CMM...-CO-...: DescriptionoftheimplementedCANopenprotocolasper DSP402.

-DescriptionP.BE-CMM...-PB-...: DescriptionoftheimplementedPROFIBUS-DPprotocol.

-DescriptionP.BE-CMM...-DN-...: DescriptionoftheimplementedDeviceNetprotocol.

-DescriptionP.BE-CMM...-EC-...: DescriptionoftheimplementedEtherCATprotocol.

Safetyinstructions

When commissioning and programming positioningsystems, you must always observ the safety regulations in this manual as well as those in the operating instructions for the other components used.

Theusermustmakesurethatnobodyiswithinthesphereof influenceoftheconnectedactuatorsoraxissystem.Access tothepotentialdangerareamustbepreventedbysuitable measuresuchasbarriersandwarningsigns.

Warning

Axescanmovewithhighforceandathighspeed.Collisionscanleadtoseriousinjuriesanddamagetocomp nents.

Makesurethatnobodycanreachintothesphereofinfluenceoftheaxesorotherconnectedactuatorsandthatno itemsarewithinthepositioningrangewhilethesystemis connectedtoenergysources.

Warning

Errorsintheparametrisationcancauseinjuriesand damagetoproperty.

Enablethecontrolleronlyiftheaxissystemhasbeen correctlyinstalledandparametrised.

Targetgroup

Thismanualisintendedexclusivelyfortechnicianstrainedin controlandautomationtechnology,whohaveexperiencein installing,commissioning,programminganddiagnosingpositioningsystems.

Service

Please consult your local Festo Service department or write to the following e-mail address if you have any technical problems:

[e-mail]

Importantuserinstructions

Dangercategories

This description contains instructions on the possible dangers which can arise if the product is not used correctly. These instructions are marked (Warning, Caution, etc.), printed on a shaded background and marked additionally with a pictogram. Adistinctionism made between the following danger warnings:

Warning

...meansthatfailuretoobservethisinstructionmayresult inseriouspersonalinjuryormaterialdamage.

Caution

...meansthatfailuretoobservethisinstructionmayresult inpersonalinjuryormaterialdamage.

Note

...meansthatfailuretoobservethisinstructionmayresult inmaterialdamage.

Additionally, the following pictogram designatest text passages, which describe activities with the electrostatically sensitived devices:

Electrostaticallysensitivedevices:inappropriatehandling canresultindamagetocomponents.

Identificationofspecialinformation

The following pictograms designatetextpassage that contains special information.

Pictograms

Information: Recommendations, tips and reference to others of information.

Accessories: InformationonnecessaryorusefulaccessoriesfortheFesto product.

Environment: Informationontheenvironmentally-friendlyuseofFesto products.

Textdesignations

- Bulletpointsindicateactivitiesthatmaybecarriedoutin anysequence.

1. Numeralsindicateactivities that must be carried out in thesequences specified.

–Arrowheadsindicategenerallistings.

Informationabouttheversion

ThismanualreferstoverssetoutinTab.0/1.

Controller	FirmwareDescription
CMMP-AS-...	Version 3.5.1501.4.1 and higher	Premium motor controller for servo motorsNote:Thisdescriptiondoesnotapplytothe variantsCMMP-AS-...-M3. Use the special FHPPdescriptionforthesevariants.
CMMS-ST-...	Version 1.3.0.1.14 and higher	Standard motor controller for stepper motors.
CMMS-AS-...	Version 1.3.0.1.15 and higher	Standard motor controller for servo motors.
CMMD-AS-...	Version 1.4.0.3.1 and higher	Standard double motor controller for servo motors.

Tab.0/1: Controllerandfirmwareversions

Forolderversions: Youmayneedtousethecorrespondingolderversionofthis document.

Note Withnewerfirmwareversions,checkwhetherthereisa newerversionofthisdescriptionavailable: www.festo.com

Termsandabbreviations

The following terms and abbreviations are used in this manual:

Term/abbreviation	Meaning
AxisMechanicalcomponentof	adrivethattransfersthedriveforceforthe motion.Anaxisenablestheattachmentandguidingoftheworkload andtheattachmentofareferenceswitch.
Axiszeropoint(AZ)Pointofrefer	enceforthesoftwareendpositionsandtheprojectzero pointPZ.TheaxiszeropointAZisdefinedbyapresetdistance(offset) fromthereferencepointREF.
ControllerContainspowerelect	tronics+closed-loopcontrollers+position controller,evaluatessensorsignals,calculatesmovementsandforces andprovidesthepowersupplyforthemotorviathepowerelectronics.
DriveCompleteactuator,cons	stingofmotor,encoderandaxis,optionally withagearbox,ifapplicablewithcontroller.
EncoderElectricalpulsegenerator	(generallyarotorpositiontransducer). Thecontrollerevaluatestheelectricalsignalsthataregeneratedand usesthemtocalculatethepositionandspeed.
FestoConfigurationTool (FCT)	Softwarewithstandardisedprojectanddatamanagementforsup- porteddevicetypes.Thespecialrequirementsofadevicetypeare supportedwiththenecessarydescriptionsanddialoguesbymeansof plug-ins.
FestoHandlingand PositioningProfile(FHPP)	UniformfieldbusdataprofileforpositioncontrollersfromFesto
FestoParameterChannel (FPC)	Parameteraccessasperthe“FestoHandlingandPositioningProfile” (I/Omessaging,optionallyadditional8-bytel/O)
FHPPstandardDefinesthesequ	encecontrolasperthe“FestoHandlingandPosition- ingProfile”(I/Omessaging,8-bytel/O)
HMIHuman-MachineInterface	,e.g.controlpanelwithLCDscreenand operatingbuttons.
Homing	Positioning procedure in which the reference point and therefore the originofthemeasuringreferencesystemoftheaxisaredefined.
Homing method	Method for defining the reference position: against a fixed stop (overloadcurrentevaluation/speedevaluation)orwithreference switch.
Term/abbreviationMeaning
HomingmodeDefinesthemeasuringreferencesystemoftheaxis
IOIO	Input.Output.Inputand/oroutput.
JogmodeManualpositioningpositiveornegativedirection.Functionforsettingpositionsbyapproachingthetargetposition,e.g.byteachingpositioningrecords(Teachmode).
Load voltage, logic voltage	The load voltage supplies the power electronics of the controller and therebythemotor.Thelogicvoltagesuppliesthevaluationandcontrollogicofthecontroller.
Logic00Vpresentatinputoroutput(positivelogic,correspondstoLOW).
Logic 1	24 V present at input or output (positive logic, corresponds to HIGH).
Operating mode	Type of control, or internal operating mode of the controller.-Typeofcontrol:Recordselection,Directmode-Operatingmodeofthecontroller:ProfilePositionmode,ProfileTorquemode,ProfileVelocitymode-Predefinedsequences:Homingmode...
PLCProgrammablelogiccontroller;controlsystemforshort(alsoIPC:industrialPC).
Positioningrecord	Positioningcommanddefinedinthepositioningrecordtable,consistingoftargetposition,positioningmode,positioningspeed andaccelerations.
Profile Position mode	Operating mode for executing a positioning record or a direct positioningtaskwithclosed-looppositioncontrol.
Profile Torque mode	Operating mode for executing a direct positioning task with force control(open-looptransmissioncontrol)byregulationofthemotor current.
Project zero point (PZ)	Point of reference for all positions in positioning tasks. The project zeropointPZformsthebasisforallabsolutepositionspecifications (e.g.inthepositioningrecordtableorwithdirectcontrolviaacontrol interface).TheprojectzeropointPZisdefinedbyapresetdistance (offset)fromtheaxiszeropoint.
Reference point (REF)	Point of reference for the incremental measuring system. The referencepointdefinesaknownorientationorpositionwithinthe positioningpathofthedrive.
ReferenceswitchExternalsensprusedforascertainingthereferencepositionandconnecteddirectlytothecontroller.
SoftwareendpositionProgrammablestrokelimitation(pointofreference=axiszeropoint)-Softwareendposition,positive:max.limitpositionofthestrokeinpositivedirection;mustnotbeexceededduringpositioning.-Softwareendposition,negative:min.limitpositioninnegativedirection;mustnotbefallenshortofduringpositioning.
Speedadjustment(ProfileVelocitymode)	Operatingmodeforeexecutingapositioningrecordoradirectpositioningtaskwithclosed-loopcontrolofthespeed/velocity.
TeachmodeOperatingmodeforsettingpositionsbymovingtothetargetposition,e.g.whencreatingpositioningrecords.

Tab.0/2:Indexoftermsandabbreviations

Contentsandgeneralsafetyinstructions

I/Odataandsequencecontrol

Chapter1

Contents

1.1OverviewofFestoHandlingandPositioningProfile(FHPP)1-3.....
1.2 Setpoint specification (FHPPoperating modes) 1-5.

1.2.1 Switching FHPP operating modes 1-5
1.2.2 Record selection 1-6
1.2.3 Direct mode 1-7

1.3 Configuration of the I/O data 1-8

1.3.1 Concept 1-8
1.3.2 Assignment of the I/O data for CMMD 1-9
1.3.3 I/O data in the various FHPP operating modes (control view) .... 1-10

1.4 Assignment of the control bytes and status bytes (overview) 1-11
1.5 Description of the control bytes 1-12

1.5.1 Control byte 1 (CCON) 1-12
1.5.2 Control byte 2 (CPOS) 1-13
1.5.3 Control byte 3 (CDIR) – Direct mode 1-14
1.5.4 Bytes 4 and 5 ... 8 - Direct mode 1-15
1.5.5 Bytes 3 and 4 ... 8 – Record selection 1-15

1.6 Description of the status bytes 1-16

1.6.1 Status byte 1 (SCON) 1-16
1.6.2 Status byte 2 (SPOS) 1-17
1.6.3 Status byte 3 (SDIR) – Direct mode 1-18
1.6.4 Bytes 4 and 5 ... 8 - Direct mode ..... 1-19
1.6.5 Bytes 3, 4 and 5 ... 8 – Record selection ..... 1-20

1.7 FHPP finite state machine 1-22

1.7.1 Establishing the ready status 1-24
1.7.2 Positioning 1-25
1.7.3 Special features dependent on FHPP operating mode 1-27
1.7.4 Examples of control and status bytes 1-27

1.1 Overview of Festo Handling and Positioning Profile (FHPP)

Festo has developed an optimised data profile especially tailored to the target applications for handling and positioning tasks, the "FestoHandlingandPositioningProfile(FHPP)". The FHPP enables uniform control and programming for the various fieldbus systems and controllers from Festo.

Inaddition, it defines the following so that they are largely uniform for the user:

-Theoperatingmodes,
-I/Odatastructure,
-Parameterobjects,
-Sequencecontrol.

Two technical illustrations of industrial electronic components, one with internal wiring and the other with a grid-patterned base (no text or symbols)

Fieldbuscommunication

graph TD
    A["Recordselection"] --> B["1"]
    A --> C["2"]
    A --> D["3"]
    A --> E["..."]
    A --> F["n"]
    G["DirectmodeParameterisation"] --> H["PositionVelocityTorque"]
    G --> I["Freeaccesstoall parameters-readandwrite"]
    H --> J["Device 1"]
    H --> K["Device 2"]
    H --> L["Device 3"]
    H --> M["..."]
    I --> N["Device 4"]
    I --> O["Device 5"]

Fig.1/1: TheFHPPprinciple

Controlandstatusdata(FHPPStandard)

Communicationoverthefieldbusiseffectedbywayof8-byte control and status data. Functions and status messages requiredinoperationcanbewrittenandreaddirectly.

Parametrisation(FPC)

The control system can access all parameter values of the controller via the field bus by means of the parameter channel. A further 8 bytes of / O data are used for this purpose.

Noteonthecontrollers

Each controller has specific features and tasks. They therefore each havetheirownfinitestatemachineandaseparatedatabase.

The FestoHandlingandPositioningProfile(FHPP)provides userswithinformationaboutacontroller'sindividualcharacteristics.Theprofileisimplementedasindependentlyaspossible from each controller and fieldbus.

1.2 Setpoint specification(FHPPoperatingmodes)

TheFHPPoperatingmodesdifferinthecontentandmeaningof the cyclicI/O data and in the function that can be a the controller.

Operatingmode	Description
RecordselectionAspecificnumber	erofpositioningrecordscanbesavedinthecontroller.Arecordcontainsalltheparameterswhicharespecifiedforapositioningtask.Therecordnumberistransmittedinthecyclicl/Odataasthesetpointoractualvalue.
DirectmodeThepositioningtask	stransmitteddirectlyinthel/Otelegram.Themostimportantsetpointvalues(position,velocity,torque)aretransmittedhere.Supplementaryparameters(e.g.acceleration)aredefinedbytheparametrising.

Tab.1/3:OverviewofFHPPoperatingmodesinCMM...

1.2.1 SwitchingFHPPoperatingmodes

TheFHPPoperatingmodeisswitchedbytheCCONcontrol byte(seebelow)andindicatedintheSCONstatusword.

Switchingbetweenrecordselectionanddirectmodeisonly permittedinthe"Ready"state;seesection1.7, Fig.1/2.

1.2.2 Recordselection

Eachcontrollerhasaspecificnumberofrecords,whichcontainalltheinformationneededforonepositioningtask.The maximumnumberofrecordsisspecifiedseparatelyforeach controller.

Therecordnumberthatthecontrolleristoprocessatthe nextstartistransmittedinthePLC'soutputdata.Theinput datacontainstherecordnumberthatwasprocessedlast. Thepositioningtaskitselfdoesnotneedtobeactive.

Thecontrollerdoesnotsupportanyautomaticmode,i.e.no userprogram.Recordscannotbeprocessedautomatically withaprogrammablelogic.Thecontrollercannotaccomplish anyusefultasksinastand-alonestate;closecouplingtothe PLCisnecessary.

However, depending on the controller, it is also possible to concatenate various records and executethemone after the other with the help of fast command. It is also possible (again, dependent on the controller) to definerecord chaining before the target position is reached.

Itisonlypossibletosetalloftheparametersfortherecord chaining("routeprogram") (e.g. the following record) using the FCT.

In this way, positioning profilescan be created without the inactivetimes (which arise from the transfer in the fieldbus and the PLC's cycle time) having an effect.

1. I/Odataandsequencecontrol

1.2.3 Directmode

Inthedirectmode, positioningtasksareformulateddirectly inthePLC'soutputdata.

Thetypicalapplicationcalculatesdynamicallythetargetset-pointvaluesforeachtaskorjustforsometasks. This makes it possible to adjust the system to different workpiecesizes, for example, without having to -parametrisetherecordlist. The positioning data is managed completely in the PLC and sent directly to the controller.

1.3Configurationofthel/Odata

1.3.1 Concept

TheFHPPprotocolstipulates8bytesofinputdataand8bytesofoutputdata. Ofthese, thefirstbyteisfixed (the firsttwobytesintheFHPPoperatingmodesRecordselection andDirectmode). Itremainsintactineachoperatingmode andcontrolstheenablingofthecontrollerandtheFHPPoperatingmodes. TheotherbytesaredependentontheFHPP operatingmodethatwasselected. Additionalcontrol statusbytesandsetpointandactualvaluescanbetrans- mittedhere.

Inthecyclicdata, afurther8bytesofinputdata and 8bytes of output data are permissible to transmit parameters according to the FPC protocol.

APLCexchangesthefollowingdatawiththeFHPP:

-8-bytecontrolandstatusdata:

-Controlandstatusbytes
-Recordnumberorsetpointpositionintheoutputdata
-Feedbackofactualpositionandrecordnumberinthe inputdata
-Additionalmode-dependentsetpointandactual values

-Ifrequired,anadditional8bytesofinputand8bytesof outputdataforFPCparametrisation,seesection5.1.

-Ifrequired,upto24(withoutFPC)or16(withFPC)additionalbytessupportl/OdataforparametertransferviaFHPP+,seeAppendixB.1.

If applicable, observethespecificationinthebusmaster fortherepresentationofwordsanddoublewords(Intel/Motorola).

E.g. in the "littleendian" representation when transmitted via CAN (lowest-valuebytefirst).

1.3.2 Assignmentofthel/OdataforCMMD

WithCMMD, controlviaFHPPforaxis1andaxis2always takesplaceoverasharedfieldbusinterface. If an interface is activated, its always valid for both axes.

Eachaxisthenhasitsownl/Odatacorrespondingtosection 1.3.1or1.3.3.

Assignmentofthel/Odataoverthefieldbusdependsonthe controlinterfaceused:

- C A N o p e n : ThetwoaxeshaveaseparateCANaddress,eachwith8 (withoutFPC)or16I/Obytesdata(withFPC). Theaddressofaxis1issetattheDIPswitches.A alwaysassignedthesubsequentaddress:

$$ \text { CANaddress } _ {\text { axis2 }} = \text { CANaddress } _ {\text { axis1 + 1 }} $$

- P R O F I B U S a n d D e v i c e N e

Thetwoaxeshaveasharedbusaddress,whichissetvia theDIPswitches.

Thel/Odataforthetwoaxesaretransferredinashared telegramofdoublelength.

Example(withFPC):

Byte1...8: control/statusbytesaxis1

Byte9...16: FPCaxis1

Byte17...24: control/statusbytesaxis2

Byte25...32: FPCaxis2

Note:

With PROFIBUSandDeviceNet, the1/Odataforaxis2are readbyaxis1, passedontoaxis2 and evaluated there. The answerisreturnedtoaxis1 with thenextinternalcommunicationtask (every1.6ms) at the earliest. Onlythencanthe answerbereturnedviathefieldbus. This mean that the processing time of the fieldbus protocol is twice as long as with CMMS-AS.

1.3.3I/OdatainthevariousFHPPoperatingmodes(controlview)

Recordselection
	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte	8
Output data	CCONCPOS	Record	no.	Reserved	Reserved
Input data	SCONSPOS	Record no.	no.	RSB	Actualposition

Directmode
	Byte1Byte	2Byte3Byte4	Byte5Byte6Byte7Byte8
Output data	CCON	CPOS	CDIR	Setpoint value1	Setpointvalue2
Input data	SCON	SPOSSDIR	Actual value1		Actualvalue2

Further8bytesofl/OdataforFPCparametrisation (seesection5.1):

FestoFPC
	Byte1	Byte2Byte3	Byte4Byte5	Byte6Byte7	Byte8
Output data	Reserved	Subindex	Task identifier (ReqID) +parameter number(PNU)		Parametervalue
Input data	Reserved	Subindex	Responseidentifier (ResID) +parameter number(PNU)		Parametervalue

1.4 Assignment of the control bytes and status bytes (overview)

Assignmentofthecontrolbytes(overview)

CCON(all)	B7OPM2	B6OPM1	B5LOCK	B4-	B3RESET	B2BRAKE	B1STOP	B0ENABLE
	SelectFHPPoperatingmode		Software access locked	-Reset	fault	Open brake	StopDrive	enable
CPOS(Record selection and Direct mode)	B7-	B6CLEAR	B5TEACH	B4JOGN	B3JOGP	B2HOM	B1START	B0HALT
	-Clearre-	maining position	Teach actual value	Jognegative	Jogpositive	Start homing	Start position-ingtask	Halt
CDIR(Direct mode)	B7FUNC	B6FGRP2	B5FGRP1	B4FNUM2	B3FNUM1	B2COM2	B1COM1	B0ABS
	Execute function	FunctiongroupFunction		numberControlmode		(position,torque, velocity,...)		Absolute/Relative

Assignmentofthestatusbytes(overview)

SCON(all)	B7OPM2	B6OPM1	B5LOCK	B424VL	B3FAULT	B2WARN	B1OPEN	B0ENABLED
	DisplayFHPPoperatingmode		Drivecontrolby software	Supply voltageis applied	Fault	Warning	Operation enabled	Drive enabled
SPOS(Record selection and Direct mode)	B7REF	B6STILL	B5DEV	B4MOV	B3TEACH	B2MC	B1ACK	B0HALT
	Axisis referenced	Standstill control	Drag (deviation) error	Axisis moving	Acknowledge teach/sampling	Motion complete	Acknowledge start	Halt
SDIR(Direct mode)	B7FUNC	B6FGRP2	B5FGRP1	B4FNUM2	B3FNUM1	B2COM2	B1COM1	B0ABS
	Function isexecuted	Functiongroupfeed-back		Functionnumber feedback		Controlmodefeedback(position, torque,velocity)		Absolute/ Relative

1.5 Description of the control bytes

1.5.1 Controlbyte1(CCON)

Controlbyte1(CCON)
BitENDescription
B0 ENABLE	DriveEnable=1:	Enabledrive(controller)=0:Drive(controller)disabled
B1 STOP	Stop=1:Operationenabled.Anyerrorwillbedeleted.=0:STOPactive(cancelemergencyramp+positioningtask).Thedrive stopswithmaximumbrakingramp,thepositioningtaskis reset.
B2 BRAKE	Open Brake	= 1: Release brake= 0: Activate brakeNote: it is only possible to release the brake if the controller is disabled.Assoonasthecontrollerisenabled,ithaspriorityoverthebrake'scontrolsystem.
B3 RESET	Reset Fault	With a rising edge a fault is acknowledged and the fault value is deleted.
B4-	-	Reserved, must be at 0.
B5 LOCK	SoftwareAccessLocked	Controlsaccesstothecontroller'slocal(integrated)diagnosticinterface.=1:Thesoftwarecanonlyobservethecontroller;thesoftwarecannot takeoverdevicecontrol(HMIcontrol)fromthesoftware.=0:Thesoftwaremaytakeoverthedevicecontrol(inordertomodify parametersortocontrolinputs).
B6 OPM1	SelectOperatingMode	Bit 76 Operatingmode0 0 Recordselection0 1 Direct mode1 0 Reserved1 1 Reserved
B7 OPM2

CCON controls statuses in all FHPP operating modes. For moreinformation,seethe descriptionofthe drivefunctionsin Chapter 2.

1.5.2 Controlbyte2(CPOS)

Controlbyte2(CPOS)
BitENDescription
B0 HALT	Halt=1:Haltisnotactive=0:Haltactivated(donotcancelbrakingramp+positioningtask).Theaxisstopswithadefinedbrakingramp,thepositioningtask remainsactive(withB6theremainingpositioningdistancecanbe deleted).
B1 START	StartPositioningTask	With a rising edge the current setpoint values will be transferred and positioningstarted(evenifrecord0= homing,forexample).
B2 HOM	Start Homing	With a rising edge homing is started with the set parameters.
B3 JOGP	Jog positive	The drive moves at the specified velocity or rotational speed in the directionoflargeractualvalues,providingthebitisset.Themovementbeginswiththerisingedgeandendswiththefallingedge.
B4 JOGN	Jog negative	The drive moves at the specified velocity or rotational speed in the directionofsmalleractualvalues,seeB3.
B5 TEACH	Teach Actual Value	At a falling edge the current actual value is imported into the setpoint registerofthecurrentlyaddressedpositioningrecord;seesection2.5.TheteachtargetisdefinedwithPNU520.Thetypeisdeterminedbythe recordstatusbyte(RSB).Seealsosection2.5.
B6 CLEAR	ClearRemainingPosition	In the “Halt” status a rising edge causes the positioning task to be deletedandtransfertothestatus“Ready.”
B7 -	-	Reserved, must be at 0.

CPOScontrolsthepositioningsequencesinthe“Record selection”and“Directmode”FHPPoperatingmodes,assoon asthedriveisenabled.

1.5.3 Controlbyte3(CDIR)-Directmode

Controlbyte3(CDIR)-Directmode
BitENDescription
B0ABS	Absolute/Relative	=0:Setpointvalueisabsolute=1:Setpointvalueisrelativetolastsetpointvalue
B1COM1	Control Mode	Bit 2 1 Control mode00 ProfilePositionmode01 ProfileTorquemode(torque,current)10 ProfileVelocitymode(speed)1 1 ReservedOnly Profile Position mode can be used for the camming function.
B2COM2
B3FNUM1	FunctionNumber	Without camming function (CDIR.B7, FUNC = 0): no function, = 0!If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):No. Bit4 3 Functionnumber 1)0 0 0 Reserved1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming function3 1 1 Synchronisation with a virtual master with camming function
B4FNUM2
B5FGRP1	FunctionGroup	Without camming function (CDIR.B7, FUNC = 0): no function, = 0!If the camming function is used (only with CMMP, CDIR.B7, FUNC = 1):No.Bit6 5 Function group0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.
B6FGRP2
B7FUNC	Function	= 0: Normal task= 1: Execute camming function (only permissible with CMMP,Bit 3 ... 6 = function number and group)
1) With function numbers 1 and 2 (Synchronisation with an external input), bits CPOS.B0 to CPOS.B2 are not relevant. With function number 3 (Virtual master, internal) bits CPOS.B0 to CPOS.B2 determine the reference and the closed-loop control mode of the master.

In Direct mode, CDRI specifies the type of positioning task more precisely.

1.5.4Bytes4and5...8-Directmode

Controlbyte4(setpointvalue1)-Directmode
BitENDescription
B0...B7	Velocity	preselection depends on the closed-loop control mode (CDIR.B1/B2): -ProfilePositionmode:Velocityaspercentageof basevalue(PNU540)
	-	-ProfileTorquemode:Nofunction,=0!
	Velocityramp	-ProfileVelocitymode:Velocityrampaspercentageof basevalue(PNU560)

Controlbytes5...8(setpointvalue2)-Directmode
BitENDescription
B0...B31		Preselectiondependsonclosed-loopcontrolmode(CDIR.B1/B2),in eachcasealittle-endian32-bitnumber:
	Position	-ProfilePositionmode:Positioninpositioningunit(seeappendixA.1)
	Torque	-ProfileTorquemode:Torquesetpointaspercentageoftherated torque(PNU1036)
	Velocity	-ProfileVelocitymode:Speedinunitofvelocity(seeappendixA.1)

1.5.5Bytes3and4...8-Recordselection

Controlbyte3(recordnumber)-Recordselection
BitENDescription
B0...B7Record number		Preselectionofrecordnumberforrecordselection.

Controlbytes4...8-Recordselection
BitENDescription
B0...B7-	Reserved(=0)

1.6 Description of the status bytes

1.6.1Statusbyte1(SCON)

Statusbyte1(SCON)
BitENDescription
B0 ENABLED	Drive Enabled	= 0: Drive disabled, controller not active=1:Drive(controller)enabled
B1 OPEN	Operation En-abled	= 0: STOP active=1:Operationenabled,positioningpossible
B2 WARN	Warning	= 0: Warning not registered=1:Warningregistered
B3 FAULT	Fault	= 0: No fault=1:Thereisafaultorfaultreactionisactive.Fault code in the diagnostic memory.
B4 24VL	Supply Voltage isApplied	=0:No loadvoltage=1:Loadvoltageapplied
B5 LOCK	DriveControl bySoftware	Control sovereignty, meaning which device or system has higher control priority (seePNU125,section 4.4.4)=0:Devicecontrolunassigned(software,fieldbus,DIN)= 1: Device control by software (FCT or DIN)(PLC control isLocked)
B6 OPM1	Display OperatingMode	Bit 76 Operatingmodeacknowledgment0 0 Record selection0 1 Direct mode1 0 Reserved1 1 Reserved
B7 OPM2

1.6.2Statusbyte2(SPOS)

Statusbyte2(SPOS)
BitENDescription
B0 HALT	Halt= 0 : HALT is active= 1: HALT is not active, axis can be moved
B1 ACK	Acknowledge Start	=0: Ready forstart(homing,jog)=1: Startcarried out(homing,jog)
B2 MC	Motion Com-plete	=0: Positioningtaskactive=1: Positioningtaskcompleted,whereapplicablewitherrorNote: MC is set for the first time after switch-on (status“Drivedisabled”).
B3 TEACH	Acknowledge Teach/Sampling	DependingonthesettinginPNU354:-PNU354=0:DisplayoftheteachstatusSPOS.B3=0:Ready forteachingSPOS.B3 = 1: Teaching carried out, actual value is transferred-PNU 354 = 1: Display of the sampling statusSPOS.B3 =0:Noedge.SPOS.B3=1:An edgehasappeared. Newpositionvalueavailable.Forpositionsampling:seesection2.9.
B4 MOV	Axis is moving	= 0: Speed of the axis < limit value=1: Speedoftheaxis>=limitvalue
B5 DEV	Drag(devi-ation)Error	=0: Nodragerror(also-called“followingerror”)=1: Drageroractive
B6 STILL	Standstill control	= 0: After MC, axis remains in tolerance window=1: Axishasleftthetolerance windowafterMC
B7 REF	Axisrefer-enced	=0: Homingmustbecarried out= 1: Reference information present, homing not necessary

1.6.3Statusbyte3(SDIR)-Directmode

TheSDIRstatusbyteacknowledgesthepositioningmode.

Statusbyte3(SDIR)-Directmode
BitENDescription
B0ABS	Absolute/Relative	=0:Setpointvalueisabsolute=1:Setpointvalueisrelativetolastsetpointvalue
B1COM1	ControlModefeedback	Bit21Controlmodefeedback00ProfilePositionmode01ProfileTorquemode(torque,current)10ProfileVelocitymode(speed)1 1 Reserved
B2COM2
B3FNUM1	FunctionNumberfeedback	Onlyifthecammingfunctionisused(SDIR.B7,FUNC=1):No. Bit4 3 Functionnumber0 0 0 CAM-IN / CAM-OUT / Change active1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming function3 1 1 Synchronisation with a virtual master with camming function
B4FNUM2
B5FGRP1	FunctionGroupfeedback	Only ifthecammingfunctionisused(SDIR.B7, FUNC =1):No.Bit65 Functiongroup0 0 0 Synchronisation with/without cam diskAll other values (No. 1 ... 3) are reserved.
B6FGRP2
B7FUNC	Functionfeedback	= 0: Normal task= 1: Cammingfunction is executed(bits 3 ... 6 = function number and group)

1.6.4 Bytes 4 and 5...8-Directmode

Statusbyte4(actualvalue1)-Directmode
BitENDescription
B0...B7	Velocity	Feedbackdependsontheclosed-loopcontrolmode(CDIR.B1/B2):-ProfilePositionmode:Velocityaspercentageofbasevalue(PNU540)
	Torque	-ProfileTorquemode:Torqueaspercentageoftheratedtorque(PNU1036)
	-	-ProfileVelocitymode:nofunction,=0

Statusbytes5...8(actualvalue2)-Directmode
BitENDescription
B0...B31		Feedbackdependsonclosed-loopcontrolmode(CDIR.B1/B2),ineach casealittle-endian32-bitnumber:
	Position	-ProfilePositionmode:Positioninpositioningunit,seeappendixA.1
	Torque	-ProfileTorquemode:Positioninpositioningunit,seeappendixA.1
	Velocity	-ProfileVelocitymode:Speedasanabsolutevalueinunitofvelocity

1.6.5 Bytes 3,4 and 5...8-Record selection

Statusbyte3(recordnumber)-Recordselection
BitENDescription
B0...B7Record number		Acknowledgementofrecordnumberforrecordselection.

Statusbyte4(RSB)-Recordselection
BitENDescription
B0RC1	1stRecord ChainingDone	=0:Astepenablingconditionwasnotconfiguredornotachieved.=1:Thefirststepenablingconditionwasachieved.
B1RCC	RecordChain-ingComplete	ValidassoonasMCapplies.=0:Recordchainingcancelled.Atleastonestepenablingconditionhas notbeenmet.=1:Recordchainwasprocessedtotheendofthechain.
B2-	-Reserved
B3FNUM1	FunctionNumberfeedback	Onlyifthecammingfunctionisused(RSB.B7,FUNC=1):No. Bit43 Functionnumber
		0 0 0 CAM-IN/CAM-OUT/Changeactive1 0 1 Synchronisation with an external input
B4FNUM2		2 1 0 Synchronisation with an external input with camming function3 1 1 Synchronisation with a virtual master with camming function
B5FGRP1	FunctionGroupfeedback	Onlyifthecammingfunctionisused(RSB.B7,FUNC=1):No.Bit65 Functiongroup
B6FGRP2		0 0 0 Synchronisation with/without cam diskAllotherevalues(No.1...3)arereserved.
B7FUNC	Functionfeedback	=0: Normal task=1:Cammingfunctionisexecuted(bits3...6=functionnumberandgroup)
Statusbytes5...8(position)-Recordselection
BitENDescription
B0...B31	Position,...Acknowledgmentoftheposition:-Positioninpositioningunit,seeappendixA.1(32-bitnumber,lowbytefirst)

1.7FHPPfinitestatemachine

graph TD
    Switchedoff --> S1["Controller switchedon"]
    S1 -->|T1| S2["Drivenisabled"]
    S2 -->|T5| S3["Driveenabled"]
    S3 -->|T4| SA1["Ready"]
    SA1 -->|TA9| Jogpositive["SA5 Jogpositive"]
    SA1 -->|TA10| Jognegative["SA6 Jognegative"]
    SA1 -->|TA11| Jogpositive
    SA1 -->|TA12| Jognegative
    SA2["Positioningtask active"] -->|TA2| SA3["Intermediatestop"]
    SA2 -->|TA3| SA3
    SA2 -->|TA5| Homingisbeing_carriedout["SA4 Homingisbeing carriedout"]
    SA2 -->|TA6| Homingisbeing_carriedout
    S5["Reactiontofault"] -->|T8| S6["Fault"]
    S6 -->|T10| S3
    S6 -->|T11| S5
    S7["always highest priority."] --> Switchedoff
    S7 --> Fromallstates

Fig.1/2: Finitestatemachine

Notesonthe"Operationenabled"state

ThetransitionT3changestostateS4,whichitselfcontainsits ownsub-statemachine,thestatesofwhicharemarkedwith "SAx"andthetransitionsofwhicharemarkedwith "TAX"; seeFig.1/2.Thisenablesanequivalentcircuitdiagram (Fig.1/3)tobeused,inwhichtheinternalstatesSAxare omitted.

graph TD
    Switchedoff --> S1["Controller switched"]
    S1 -->|T1| S2["Driven disabled"]
    S2 -->|T5| S3["Driven enabled"]
    S3 -->|T4| S4["Operation enabled"]
    S4 -->|T6| S2
    S2 -->|T9| S6["Fault"]
    S6 -->|T10| S2
    S6 -->|T7*| S5["Reactionto fault"]
    S5 -->|T8| S6
    S6 -->|T11| S5

Fig.1/3: Finitestatemachine equivalent circuit diagram

TransitionsT4,T6andT7*areexecutedfromeverysub-state SAxandautomaticallyhaveahigherprioritythananytransitionTAX.

Reactiontofaults

T7("Faultrecognised")hasthehighestpriority(andreceives theasterisk"*").

T7isexecutedfromS5+S6ifanfaultofhigherpriorityoccurs. Thismeansthataseriousfaultcandisplaceasimplefault.

1.7.1 Establishing thereadystatus

Tocreatethereadystatus, additional inputsignalsarerequired, depending on the controller, at DIN4, DIN5, DIN13, etc., forexample.

Formoredetailedinformationaboutthis,seethedescription ofthecontrollerinquestion.

T	InternalconditionsActionsoftheuser
T1Driveis	switchedon.Thereisnofaultdetected.
T2Loadv	toltageapplied.ControlsovereigntywithPLC.	“Driveenable”=1CCON=xxx0.xxx1
T3“Stop”	=1	CCON=xxx0.xx11
T4“Stop”	=0	CCON=xxx0.xx01
T5“Drive enable”	=0	CCON=xxx0.xxx0
T6“Drive enable”	=0	CCON=xxx0.xxx0
T7*Faultdetected.
T8Reactionontofaultcompleted,drivestopped.
T9Thereis	nolongerafault.It was a serious fault.	“Resetfault”=0→1CCON=xxx0.Pxxx
T10	Thereisnolongerafault.Itwasasimplefault.	“Resetfault”=0→1CCON=xxx0.Pxx1
T11	Fault still exists.	“Reset fault” = 0 → 1CCON=xxx0.Pxx1
Key:P=positiveedge,N=negativeedge,x=any

1.7.2 Positioning

Asageneralrule:

TransitionsT4,T6andT7*alwayshavepriority.

TA	InternalconditionsActionsoftheuser
TA1	Homing has been carried out.	Start positioning task = 0→1Halt=1CCON=xxx0.xx11CPOS=0xx0.00P1
TA2Motion	Complete=1Thecurrentrecorddiscompleted.Thenextrecordisnottobecarriedoutautomatically	“Halt”statusisanyCCON=xxx0.xx11CPOS=0xxx.xxxx
TA3	Motion Complete = 0	Halt = 1 → 0CCON=xxx0.xx11CPOS=0xxx.xxxN
TA4Halt=1		Startpositioningtask=0→1Clearremainingposition=0CCON=xxx0.xx11CPOS=00xx.xxP1
TA5	Recordselection:- Asinglerecordisfinished.- Thenextrecorddistobecarriedoutautomatically.	CCON=xxx0.xx11CPOS=0xxx.xxx1
	Directmode:- Anewpositioningtaskhasarrived.	CCON=xxx0.xx11CPOS=0xxx.xx11
TA6Clearremainingposition=0→1		CCON=xxx0.xx11CPOS=0Pxx.xxxx
TA7		Start homing = 0→1Halt=1CCON=xxx0.xx11CPOS=0xx0.0Px1
TA8	Homing finished or Halt.	Only for Halt:Halt=1→0CCON=xxx0.xx11CPOS=0xxx.xxxN
Key:P=positiveedge,N=negativeedge,x=any

1.I/Odataandsequencecontrol

TAActionsoftheuserInternalconditions
TA9ogpositive=0→1		Halt=1CCON=xxx0.xx11CPOS=0xx0.Pxx1
TA10Either		- Jog positive = 1→0- CCON=xxx0.xx11- CPOS=0xxx.Nxx1or- Halt = 1 → 0- CCON=xxx0.xx11- CPOS=0xxx.xxxN
TA11		Jog negative = 0 → 1Halt=1CCON=xxx0.xx11CPOS=0xxP.0xx1
TA12Either		- Jog negative = 1 → 0- CCON= xxx0.xx11- CPOS=0xxN.xxx1or- Halt = 1 → 0- CCON= xxx0.xx11- CPOS=0xxx.xxxN
Key: P = positive edge, N = negative edge, x = any

There are additional transitions if the camming function is used;seeappendix B.2.

1.7.3 Specialfeatures dependent on FHPPoperating mode

FHPPoperating mode	Notesonspecialfeatures
RecordselectionNorestrictions.
DirectmodeTA2:Theconditionthatnonewrecordmaybeprocessednolongerapplies.TA5:Anewrecordcanbestartedatanytime.

1.7.4Examplesofcontrolandstatusbytes

Onthefollowingpagesyouwillfindtypicalexamplesofcontrolstatusbytes:

1. Safeguarddevicecontrol
2. Createreadinesstöoperate—Recordselection
   2.Createreadinesstooperate-Directmode
   3.Faulthandling
   4.Homing
3. Positioning with record selection
4. Positioningwithdirectmode

Forinformationaboutthestatemachine,seesection1.7.

Forallexamples:

Additionaldigitall/OsarerequiredforCMM...controller enablingandclosed-loopcontrollerenabling;seemanual for the CMM... controller used.

1. Safeguarddevicecontrol

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B3

B2B1

B0

Byte

B7B6

B5B4

B3B2

B1B0

0.1Drivecontrolby software=on

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

0

0

0

0

x

0

0

SCON

0

0

1

1

0

0

0

0

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

0

SPOS

0

0

0

0

0

1

0

0

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab. 1/4: Control and status bytes for “Device control active”

Descriptionof0.Safeguarddevice control:

0.1 Devicecontrolviasoftware (e.g.FestoConfiguration Tool)isactivated.

To control using the fieldbus interface, device control viathesoftwarehastobedeactivated first.

1.Createreadinesstöoperate—Recordselection

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B

B2B

1B0

Byte

B7B6

B5B

4B3B

2B1B0

1.1Basicstatus(Drivecontrolby software=off)

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

0

0

0

0

x

0

0

SCON

0

0

0

1

0

0

0

0

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

0

SPOS

0

0

0

0

0

1

0

0

1.2Disabledevice control by software

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

x

x

1

0

x

x

x

x

SCON

x

x

0

x

x

x

x

x

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

x

x

x

x

x

x

x

SPOS

x

x

x

x

x

x

x

x

1.3Enabledrive, enableoperation(Recordselection)

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

0

x

0

0

x

1

1

SCON

0

0

0

1

0

0

1

1

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

1

SPOS

0

0

0

0

0

1

0

1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab.1/5: Controlandstatusbytesfor“Createreadinesstöoperate–Recordselection”

Descriptionof1.Createreadinesstöoperate:

1.1 Basicstatusofthedrivewhenthesupplyvoltagehas beenswitchedon. →Step1.2or1.3

1.2 Disabledevicecontrolbysoftware. Optionally, assuming of device control by the software can be disabled with CCON.B5=1(LOCK). →Step1.3

1.3 EnabledriveinRecordselectionmode. →Homing:example4,Tab.1/8.

If there are faults afterswitching on or aftersetting CCON.B0 (ENABLE): →Faulthandling:see example3,Tab.1/7.

2.Createreadinesstöoperate–Directmode

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B3

B2B1

B0

Byte

B7B6

B5B4

B3B2

B1B0

2.1Basicstatus(Drivecontrolby software=off)

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

0

0

0

0

x

0

0

SCON

0

0

0

1

0

0

0

0

Byte 2

-

CLEAR

TEACH

IOGN

IOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

0

SPOS

0

0

0

0

0

1

0

0

2.2Disable device controlbysoftware

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

x

x

1

0

x

x

x

x

SCON

x

x

0

x

x

x

x

x

Byte 2

-

CLEAR

TEACH

IOGN

IOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

x

x

x

x

x

x

x

SPOS

x

x

x

x

x

x

x

x

2.3Enabledrive, enableoperation(Directmode)

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

1

x

0

0

x

1

1

SCON

0

1

0

1

0

0

1

1

Byte 2

-

CLEAR

TEACH

IOGN

IOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

1

SPOS

0

0

0

0

0

1

0

1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab. 1/6: Control and status bytes for “Create readiness to operate – Direct mode”

Descriptionof2.Createreadinesstöoperate:

2.1 Basic status of the drive when the supply voltage has been switched. →Step2.2or2.3

2.2 Disable devicecontrol bysoftware. Optionally, assuming of device control by the software can be disabled with CCON.B5=1 (LOCK). →Step2.3

2.3 Enabledrive in Directmode. →Homing: example4, Tab.1/8.

If there are faults after switching on or after setting CCON.B0 (ENABLE): → Fault handling: see example 3, Tab. 1/7.

3.Faulthandling

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B

B2B

1B0

Byte

B7B6

B5B

4B3B

2B1B0

3.1Fault

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

x

x

x

0

x

x

x

x

SCON

x

x

x

x

1

x

x

x

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

x

x

x

x

x

x

x

SPOS

x

x

x

x

x

0

x

x

3.2Warning

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

x

x

x

0

x

x

x

x

SCON

x

x

x

x

x

1

x

x

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

x

x

x

x

x

x

x

SPOS

x

x

x

x

x

0

x

x

Tab.1/7: Controlandstatusbytesfor“Faulthandling”

Descriptionof3.Faulthandling

3.1AfaultisshownwithSCON.B3(FAULT).
→Positioningcannolongerbeundertaken.
3.2 A warning is shown with SCON.B2 (WARN).
→Positioningcanstillbeundertaken.
3.3 ResetfaultwithpositiveedgeatCCON.B3(RESET).
→FaultbitSCON.B3(FAULT)or
SCON.B3(WARN)isreset
→SPOS.B2(MC)isset
→Driveisreadytooperate

FaultsandwarningscanbealsoresetusingDIN5(closed-loopcontrollerenable),seemanualforthecontrollerused.

4.Homing(requiresstatus1.3or2.3)

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B

B2B

1B0

Byte

B7B6

B5B

4B3B

2B1B0

4.1Starthoming

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

x

x

0

0

x

1

1

SCON

0

x

0

1

0

0

1

1

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

F

0

1

SPOS

0

0

0

0

0

0

1

1

4.2Homingrunning

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

x

x

0

0

x

1

1

SCON

0

x

0

1

0

0

1

1

Byte 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

1

0

1

SPOS

0

0

0

1

0

0

1

1

4.3Homingfinished

Byte 1

OPM2

OPM1

LOCK

-

RESET

BRAKE

STOP

ENABL

Byte 1

OPM2

OPM1

LOCK

24VL

FAULT

WARN

OPEN

ENABL

CCON

0

x

x

0

0

x

1

1

SCON

0

x

0

1

0

0

1

1

Body 2

-

CLEAR

TEACH

JOGN

JOGP

HOM

START

HALT

Byte 2

REF

STILL

DEV

MOV

TEACH

MC

ACK

HALT

CPOS

0

0

0

0

0

0

0

1

SPOS

1

0

0

0

0

1

0

1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab.1/8: Controlandstatusbytesfor“Homing”

Descriptionfor4.Homing:

4.1 A positiveedgeatCPOS.B2(HOM, Starthoming) startsthehoming. The startisconfirmed with SPOS.B1 (Acknowledgestart) as longasCPOS.B2(HOM) isset.
4.2 MovementoftheaxisisshownwithSPOS.B4(MOV, Axisismoving).
4.3AftersuccessfulhomingSPOS.B2(MC,Motion Complete)andSPOS.B7(REF)willbeset.

If there are faults during homing: → Faulthandling: see example3, Tab.1/7.

1. Positioning with record selection (requires status 1.3/2.3 and possibly 4.3)

Step/Descrip-tion

ControlbytesStatusbytes

ByteB7E

6B5

34B3

B2B

1B0B

ByteE

7B6

B5B4

B3B

2B1B0

5.1Preselectrecord number(controlbyte3)

Byte 3Record No.

Record numberRecordno.(0...)

Byte 3Record No.

Record numberPreviousrecordno.(0...)

5.2Starttask

Byte 1CCON

OPM20

OPM10

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM10

LOCK0

24VL1

FAULT0

WARN0

OPEN1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

JOGP0

HOM0

STARTF

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV0

TEACH0

MC0

ACK1

5.3Taskrunning

Byte 1CCON

OPM20

OPM10

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM10

LOCK0

24VL1

FAULT0

WARN0

OPEN1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

JOGP0

START1

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV1

TEACH0

MC0

ACK1

Byte 3Record No.

Record numberRecordno.(0...)

Byte 3Record No.

Record numberCurrentrecordno.(0...)

5.4Taskfinished

Byte 1CCON

OPM20

OPM10

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM10

LOCK0

24VL1

FAULT0

WARN0

OPEN1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

JOGP00

START0

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV0

TEACH0

MC1

ACK0

Byte 5...8-

ReservedReserved

Byte 5...8Act.pos.

PositionActualposition(positioningunits)

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge

Tab. 1/9: Control and status bytes for “Positioning with record selection”

Descriptionof5.Positioningwithrecordselection:

(steps5.1...5.4conditionalsequence)

When thereadinesstooperateiscreatedandhominghas beencarriedout, apositioningtaskcanbestarted.

5.1 Preselectrecordnumber: Byte3oftheoutputdata

0 = H o m i n g 1...=Programmablepositioningrecords

5.2WithCPOS.B1(START,Startpositioningtask)the preselectedpositioningtaskwillbestarted.Thestart isconfirmedwithSPOS.B1(Acknowledgestart)aslong asCPOS.B1(START)isset.

5.3 MovementoftheaxisisshownwithSPOS.B4 (MOV, Axis is moving).

5.4 Attheendofthepositioning task, SPOS.B2 (MC, MotionComplete) will beset.

If there are faults during positioning:

→Faulthandling:seeexample3,Tab.1/7.

6.Positioningwithdirectmode

(requirestatus1.3/2.3andpossibly4.3)

Step/DescriptionControlbytesStatusbytes

ByteB7

B6B5

B4B

B3B2B

1B0

Byte

B7B6

B5B

4B3B

2B1B0

6.1Preselectposition andspeed(bytes4and5...8)

Byte4VelocityVelocity

Byte4Speedpreselect(0...100%)Velocity

Velocityity

Speedfeedback(0...100%)

Byte 5...8Set-point pos.

PositionSetpointposition(positioningunits)

Byte 5...8Act. pos.

PositionActualposition(positioningunits)

6.2Starttask

Byte 1CCON

OPM20

OPM11

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM11

LOCK0

24VL1

FAULT0

WARN0

OPEN1

ENABL1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

JOGP0

HOM0

STARTF

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV0

TEACH0

MC0

ACK1

HALT1

Byte 3CDIR

FUNC0

FAST0

XLIM0

VLIM0

CONT0

COM20

COM10

ABSs

Byte 3SDIR

FUNC0

FAST0

XLIM0

VLIM0

CONT0

COM20

COM10

ABSs

6.3. Task running

Byte 1CCON

OPM20

OPM11

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM11

LOCK0

24VL1

FAULT0

WARN0

OPEN1

ENABL1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

JOGP0

HOM0

START1

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV1

TEACH0

MC0

ACK1

HALT1

6.4Taskfinished

Byte 1CCON

OPM20

OPM11

LOCKx

-0

RESET0

BRAKex

STOP1

ENABL1

Byte 1SCON

OPM20

OPM11

LOCK0

24VL1

FAULT0

WARN0

OPEN1

ENABL1

Byte 2CPOS

-0

CLEAR0

TEACH0

JOGN0

IOGP0

HOM0

START0

HALT1

Byte 2SPOS

REF1

STILL0

DEV0

MOV0

TEACH0

MC1

ACK0

HALT1

0: logic 0; 1: logic 1; x: not relevant (any); F: positive edge; S:positioningcondition:0=absolute;1=relative

Tab.1/10:Controlandstatusbytesfor"Positioningwithdirectmode"

Descriptionofpositioningwithdirectmode:

(step6.1...6.4conditionalsequence)

When thereadinesstooperateiscreatedandhominghas beencarriedout,asetpointpositionmustbepreselected.

6.1 Thesetpointpositionistransferredinpositioningunits inbytes5...8oftheoutputword. Thesetpointspeedistransferredin%inbyte4 (0=nospeed;100=max.speed).
6.2 With CPOS.B1 (START, Start positioning task) the preselected positioning task is started. The start is confirmed with SPOS.B1 (Acknowledgestart) as long as CPOS.B1 (START) is set.
6.3 Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving).
6.4 At the end of the positioning task, SPOS.B2 (MC, Motion Complete) will be set.

If there are faults during positioning:

→Faulthandling:seeexample3,Tab.1/7.

Drivefunctions

Chapter2

2.Drivefunctions

Contents

2.1Referencesystemforelectricdrives2-3.....
2.2 Calculation rules for the references system 2-5.
2.3Homing2-5.....

2.3.1 Homing for electric drives 2-7
2.3.2 Homing methods 2-8

2.4 Jog mode 2-13
2.5 Teaching via fieldbus 2-15
2.6 Carry out record (Record selection) 2-17

2.6.1 Record selection sequence charts 2-18
2.6.2 Record structure 2-22
2.6.3 Conditional record chaining (PNU 402) 2-23

2.7 Direct mode 2-27

2.7.1 Sequence for discrete setpoint value 2-29
2.7.2 Sequence for Profile Torque mode (torque and current control) .. 2-30
2.7.3 Sequence for Profile Velocity mode 2-32

2.8 Standstill control 2-34
2.9 On-the-fly measurement (position sampling) 2-36

2.Drivefunctions

2.1Referencesystemforelectricdrives

Referencesystemforelectriclineardrives

Positionsincreasinginsize, "positive"travel
REF	Homing point (reference point)	a	Axis zero point offset
AZ	Axis zero point	b	Project zero point offset
PZ	Project zero point	c	Target/actual position offset
LSE	Lower software end position	d, e	Software end position offsets
USE	Upper software end position	1	Effective stroke
LES	Lower end switch (lower limit switch)	2	Nominal stroke
HES Higherendswitch(higherlimitswitch)
TP, AP	Target/actual position

Tab.2/1: Referencesystemforelectricdrives

2. Drivefunctions

Referencesystemforelectricrotarydrives

Rotationaxis: example with negative references switch homing method

REFReferencepoint:pointascertainedduringhoming:referenceswitch,limitswitchorstop,withindexpulsewhereapplicable.
AZ	Axis zero point: point of reference for the project zero point and the software end positions.
PZ	Project zero point: point of reference (= zero point) for actual position and absolute positionsinthepositioningrecordtable.
a	Axis zero point offset: distance of axis zero point AZ from reference point REF
bProjectzeropointoffset:distancefromAZ
d,eSoftwareendpositionoffsets:limitthepermittedpositioningrange(usablestroke).Optional:endlesspositioningpossible
1Effectivestroke:permittedpositioningrange

Tab.2/2: Referencesystemforelectricrotarydrives

2.2 Calculation rules for thereferences system

ReferencepointCalculationrule
Axis zero point	AZ	= REF + a
Project zero point	PZ	= AZ + b	= REF + a + b
Lower software end position	LSE	= AZ + d	= REF + a + d
Upper software end position	USE	= AZ + e	= REF + a + e
Target/actual position	TP, AP	= PZ + c	= AZ + b + c = REF + a + b + c

Tab.2/3: Calculationrulesforthereferencesystemwithinincrementalmeasuringsystems

2.3Homing

In the case of drives within incremental measuringsystem, homing must always be carried out when the device is switched on.

Thisisdefineddrive-specificallywiththeparameter“Homing required”(PNU1014).

Varioushomingmodesarepermitted,dependingonthe controlleranddrive.

AnoverviewisshowninTab.2/4.

Foradescriptionofthehomingmodes,seesection2.3.2.

2.Drivefunctions

HomingmodeController
HexDecDescriptionCMMP-ASCMMS-AS/
				CMMD-AS	CMMS-ST
01h	1	Negative limit switch with index pulse	x	x	x^1)
02h	2	Positive limit switch with index pulse	x	x	x^1)
07h7	Referenceswitchinpositivedirectionwith indexpulse		x—
0Bh	11	Reference switch in negative direction with indexpulse	x—
11h	17	Negative limit switch	x	x	x
12h	18	Positive limit switch	x	x	x
17h	23	Reference switch in positive direction	x	–	–
1Bh	27	Reference switch in negative direction	x	–	–
21h	33	Index pulse in negative direction	x	x	x^1)
22h	34	Index pulse in positive direction	x	x	x^1)
23h	35	Current position	x	x	x
FFh	-1	Negative stop with index pulse	x	x	x^1)
FEh	-2	Positive stop with index pulse	x	x	x^1)
EFh	-17	Negative stop	x	x	x^1)
EEh	-18	Positive stop	x	x	x^1)
E9h	-23	Reference switch in positive direction with traveltostoporlimitswitch	x—
E5h	-27	Reference switch in negative direction with traveltostoporlimitswitch	x—
1) Only possible formotorswithanencoder

Tab.2/4: Permissiblehomingmodes,asofAugust2007

2.3.1 Homingforelectricdrives

Thedrivehomesagainstastop, alimitswitchorareference switch. An increase in the motor current indicates that a stop has been reached. Astedrivemust not continuously reference against the stop, it must move at least one millimetre back into the restroker range.

Sequence:

1. Searchforthereferencepointinaccordancewiththe configuredmethod.

2. Travelthedistanceofthe"axiszeropointoffset"relative tothereferencepoint.

3. Setataxiszeropoint: Currentposition=0-projectzeropointoffset.

Overviewofparametersinvolved(seealsosection4.4.17)

ParametersinvolvedDescription	PNU
	Axiszeropointoffset	1010
	Homingmethod	1011
	Homingspeeds	1012
	Homingaccelerations	1013
	Homingrequired	1014
	CMMPonly:Homingmaximumtorque	1015
Start(FHPP)	CPOS.B2=positiveedge:Starthoming
Feedback(FHPP)	SPOS.B1=positiveedge:AcknowledgestartSPOS.B7=Axisisreferenced
Requirement	Device control by PLC/fieldbusControllermustbeinstatus“Operation enabled”There must not be any command for jogging

Tab.2/5:Parametersinvolvedinhoming

2. Drivefunctions

2.3.2 Homingmethods

ThehomingmethodsareorientedtowardsCANopenDS402.

Withsomemotors(thosewithabsoluteencoders, single/multi-turn)thedrivemaybepermanentlyreferenced.Insuch cases,methodsinvolvinghomingtoanindexpulse(=zero pulse)mightnotcausehomingtobecarriedout; ratherthe drivewillmovedirectlytotheaxiszeropoint(ifithasbeen enteredintheparameters).

Homingmethods
HexDec	Description
01h1	Negativelimitswitchwithindexpulse	1)
		1.Ifthenegativelimitswitchisinactive:runatsearchspeedinnegativededirectiontonegativelimitswitch.2.Runatcrawlspeedinpositivedirectionuntilthelimitswitchbecomesinactive,thenontofirstindexpulse.Thispositionissavedasthereferencepoint.3.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
02h2	Positivelimitswitchwithindexpulse	1)
		1.Ifthepositivelimitswitchisinactive:runatsearchspeedinpositivedirectiontopositivelimitswitch.2.Runatcrawlspeedinnegativededirectionuntilthelimitswitchbecomesinactive,thenontofirstindexpulse.Thispositionissavedasthereferencepoint.3.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
1) Onlypossibleformotorswithanencoder.
HexDescriptionDec
07h7Referenceswitchinpositivedirectionwithindex pulse1)
0B11Referenceswitchinnegativedirectionwith indexpulse1)
11h17Negativelimitswitch
1)Onlypossibleformotorswithanencoder.

2. Drivefunctions

HomingmethodsHexDescriptionDec
12h18	Positivelimitswitch	1.Ifthepositivelimitswitchisinactive:runatsearchspeedinpositivedirectiontopositivelimitswitch.2.Runatcrawlspeedinnegativedirectionuntilimitswitchbecomesinactive.Thispositionissavedasthereferencepoint.3.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
17h23	Referenceswitchinpositivededirection	1.Ifreferenceswitchisinactive:runatsearchspeedinpositivedirectiontoreferenceswitch.Ifthestoporlimitswitchisreachedintheprocess:runatsearchspeedinnegativedirectiontoreferenceswitch.2.Runatcrawlspeedinnegativedirectionuntilreferenceswitchbecomesinactive.Thispositionissavedasthereferencepoint.3.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
1Bh	27	Reference switch in negative direction1.Ifreferenceswitchisinactive:runatsearchspeedinnegativedirectiontoreferenceswitch.Ifthestoporlimitswitchisreachedintheprocess:runatsearchspeedinpositivedirectiontoreferenceswitch.2.Runatcrawlspeedinpositivedirectionuntilreferenceswitchbecomesinactive.Thispositionissavedasthereferencepoint.3.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
1) Onlypossibleformotorswithanencoder.
Homingmethods
HexDescriptionDec
21h33	Indexpulse	seinnegativedirection 1)Runatcrawlspeedinnegativedirectionto indexpulse. Thispositionissavedasthe referencepoint.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
22h34	Indexpulse	seinpositivedirection 1)Runatcrawlspeedinpositivedirectionto indexpulse. Thispositionissavedasthe referencepoint.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
23h35	Currentposition
		Thecurrentpositionissavedasthereference point.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.Note:ifthereferencesystemisshifted,runstoa limitswitchorfixedstoparepossible.Thisisthereforegenerallyusedforaxesofrota-tion.
FFh-1	Negativestopwithindexpulse	1)2)Runatsearchspeedinnegativedirectionto stop.Runatcrawlspeedinpositivedirectiontonext indexpulse. Thispositionissavedasthe referencepoint.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
FEh-2	Positivestopwithindexpulse	1)2)Runatsearchspeedinpositivedirectionto stop.Runatcrawlspeedinnegativedirectionto nextindexpulse. Thispositionissavedasthe referencepoint.Ifthishasbeenenteredintheparameters:runattravelspeedtoaxiszeropoint.
1)Onlypossibleformotorswithanencoder.2)Limitswitchesareignoredduringtheruntothestop.

2.Drivefunctions

Homingmethods

HexDescriptionDec

1. Runatsearchspeedinnegativedirectionto stop. Thispositionissavedasthereference point.
2. If this has been entered in the parameters: run attravelspeed to axis zeropoint.

1. Runatsearchspeedinpositivedirectionto stop. Thispositionissavedasthereference point.
2. If this has been entered in the parameters: run attravelspeed to axis zeropoint.

E9h-23Referenceswitchinpositivedirectionwithtravel tostoporlimitswitch.

1. Runatsearchspeedinpositivedirectionto stoporlimitswitch.
2. runatsearchspeedinnegativedirectionto referenceswitch.
3. Runatcrawlspeedinnegativedirectionuntil referenceswitchbecomesinactive. Thispositionissavedasthereferencepoint.
4. If this has been entered in the parameters: run attravelspeedtoaxiszeropoint.

Referenceswitch

E5h-27Referenceswitchinnegativedirectionwith traveltostoporlimitswitch.

1. Runatsearchspeedinnegativedirectionto stoporlimitswitch.
2. Runatsearchspeedinpositivedirectionto referenceswitch.
3. Runatcrawlspeedinpositivedirectionuntil referenceswitchbecomesactive. Thisposition issavedasthereferencepoint.
4. If this has been entered in the parameters: run attravelspeed to axis zeropoint.

Referenceswitch

1) Onlypossibleformotorswithanencoder.
2) Limitswitchesareignoredduringtheruntothestop.
3) Since the axis is not intended to stay at the stop, the run to the axis zero point has to parametrised and the axis zeropointoffsethastobe 0 .

Tab.2/6: Overviewofhomingmethods

2.Drivefunctions

2.4Jogmode

Inthe"Operationenabled"state, thedrivecanbemovedby jogginginthepositive/negativedirections. Thisfunctionis usuallyusedfor:

-Movingtoteachingpositions

- Movingthedriveoutoftheway(e.g.afterasyste

- Manualtraversingasanormaloperatingmode(manually operatedfeed).

Procedure

1. Whenoneofthesignals "Jogpositive/Jognegative" is set, the drivestartstomoveslowly. Duetotheslow speed, a position can be defined very accurately.

2. If the signal remains set for longer than the configured "phase1time", these speed is increased until the configured maximum velocity is reached. In this way large stroke can be traversed quickly.

3. If the signal changesto 0, the drive is braked with the pre-set maximum deceleration.

4. Onlyifthedriveisreferenced: Ifthedrivereachesasoftwareendposition, it will stop automatically. Thesoftwareendposition is not exceeded, the pathforstopping depends on therampset. The jog mode can be exited here with log = 0.

2. Drivefunctions

1 Lowspeed,phase1 (slowtravel)
2 Maximumspeedfor Velocityv(t) phase2
3Acceleration
4 Deceleration
5 Phase1time

Fig.2/1:Sequencechartforjogmode
Overviewofparametersinvolved(seesection4.4.9)

ParametersinvolvedDescriptionPNU
		Jogmodevelocity-phase1530
		Jogmodevelocity-phase2531
		Jogmodeacceleration532
		Jogmodedeceleration
		Jog mode time phase 1 (T1)
Start (FHPP)	CPOS.B3 = positive edge: Jog positive (towards increasing actual values)CPOS.B4 = positive edge: Jog negative (towards decreasing actual values)
Feedback(FHPP)	SPOS.B4=1:DriveismovingSPOS.B2 =0:(Motion Complete)
Requirement	Device control by PLC/fieldbusController must be in status “Operation enabled”

Tab.2/7: Parameters involved in jogmode

2.5 Teaching via fieldbus

Positionvaluescanbetaughtviathefieldbus.Previously taughtpositionvalueswillthenbeoverwritten.

Procedure

1. Thedriveismovedtothedesiredpositionbyjogmodeor manually. This can be accomplished in jog modeby positioning (or by moving manually in the "Drivedisabled" status in the case of motors with an encoder).
2. Theusermustmakesurethatthedesiredparameteris selected. For this, the parameter "Teachtarget" and, if applicable, the correct record address must be entered.

Teachtarget(PNU520)	Istaught
=1 (default) Setpointposition	inthepositioning record.-Recordselection:Positioningrecordaccordingto controlbyte3-Directmode:Positioningrecordaccordingto PNU=400
=2 Axiszeropoint
=3 Projectzeropoint
=4 Lowersoftwareendposition
=5 Uppersoftwareendposition

Tab.2/8:Overviewofteachtargets

1. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS:

2. Drivefunctions

1PLC: Prepareteaching
Teachactual value CPOS.B5
2 Controller: Readyforteaching
3PLC: Teachnow
4 Controller: Valuetransferred

Fig.2/2: Handshaked during teaching

Note: Thedrivedoesnotneedtobeatastandstillforteaching. However, with theusualcycle times of the PLC+fieldbus+ controller therewill be in accuracies of several millimetres even at as speed of only 100 mm/s.

Overviewofparametersinvolved(seesections4.4.8and4.4.9)

ParametersinvolvedDescriptionPNU
		Teachtarget520
		Recordnumber400
		Projectzeropointoffset	500
		Softwareendpositions	501
		Axiszeropointoffset(electricdrives)	1010
Start(FHPP)	CPOS.B5=fallingedge:Teachactualvalue
Feedback(FHPP)	SPOS.B2=1:Valuetransferred
Requirement	DevicecontrolbyPLC/fieldbusController must be in status “Operation enabled”

Tab.2/9: Parameters involved inteach mode

2.Drivefunctions

2.6 Carryoutrecord(Recordselection)

Arecordcanbestartedinthe“Driveenabled”state. Thisfunctionisusuallyusedfor:

-MovingtoanypositionintherecordlistbythePLC

-Processingapositioningprofilebylinkingrecords

- Knowntargetpositionsthatseldomchange(recipe change)

Procedure

1. SettherequiredrecordnumberinthePLC'soutputdata. Untilthestart, thecontrollerreplieswiththenumberof therecordlastprocessed.
2. With arising edge at CPOS.B1 (START) the controller accept stherecord number and startsthe positioning task.
3. The controllers signals with the rising edge at "Acknowledge start" that the PLC output data has been accepted and that the positioning task is now active. The positioning command continues to be executed, even if CPOS.B1(START) is reset to zero.
4. Whentherecordisconcluded, SPOS.B2(MC)isset.

Causesoferrorsinapplication:

-Nohomingwascarriedout(wherenecessary; seePNU1014).

-Thetargetposition and/or the preselect position cannot bereached.

-Invalidrecordnumber.

-Recordnotinitialised.

Intheeventofconditionalrecordchaining(seesection2.6.3): Ifanewspeedand/oranewtargetpositionisspecifiedinthe movement,theremainingpathtothetargetpositionmustbe largeenoughtoreachastandstillwiththebrakingrampthat wasset.

Overviewofparametersinvolved(seesection4.4.8)

ParametersinvolvedDescriptionPNU
		Recordnumber400
		Allparametersoftherecorddata,seesections2.6.2,Tab.2/11401
Start(FHPP)CPOS.B1=positiveedge:StartJoggingandhominghavepriority.
Feedback (FHPP)	SPOS.B2 = 0: Motion CompleteSPOS.B1=positiveedge:AcknowledgestartSPOS.B4=1:Driveismoving
Requirement	DevicecontrolbyPLC/fieldbusControllermustbeinstatus“Operationenabled”Recordnumbermustbevalid

Tab.2/10: Parameters involved in record selection

2.6.1 Recordselectionsequencecharts

Fig.2/3, Fig.2/4 and Fig.2/5 show typical sequence charts for starting and stopping are record.

Start/stoprecord

1Prerequisite: "Acknowledgestart"=0
2 Risingedgeat"Start"causesthenew recordnumberNtobeacceptedand "Acknowledgestart"tobeset
3 Assoonas"Acknowledgestart"is recognisedbythePLC,"Start"maybe setto0again

4 The controllerreactswithafalling edgeat"Acknowledgestart"
5 Assoonas"Acknowledgestart"is recognisedbythePLC,thenextrecord numbermaybested
6 Acurrentlyrunningpositioningtask canbestoppedwith"Stop"

Fig.2/3:SequencechartforStart/Stoprecord

StoprecordwithHaltandcontinue

1 Recordisstoppedwith“Halt”, actual recordnumberNisretained, “Motion Complete”remainsreset
2 Risingedgeat"Start"startsrecordN again, "ConfirmHalt"isset

Fig.2/4:SequencechartforStoprecordwithHaltandContinue

StoprecordwithHaltandClearremainingposition

Fig.2/5:SequencechartforStoprecordwithHaltandClearremainingposition

2.6.2 Recordstructure

Apositioningtaskinrecordselectionmodeisdescribedby arecordmadeupofsetpointvalues.Everysetpointvalueis addressedbyitsownPNU.Arecordconsistsofthesetpoint valueswiththesamesubindex.

PNU	NameDescription
401Recordcontrolbyte1Setting		forpositioningtask:absolute/relative,position/torquecontrol,...
402Recordcontrolbyte2Record		control:Settingsforconditionalrecordchaining
404	Setpoint value	Setpoint value as per record control byte 1.
405	Preselection value	CMMS/CMMD only: preselection value as per record control byte 2.
406	Velocity	Auxiliary setpoint: nominal speed.
407	Acceleration	Auxiliary setpoint: nominal acceleration during start up.
408	Deceleration	Auxiliary setpoint: nominal acceleration during braking.
413	Jerk-free filter time	Auxiliary setpoint: filter time for smoothing the profile ramps.
414	Record profile	CMMS/CMMD only: number of the record profile. The record profile defines the PNUs 405, 406, 407, 408, 413 for all the assigned records, along with othersharedsettings; seesection4.4.8.
415Reserved –(notsupportedbyCMM...)
416Recordfollowing position/recordcontrol		Recordnumbertowhichrecordchaining jumpswhenthestep enablingconditionismet.
418	Torque limitation	CMMP only: limitation of the maximum torque.
419	Cam disk number	CMMP only: number of the cam disk to be executed with this record.Requires configuration of PNU 401 (virtual master).
420Remainingdistance message		CMMP only: distance in front of the target position where a display can betriggeredviaadigitaloutputshowithasbeenreached.
421	Record control byte 3	CMMP only: settings for specific behaviour of the record.

Tab.2/11:Recordparameters

2.Drivefunctions

2.6.3 Conditional record chaining (PNU402)

Recordselectionmodeallowsmultiplepositioningtaskstobe linked. This mean that, starting at CPOS.B1, various records are automatically executed one after the other. This allows a positioning profile to be defined, e.g. switching to another speed after a position is reached.

Todothis, theusersetsa(decimal)conditioninRCB2tode- finethatthefollowingrecordisautomaticallyexecutedafter thecurrentrecord.

Itisonlypossibletosetalloftheparametersfortherecord chaining("routeprogram")(e.g.thefollowingrecord)using theFCT.

Ifaconditionwasdefined,itispossibletoprohibitautomatic continuationtothefollowingrecordbysettingtheB7bit.This functionsshouldbeusedfordebuggingusingFCTandnotfor normalcontrolpurposes.

Recordcontrolbyte2(PNU402)
Bits0...6Numericalvalue0to128:stepenablingconditionasalist,seeTab.2/13
Bit7=0:recordchaining(bits0to6)isnotdisabled(default)=1:recordchainingdisabled
StepenablingconditionsValueConditionDescription
0-Noautomaticcontinuation
11)	MCThepreselectionvalueisinterpretedasadelayin milliseconds.Thechain continuestothenextre-cordoncethetargetset-pointvalueisreached, i.e.oncetheMCcondi-tionisfulfilled(MC=1) andadelaytimehasex-piredaswell. Note: Thus the axis is a t a standstillforamoment duringpositioning.Not necessarilythecasewith torquecontrol(Profile Torquemode).
21)	PositionThepreselectionvalueis interpretedastheposi-tionvalue2. Thechaincontinuesto thenextrecordassoon asthecurrentactual positionexceedsthe preselectionvalueinthe directionoftravel1. Asthereisnoneedto stop,thedrivereaches itstargetposition quicker.
31)	Torque	The preselection value is interpreted as the torque. The chain continues to thenextrecordoncethecurrentactualtorqueexceedsthepreselection valueinthedirectionoftravel.Itisnotabsolutelynecessaryforatorque commandtobespecifiedhere.Itisalsopossibletopositiontotheend point.Whenaspecificactualtorqueisreached,torquecontrolisactivated.
1) NotsupportedbyCMM...Stepenablingconditions
Value	Description	Condition
4	Standstill	The chain continues to the next record once the drive comes to a standstill andthenthetimeT1specifiedasthepreselectionvaluehasexpired.(Travel toendpoint)
52)	TimeTheprese	ectionvalueisinterpretedastimeinmilliseconds.Thechaincontinuestothenextrecordoncethistimehasexpired(afterthestart).
6Input	Pos.edge	Thechaincontinuestothenextrecordifarisingedgeisidentifiedatthe localinput.Thepreselectionvalueincludestheinput'sbitaddress.Preselectionvalue=1:NEXT1Preselectionvalue=2:NEXT2
7Input	Neg.edge	Thechaincontinuestothenextrecordifafallingedgeisidentifiedatthe localinput.Thepreselectionvalueincludestheinput'sbitaddress.Preselectionvalue=1:NEXT1Preselectionvalue=2:NEXT2
81)	Velocityprofile	Thesetpointgenerator calculatesthetrajectory sothattherecord'sset-pointspeedisactivein thetargetposition.The finalspeedisttherefore not0.Thepreselectionvalueis ignored.Note:intype1,theuser onlydefinesthechaining position;theuserhasno influenceoverthespeed.
9Input	Pos.edge waiting	Thechaincontinuestothenextrecordafterthecurrentrecordendsifa risingedgeisidentifiedatthelocalinput.Thepreselectionvalueincludes theinput'snumber:Preselectionvalue=1:NEXT1Preselectionvalue=2:NEXT2
10Input	Neg.edge waiting	Thechaincontinuestothenextrecordafterthecurrentrecordendsifa fallingedgeisidentifiedatthelocalinput. Thepreselectionvalueincludes theinput'snumber:Preselectionvalue=1:NEXT1Preselectionvalue=2:NEXT2
1) NotsupportedbyCMM...2) NotsupportedbyCMMP

Tab.2/12:Settingsforconditionalrecordchaining

2. Drivefunctions

StepenablingconditionsValueDescriptionCondition
112)	Position (relative)	Thischainingisthesameastype2exceptthatthe specifiedpositionisnot specifiedabsolutelybut relativetothelastset-pointposition2. Thechaincontinuesto thenextrecordassoon asthecurrentactual positionexceedsthe preselectionvalueinthe directionoftravel1. Important:Forthechain-ingpositiontoberepro-ducible,thespecification mustbecalculatedrela-tivetothelasttarget position;inotherwords, notrelativetotheactual position.
12InternalMC condition		Likecondition1,but withoutanexternalMC signalbetweentheindi-vidualrecords.Anexternal MC signal (SPOS.B2) isonlysetafterthelast recordinthechain.
2) NotsupportedbyCMMS/CMMD

Tab.2/13:Stepenablingconditions

2.Drivefunctions

2.7Directmode

Inthestatus“Driveenabled”(Directmode)ataskisformulateddirectlyinthel/Odatathatistransmittedviathefieldbus.SomeofthesetpointvaluesforthepositionarereservedinthePLC.

Thefunctionisusedinthefollowingsituations:

-Movingtoanypositionwithintheeffectivestroke.
-Thetargetpositionsareunknownnduringdesigningor changefrequently(e.g.severaldifferentworkpiecepositions).
-Apositioningprofileconsistingofchainedrecords (G25function)isnotnecessary.
-Thedriveistocontinuouslyfollowasetpointvalue.

If shortwaittimes are not critical, it is possible to implement a positioning profile by chaining recordsexternally through the PLC.

Causesoferrorsinapplication

–Nohomingwascarriedout(wherenecessary; seePNU1014).
-Targetpositioncannotbereachedorliesoutsidethe softwareendpositions.
-Loadtorqueistoolarge.

Overviewofparametersinvolved(seesection4.4.9)

ParametersinvolvedDescriptionPNU
PositionspecificationsBasevelocityvalue 1)		540
Torquespecifications (forCMMPonly) 2)	Basetorqueramp 1)	550
	Torquetargetwindow552
	Dampingtime	553
	Permissiblespeedduringtorquecontrol	554
Velocity specifications	Base acceleration ramp 1)	560
	Velocity target window(forCMMPonly) 2)	561
	Damping time for velocity target window (for CMMP only) 2)	562
	Standstill targetwindow(forCMMP only) 2)	563
	Dampingtimeforstandstilltargetwindow(forCMMPonly) 2)	564
	Torquelimit(forCMMPonly) 2)	565
Start (FHPP)	CPOS.B1 = positive edge: StartCDIR.B0=Absolute/RelativesetpointpositionCDIR.B1/B2=Control mode(seesection 1.5.3)
Feedback (FHPP)	SPOS.B2 = 0: Motion CompleteSPOS.B1 =positiveedge: AcknowledgestartSPOS.B4=1:Driveismoving
Requirement	DevicecontrolbyPLC/fieldbusController must be in status “Operation enabled”
1) The PLC transfers a percentage value in the control bytes, which is multiplied by the base value in order togetthefinal setpointvalue.2) Forsupportedfunctions,see1.4

Tab.2/14:Parametersinvolvedindirectmode

2.Drivefunctions

2.7.1Sequencefordiscretesetpointvalue

1. The usersetsthedesiredsetpointvalue(position, torque) and the positioning condition(absolute/relative, velocity) in his or her output data.
2. WitharisingedgeatSTART(CPOS.B1)thecontrolleracceptsthesetpointvaluesandstartsthepositioningtask.

Afterthestart, anewsetpointvaluecanbestartedatany time.ThereisnoneedtowaitforMC.

1. Oncethelastsetpointpositionisreached, MC(SPOS.B2) isset.

Startingthepositioningtask

Fig.2/6: Starting the positioning task

Thesequenceoftheremainingcontrolandstatusbitsaswell asthefunctionsHaltandStoparethesameasfortheRecord selectionfunction,seeFig.2/3,Fig.2/4andFig.2/5.

2.Drivefunctions

2.7.2 Sequence for Profile Torquemode (torque and current control)

ProfileTorquemodeispreparedbyswitchingoverthecontrol modewiththebitsCDIR-COM1/2. Thedriveremainsata standstillwiththepositioncontrolled.Thesignal“MC” (MotionComplete) is used in this control model mean “Torquesetpointvaluereached”.

Afterthesetpointspecification, thestartsignal(startbit) buildsupthetorque/momentusingthetorqueramp (CMMP-ASonly) inthedirectionindicatedbythesetpoint value's prefix(+or-) andtheactiveProfileTorquemodeis displayedviathebitsSDIR-COM1/2.

ForCMMP:

Thespeedislimitedtothevalueintheparameter“Maximum speed”.Oncethisspeedhasbeenreached,thebit“Speed limitreached”issetinthestatusbyteSDIR.

Oncethesetpointvaluehasbeenreached, taking into account the target window and the timewindow, the "MC" signalisset. Torque/momentcontinuetobe controlled.

Causesoferrorsinapplication

–Nohomingwascarriedout(wherenecessary; seePNU1014).

Setpointspecification/actualvaluequeryindirectmodein ProfileTorquemode:

CCON.B6(OPM1)=1,CCON.B7(OPM2)=0

CDIR.B1(COM1)=1,CDIR.B2(COM2)=0

Directmode
	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte	8
Output data	CCON	CPOS	CDIR	Setpoint value1 (reserved)	Setpointvalue2 (torque)
Input data	SCONSPO	SSDIRActual		value1 (actual torque)	Actualvalue2 (actualposition)

Data	Meaning	Unit(s)
Setpoint value 1	Reserved (no function, = 0)	-
Setpoint value 2	Setpoint torque	Percentage of rated torque (PNU 1036)
Actual value 1	Actual torque	Percentage of rated torque (PNU 1036)
Actual value 2	Actual position	Positioning unit, see appendix A.1

2.Drivefunctions

2.7.3 Sequence for Profile Velocity mode

ProfileVelocitymode(speedadjustment)isonlysupportedin "Directmode".Only"discretesetpointadjustment"(compare section2.7.1)issupported.

Speedadjustmentisrequestedbyswitchingtheclosed-loop controlmode. Thedriveremainsintheoperatingmodethat wassetpreviously. Afterthesetpointsarespecified, thestart signal(startbit) switchesthesystemtoProfileVelocitymode andthevelocitysetpointvaluecomesintoeffect. Thetorqueislimitedheretothevaluesetinthe“Torque limit”parameter(PNU565).

Thesignal“MC”(MotionComplete)isusedinthiscontrol modetomean“targetvelocityreached”.

MotionComplete/standstillnotification

Thesamecomparatortypeisusedtodetermine“velocity reached”and“velocity0”anditbehavesasperFig.2/7,see Tab.2/15.

Setpointvalue	SpecificationsforreachingMC(MotionComplete)
≠0 Targetvelocity:Setpointvalue	easperinputdataTolerance:Velocitytargetwindow(PNU561)Responsetime:Dampingtimeforvelocitytargetwindow (PNU562)
=0	Target velocity: Setpoint value as per input dataTolerance: Standstill target window (PNU 563)Response time: Damping time for standstill target window (PNU 564)

Tab.2/15:MotionComplete/standstillnotificationspecifications

2.Drivefunctions

Fig.2/7:MotionComplete/standstillnotification

2. Drivefunctions

2.8Standstillcontrol

Standstillcontrolmakesitpossibletodetectthedriveexiting thetargetpositionwindowwhileatastandstill.

StandstillcontrolisrelevantsolelyforProfilePositionmode (positioncontrol).

WhenthetargetpositionhasbeenreachedandMCsignalled inthestatusword,thedriveswitchestothe"standstill"state, andbitSPOS.B6(Standstillcontrol)isreset.If,inthisstatus, thedriveisremovedfromthestandstillpositionwindowfora definedtimeduetoexternalforcesorotherinfluences,thebit SPOS.B6willbeset.

Assoonasthedriveisinthestandstillpositionwindowagain forthestandstilltimeouttime,thebitSPOS.B6willbereset.

1 Targetposition
2 Actualposition
3 Standstillcontrol (SPOS.B6)
4 MotionComplete (SPOS.B2)
5 Standstillposition window
6 Targetposition window
7 Monitoringtime (positionwindow time)
8 Standstilltimeout

Fig.2/8: Standstillcontrol

Standstillcontrolcannotbeswitchedonoroffexplicitly. It becomesinactivewhentthestandstillpositionwindowisset to "0".

Overviewofparametersinvolved(seesection4.4.17)
ParametersinvolvedDescriptionPNU
Start (FHPP)	SPOS.B2 = positive edge: Motion Complete
Feedback (FHPP)	SPOS.B6 = 1: Drive has moved out of standstill position window
Requirement	DevicecontrolbyPLC/fieldbusControllermustbeinstatus“Operationenabled”

Tab.2/16:Parametersinvolvedinstandstillcontrol

2.90n-the-flymeasurement(positionsampling)

To find out whether this function is supported by the control leryou are using and its firmware version, seethe help for the associated FCT plug-in.

The local digital input scan be used as quick sampling inputs: with every rising and falling edge at the configured sample input (only possible using the FCT), the current position value is written into a register of the controller and can afterwards bereadout (PNU350:01/02) by the higher-level control system (PLC/IPC).

Parametersforpositionsampling(on-the-flymeasurement)
Parameter/DescriptionPNU
Positionvalueforarisingedgeinuser-definedunits350:01
Positionvalueforafallingedgeinuser-definedunits350:02

Tab.2/17: Parametersforon-the-flymeasurement

Faultreactionanddiagnosis

Chapter3

3. Faultreactionanddiagnosis

Contents

3.1Classifyingthefaults3-3.....

3.1.1Warnings3-4.....
3.1.2Faulttype13-5.
3.1.3Faulttype23-6.....

3.2 Diagnostic memory (faults) 3-7

3.3 Warning memory (CMMP only) 3-8

3.4 Fault numbers 3-9

3.4.1 CMMP fault numbers 3-9

3.4.2 CMMS/CMMD fault numbers 3-47

3.5 Diagnosis using FHPP status bytes 3-53

3. Faultreactionanddiagnosis

3.1 Classifyingthefaults

Wedifferentiatebetweenthefollowingtypesoffault:

-Warnings

-Faulttype1(outputstagenotswitchedoff)

-Faulttype2(outputstageswitchedoff)

The classification of the possible faults is specified separately for each controller. The basis for this classification is the way in which each controller has to behave for each fault.

The controllers indicate faults by appropriate error messages or warnings. These can be evaluated via the following:

- D i s p l a y

-Statusbytes(seesection1.4)

-Bus-specificdiagnosis(seedescriptionofthefieldbusfor thecontrollerinquestion)

–Diagnosticmemory(seesection3.2)

-FCT(seeFCThelp)

3. Faultreactionanddiagnosis

3.1.1Warnings

A warning providestheuserwithininformationthatdoesnot haveanyeffectonthedrive'sbehaviour.

Behaviourintheeventofwarnings

-Controllerandoutputstageremainactive.

–The current positioning task is not interrupted.

-Dependingonthefaultnumberanewpositioningtask may be possible.

-TheSCON.B2(WARN)bitisset.

-If the cause of the warning disappears, the SCON.B2bitis automatically cleared again.

- C M M P o n l y :

Thewarningnumbersareloggedinthewarningregister (PNU211).

Causesofwarnings

-Parameters cannot bewritten or read (not permitted in the operating mode, invalid PNU,...)

- Following (drag) error, drive has exceeded the tolerance afterMotionComplete, and similarminorcontrolerrors.

3. Faultreactionanddiagnosis

3.1.2 Faulttype1

Intheeventofafault,theservicethatwasrequestedcannot beprovided. Thedriveswitchesfromitscurrentstatustothe "Fault"status.

Behaviourintheeventoftype1faults

-Theoutputstageisnotswitchedoff.
–The current positioning task is interrupted.
- Thespeedisreducedontheemergencyramp.
- ThesequencecontrolswitchchestotheFaultstatus. Nonew positioningtaskcanbecarriedout.

- The S CON . B 3 ( FAULT ) b

-The“Fault”statuscanbeexitedbyswitchingoff,witha positiveedgeatinputCCON.B3(RESET),orbyresetting/ settingDIN5(closed-loopcontrollerenable).

-Holdingbrakeisactivatedwhenthedriveisstopped.

Causesoftype1faults

-Softwareendpositionsareviolated.
-MotionCompletetimeout.
-Followingerrormonitoring(monitoringofdragerror).

3. Faultreactionanddiagnosis

3.1.3 Faulttype2

Intheeventofafault,theservicethatwasrequestedcannot beprovided. Thedriveswitchesfromitscurrentstatustothe "Fault"status.

Behaviourintheeventoftype2faults

-Theoutputstageisswitchedoff.
–The current positioning task is interrupted.
-Thedriverunsdown.
- Thesequencecontrolswitchestothefaultstatus. Nonew positioningtaskcanbecarriedout.

- The S CON . B 3 ( FAULT ) b i

-The "Fault" statuscanbeexited by switchingoff, with a positiveedgeatinputCCON.B3(RESET), orbyresetting/ settingDIN5(closed-loopcontrollerenable).

-Holdingbrakeisactivatedwhenthedriveisstopped.

Causesoftype2faults

-Loadvoltageismissing(e.g.ifemergencyoffhasbeen implemented)
-Hardwarefault:
-Measuringsystemfault.
-Busfault.
-SDcardfault.
-Impermissibleoperatingmodeswitch.

3.2 Diagnostic memory (faults)

Thediagnosticmemoryforfaultscontainsthecodesofthe lastfaultmessagesthatoccurred.Thediagnosticmemory isprotectedagainstpowerfailure.Ifthediagnosticmemory isfull,theoldestelementwillbeoverwritten(FIFOprinciple).

StructureofthediagnosticmemoryinCMMS/CMMD
Parameter 1)	201
Formatuint16
MeaningFaultnumber
Subindex1Mostrecent/currentfault
Subindex22ndsavedfault
Subindex33rdsavedfault
Subindex44thsavedfault
1) Seesection4.4.5

Tab.3/1: StructureofdiagnosticmemoryinCMMS/CMMD

StructureofthefaultsdiagnosticmemoryinCMMP
Parameter 1)	200	201	202
Formatuint8	uint16	uint32
Meaning	Diagnostic event	Fault number	Time
Subindex1	Mostrecent/currentfault
Subindex2	2ndsavedfault
... 2)	...
Subindex 32	32nd saved fault
1) Seesection 4.4.5

Tab.3/2: StructureofdiagnosticmemoryinCMMP

3.Faultreactionanddiagnosis

3.3Warningmemory(CMMPonly)

Somecontrollers have easeparated diagnostic memory for warnings.

The warning memory contain the codes of the last warnings that occurred. It functions in the same way asthediagnostic memory for faults.

Structureofthewarningmemory
Parameter 1)	210211212
Formatuint8uint	16uint32
Meaning	Warning event	Warning number	Time
Subindex1	Mostrecent/currentwarning
Subindex2	Secondsavedwarningmessage
...	...
Subindex16	Lastwarningmessage
1) (seesection 4.4.5)

Tab.3/3: Structureofthewarningmemory

3.4 Faultnumbers

Theerrormessagesofthecontrolleraredisplayedand recordedasfaultnumbers.Sections3.4.1and3.4.2contain theerrormessagesfromthelatestfirmwareversionsatthe timeofprintingofthisdocument.

For a complete, up-to-date list of ferrom messages, see the hardware description for the controller in question, type P. BE-CMM...-HW-...

3.4.1 CMMPfaultnumbers

ErrormessagesCMMP
Main index	Sub-index	MessageCausesMeasures
0	0InvaliderrorInformation:aninvaliderrorentry(corrupted)wasfoundin thediagnosticmemorymarked withthiserrornumber. The system time entry is set to“0”.			-
	1Invaliderrordetectedandcorrected	Information:aninvaliderrorentry(corrupted)wasfound inthediagnosticmemoryand corrected.Theadditionalinformationcontainstheoriginal errornumber. Thesystemtimeentrycontains theaddressofthecorrupted errornumber.		-
	2	Error cleared	Information:active errors were reset.	-
Main index	index			MeasuresCausesMessageSub-
1	0	Stack overflow	Incorrect firmware?Sporadichighprocessorload duetocycletimebeingtoo shortandspecificprocessor-intensiveprocesses(saveparameter setetc.).	Load a new firmware release.Reducetheprocessorload.ContactTechnicalSupport.
2	0	Intermediate circuit undervoltage	Intermediate circuit voltage is falling below the parametrised threshold.Errorprioritysettohigh?	Quickdischargeduetomains supply being switchedoff.Check the powersupply.Couple the intermediate circuits, if technically possible.Check intermediate circuit voltage (measureit).
			Additional information (PNU203/213):Higher 16 bits: state number of internal state machine Lower16bits: intermediate circuit voltage in internal scaling (approx.17.1digital increments/V).
3	0Analoguemotor overtemperature		Motor overloaded, temperature too high.Suitable sensor or sensor characteristics parametrised?Sensor defective?	If there is overloading:Check parameters (current regulator, current limits).Check the parametrisation of the sensor or the sensor characteristics.If the error remain even when the sensor is jumperedout: device defective.
	1Digital motorover-temperature
...3	2Analoguemotor overtemperature: Brokenwire		Themeasuredresistancevalue isabovethethresholdforwire breakdetection.	·Check the connecting cables ofthetemperaturesensorfor wirebreaks.·Check the parametrisation (thresholdvalue)forwire breakdetection.
	3Analoguemotor overtemperature: Shortcircuit		Themeasuredresistancevalue isbelowthethresholdforshort circuitdetection.	·Check the connecting cables ofthetemperaturesensorfor wirebreaks.·Check the parametrisation (thresholdvalue)forshortcircuit detection (Subindex 3).
4	0Powersectionover-temperature		Device is overheated; is displayed temperature plausible?Devicefandefective?Deviceoverloaded?	·Checkinstallationconditions; arethecontrolcabinetfan filtersdirty?·Checkthedrivelayout(dueto possibleoverloadingincontinuousduty).
	1	Intermediate circuit overtemperature
5	0Failureofinternal voltage1		Themonitoringoftheinternal powersupplyreportedunder-voltage.Eitheraninternaldefect or overload/shortcircuitfrom connectedperipheraldevices.	·Disconnectthe device peripheralsandcheck whetherthe errorisst afterresetting.Ifyes,then thereisaninternaldefectand repairbythemanufactureris necessary.
	1Failureofinternal voltage2
	2Failureofdriver supply
	3Undervoltageof digital/0		Defective peripheral device?	·Check connected peripherals forshortcircuit/ratedloads.·Checkconnectionofthe brake(connected incorrectly?).
	4Overcurrentof digital/0
60Short circuitofout	putstage	Faultymotor,e.g.interturnshort circuitduetomotoroverheating orshorttoearthinsidemotor.Shortcircuitinthecableorthe connecting plugs, i.e. short circuitbetweenmotorphasesorto thescreen/earth.Outputstagedefective(short circuit).Incorrectparametrisationofthe currentregulator.	Dependentonthestateofthe system;casesa)tof):a)Faultonlywithactivebrake chopper:Check external braking resistorforshortcircuitorsuffi-cientresistancevalue.Check thecircuitryofthebrake chopperoutputonthemotor controller(jumperingetc.).
		b)Errormessageassoonasthepowersupplyisswitchedon:internalshortcircuitintheoutputstage(shortcircuitofacom-plete half-bridge). The motor controller can no longer be connected to the power supply; the internal (and possibly external) fusesaretripped.Repairbythemanufacturerisnecessary.c)Shortcircuiterrormessagenotuntiltheoutputstageorclosed-loopcontrollerisenabled.d) Disconnection of motor plug X6 directly on the motor controller.Iftheerrorstilloccurs,thereisafaultinthemotorcontroller.Repairbythemanufacturerisnecessary.e) The error occurs only with motor cable connected: check the motor and cable for short circuits, e.g. with a multimeter.f)Checkparametrisationofthecurrentregulator.Oscillationsinan incorrectlyparametrisedcurrentregulatorcangeneratecurrents uptotheshortcircuitthreshold,usuallyclearlyaudibleasa high-frequencywhistling.Verifyifnecessarywiththeoscillo-scopefunction(actualactivecurrentvalue).
	1Brakechopper overcurrent	Overloadcurrentatthebrake chopperoutput.	Check external braking resistorforshortcircuitorsuffi-cientresistancevalue.Check thecircuitryofthe brakechopperoutputonthe motorcontroller(jumpering etc.).
70Overvoltagein-termediatecircuit			Braking resistor is overloaded;to o much breaking cannot be dissipated quickly enough.Resistorcapacityisincorrect?Resistornotparametrised?Resistomotconnectedcor-rectly?	Check the design of the braking resistance to resistance value may be too great.Check parametrisation.Check connection to the braking resistor (internal/external).
80Resolveangleen-codererror			Resolver signal amplitude is faulty	Step-by-stepprocedure according to a) to c):
			a)If possible, test with different (error-free) resolver (replace the connecting cable too). If the error still occurs, there is a fault in themotor controller. Repair by the manufacturer is necessary.b) If the error occurs only with a specially designed resolver and its connecting cable: check the resolvers signals (carrier and SIN/COS signals); sees specifications. If the signals donot comply with the signal specifications, replace the resolver.c) If the error recurs sporadically, check the screen bonding or check whether the resolver simply has an insufficient transmission ratio (standard resolution: A=0.5).
			1Senseofrotation of the serial and incremental position evaluation is not identical	Only encoders with serial position transmission combined with an analogue SIN/COS signal track: the direction of rotation for position determination in the encoding and for incremental evaluation of the analogue track system in the motor controller are the wrong way round.
				Swap the followingsignalson the X2 Bangle encoder interface (the wires in the connecting plug must be changed around), observing the technical data for the angle encoder where applicable:- Swap SIN/COS track.- Swap the SIN+/SIN-or COS+/COS-signals, as applicable.
				The encoders positively in g. clockwise direction while the incrementalevaluation counts innegative direction with the same mechanical rotation. The mix-up of rotational direction is detected mechanically at the first movement of over 30° and the errors triggered.

3. Faultreactionanddiagnosis

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...8	2	Incremental encoderZ0tracksignalerror	SignalamplitudeoftheZ0track onX2Bisfaulty.Angleencoderconnected?Angleencodercabledefective?Angleencoderdefective?	Check configuration of the angle encoderinterface.Proceedaccordingtoa)toc)a)Z0evaluationactivatedbutnotracksignalsareconnectedorpresent(e.g.EnDat2.2orEnDat2.1 without a n a log u e track).Heidenhainencoder:ordercodesEnDat22andEnDat21.Withtheseencoderstherearenoincrementalsignals,evenwhenthecables areconnected.b)Encodersignalsfaulty? 1)c)Testwithanotherencoder. 2)
	3	Incremental encoderZ0tracksignalerror	SignalamplitudeoftheZ1track onX2Bisfaulty.Angleencoderconnected?Angleencodercabledefective?Angleencoderdefective?	Check configuration of the angle encoderinterface.Proceedaccordingtoa)toc):a)Z1evaluationactivatedbut notconnected.b)Encodersignalsfaulty? 1)c)Testwithanotherencoder. 2)
1) Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited?CheckthatinstallationcomplieswithEMCrecommendations(cablescreeningonbothsides?).Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect unusedlinesinparallel)orusevoltagefeedback(SENSE+andSENSE-).2) Iftheerrorstilloccurswhentheconfigurationiscorrect,testwithadifferent(error-free)encoder(re-placetheconnectingcableaswell).Iftheerrorstilloccurs,thereisafaultinthemotorcontroller.Repair bythemanufacturerisnecessary.
...8	4Digitalincremental encoder track signalerror(X2B)		FaultyA,B,orNtracksignalson X2B. Angleencoderconnected? Angleencodercabledefective? Angleencoderdefective?	Check configuration of the angle encoder interface. Proceed accordingtoa)andb): a)Encodersignalsfaulty? 1)b)Testwithanotherencoder. 2)
	5IncrementalencoderHallgeneratorsignalsererror		FaultyHallsensorsignalsfroma digitalincr.encoderonX2B. Angleencoderconnected? Angleencodercabledefective? Angleencoderdefective?	Check configuration of the angle encoder interface. Proceed accordingtoa)andb): a)Encodersignalsfaulty? 1)b)Testwithanotherencoder. 2)
	6Angleencoder communication fault		Communication to serial angle encodersisdisrupted(EnDatencoders, HIPERFACE encoders, BiSSencoders). Angleencoderconnected? Angleencodercabledefective? Angleencoderdefective?	Check configuration of the angle encoderinterface: proceed according to a)Serialencoderparametrised butnotconnected? Incorrectserialprotocolselected? b)Encodersignalsfaulty? 1)c)Testwithanotherencoder. 2)
	7Signalamplitudeof incrementaltracks erroneous(X10)		FaultyA,B,orNtracksignalson X10. Angleencoderconnected? Angleencodercabledefective? Angleencoderdefective?	Check configuration of the angle encoder interface. Proceed accordingtoa)andb): a)Encodersignalsfaulty? 1)b)Testwithanotherencoder. 2)
1) Check the wiring, e.g. one or more phases of the track signals interrupted or short circuited? CheckthatinstallationcomplieswithEMCrecommendations(cablescreeningonbothsides?). With TTL single-ended signals (HALL signals are always TTL single-ended signals): check whether there mightbeanexcessivevoltagedropontheGNDline;inthiscase=circuitcommon. CheckwhethertheremightbeanexcessivevoltagedropontheGNDline;inthiscase=circuitcommon. Check the level of supply voltage on the encoder. Sufficient? If not, change the cable diameter (connect unusedlinesinparallel)orusevoltagefeedback(SENSE+andSENSE-). 2) Iftheerrorstilloccurswhentheconfigurationiscorrect,testwithadifferent(error-free)encoder(re-placetheconnectingcableaswell).Iftheerrorstilloccurs,thereisafaultinthemotorcontroller.Repair bythemanufacturerisnecessary.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...8	8Internalangleen-codererror		Internalmonitoringoftheangle encoder(X2B)hasdetecteda faultandforwardeditviaserial communication.Angleencoderdefective?	Possiblecauses:Encoder-specificormanufac-turer-specific,e.g.diminishing illuminationintensityinoptical encoders or excessive rpm. Iftheerrorisongoing,testwith adifferent(error-free)encoder (replacetheconnectingcableas well).Encoderisprobablyper-manentlyfaulty.
	9Angleencoderat X2Bnotsupported		AngleencodertypereadatX2B whichisnotsupportedorcan-notbeusedinthedesiredoper-atingmode.Incorrectorinappropriateproto-coltypeselected?Firmwaredoesnotsupportthe connected encoder model?	Dependingontheadditionalinformation1) for the error age:Load appropriate firmware.Check/correct the configur-ationforencoderevaluation.Connectanappropriateen-codertype.

1) Additional information(PNU203/213):
0001: HIPERFACE: encoder type is not supported by the firmware -> connect another encoder type or loadmorerecentfirmware.
0002: EnDat: the address space in which the encoder parameters would have to lie does not exist with the connected EnDatencoder->checktheencodertype.
0003: EnDat: encoder type is not supported by the firmware -> connect another encoder type or load more recent firmware.
0004: EnDat: encoder rating plate cannot be read from the connected encoder. -> change encoder or loadmorecentfirmware.
0005: EnDat: EnDat 2.2 interface parametrised, but connected encoder only supports EnDat2.1. ->changeencodertypeorchangeparameterstoEnDat2.1.
0006: EnDat: EnDat2.1 interface parametrised with analogue tracking but the rating plate of the connected encoder says that it does not support track signals. -> change encoder or switch off ZOtracksignalevaluation.
0007: Displacement encoder with EnDat2.1 connected but parametrised as a purely serial encoder. Purelyserial evaluation is not possible due to the long response times of this encodersystem. Encoder must be operated with analogue track signal evaluation -> switch to analogue Z0 track signal evaluation.

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
9	0Oldangleencoderparameterrecord	Warning:Anencoderparameterrecordin anoldformatwasfoundinthe EEPROMoftheconnectedencoder.Thishasbeenconverted andsavedinthenewformat.	Noactionnecessaryatthis point.Thewarningsshouldnot re-appearwhenthe24Vsupply isswitchedbackon.
	1Angleencoderparameterrecord cannotbe decoded	DataintheEEPROMofthe angleencodercouldnotberead completely,oraccesstoitwas partlyrefused.	TheEEPROMoftheencoder containsdata(communication objects)whichisnotsupported bytheloadedfirmware.The datainquestionisthendis-carded.Theparameterrecordcanbe adaptedtothecurrentfirmware bywritingtheencoderdatato theencoder.Alternatively,appropriate(morerecent)firmware mustbeloaded.
	2	Unknown version of angleencoder parameterrecord	ThedatasavedinEEPROMis notcompatiblewiththecurrent version.Adatastructurewas foundwhichisunabletodecode theloadedfirmware.	Savetheencoderparameters againinordertodeletethe parameterrecordintheencoder andreplaceitwithareadable record(thiswill,however,delete thedataintheencoderirreversi-bly).Alternatively,appropriate (morerecent)firmwaremustbe loaded.
	3Defecteddata structureinangle encoderparameter record	DatainEEPROMdonotmatch thestoreddatastructure.The datastructurewasidentifiedas validbutmaybecorrupted.	Savetheencoderparameters againinordertodeletethe parameterrecordintheencoder andreplaceitwithareadable record.Iftheerrorstilloccurs afterthat,theencodermaybe faulty.Replacetheencoderasatest.
...9	4EEPROM	Mdata:Faultyuser-specific configuration	Onlywithspecialisedmotors:Theplausibilitycheckreturnsan error,e.g.becausethemotor wasrepairedorreplaced.	Ifmotorwasrepaired:carryout homingagainandsaveinthe angleencoder,afterthat(!)save inthemotorcontroller.Ifmotorreplaced:parametrise thecontrolleragain,thencarry outhomingagainandsavein theangleencoder,afterthat(!) saveinthemotorcontroller.
	7Write-protected angleencoder EEPROM	Datacannotbesavedinthe EEPROMoftheangleencoder. OccurswithHiperfaceencoders.	Adatafieldintheencoder EEPROMiswrite-protected (e.g.afteroperationonamotor controllerfromanothemanu-facturer).Nosolutionpossible, encodermemorymustbeun-lockedwithanappropriate parametrisationtool(from manufacturer).
	9Angleencoder EEPROMtoosmall	It is not possible to save dataintheEEPROMoftheangle encoder.	Reduce the number of datare-cordstobesaved.Pleaseread the documentationorcontact TechnicalSupport.
10	0	Overspeed (spinningprotection)	Motorracing("spinning") because the commutationangle offsetisincorrect.Motorisparametrisedcorrectly butthelimitforspinningprotec-tionissettoolow.	Check the commutationangle offset.Check the limit valuesetting in the parameters.
11	0Errorwhen homingisstarted		Controllerenablemissing.Homingcanonlybested whenclosed-loopcontrolleren-ableisactive.Checkthecondi-tionorsequence.
	1Errorduring homing		Homingwasinterrupted, e.g.by:-Withdrawalofcontroller enable.-Referenceswitchisbeyond thelimitswitch.-Externalstopsignal (aphasewasaborted duringhoming).	•Checkthehomingsequence.• Check the arrangement of the switches.•Ifapplicable,lockthestop inputduringhomingifitisnot desired.
	2Homing:Novalid indexpulse		Reservedforlaterextensions (required index pulse missing).	-
	3	Homing:Timeout	The parametrised maximum timeforthehomingrunwasex-ceededbeforethehomingrun wascompleted.	Checkthetimesettinginthe parameters.
	4Homing:Incorrect/ invalidlimitswitch		Relevantlimitswitchnotcon- nected.Limitswitcheswrapped? Noreferenceswitchfoundbe- tweenthetwolimitswitches.Referenceswitchisatthelimit switch.“Indexpulse/indexpulse” method:activelimitswitchin the area of the index pulse (not permitted). Bothlimitswitchesactiveatthe sametime.	Checkwhetherhelimit switchesareconnectedinthe correctdirectionoftravelor whetherthelimitswitchesact ontheintendedinputs.Referenceswitchconnected? Checkthearrangementofthe referenceswitch.Movethelimitswitchsothatit isnotintheareaoftheindex pulse.

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...11	5Homing:12t / followingerror	Accelerationrampsnotsuitably parametrised.Reversingduetopremature triggeringoffollowing(drag) error;checkparametrisationof followingerror(dragerror).Noreferenceswitchreachedbetweentheendstops.Indexpulsemethod:endstop reached(notpermittedhere).	Parametrisetheacceleration rampssotheyareflatter.Checkconnectionofareference switch.Methodappropriateforthep-application?
	6Homing:Endof searchpath	Themaximumpermissiblepath forthehomingrunhasbeentra-velledwithoutreachingthereferencepointorthehomingrun target.	Faultinswitchdetection.Switchforhomingisdefective?
12	0CAN:Doublenode number	Node number assigned twice.	Check the configuration of the CANbusstations
	1CAN:Communica-tionerror,busOFF	TheCANchipasswitchedoff communication due to com-municationerrors(BUSOFF).	Checkwiring:cable specifications adhered to;brokencable;maximumcable length exceeded; terminating resistorscorrect;cablescreening earthed;allsignalsconnected?Itmaybehelpfultotryreplacing the device as a test. If a differentdeviceworkswithout errorswiththesamecabling,send the device to them anufac-turerforchecking.
...12	2CAN:Communicationerrorduring transmission		Thesignalsareinterruptedwhen messagesaresent.Devicebootupissofastthatno othenodesonthebushasyet beendetectedwhenthe boot-upmessageissent.	Checkwiring:cable specifications adhered to;brokencable;maximumcable length exceeded; terminating resistorscorrect;cablescreening earthed;allsignalsconnected?Itmaybehelpfultotryreplacing the device as a test. If a different deviceworkswithouterrorswith the same cabling, send the device to the manufacturer for checking.Checkthestartsequenceofthe application.
	3CAN:Communicationerrorduringreception		Thesignalsareinterruptedwhen messagesarereceived.	Checkwiring:cable specifications adhered to;brokencable;maximumcable length exceeded; terminating resistorscorrect;cablescreening earthed;allsignalsconnected?Itmaybehelpfultotryreplacing the device as a test. If a different deviceworkswithouterrorswith the same cabling, send the device to the manufacturer for checking.
	4CAN:Node Guarding		NodeGuardingtelegramnot receivedwithintheparametrised time.Faultysignals?	Compare the cycle time of the remoteframeswiththatofthe control system, or control system failure.
	5CAN:RPDOtoo short		A received RPD does not taintheparametrisednumberof bytes.	The numberofparametrised bytesdoesnotmatchthe numberofbytesreceived. Check the parametrisation and correct.
	9	CAN:Protocol error	Faulty bus protocol.	Check the parametrisation of the selectedCANbusprotocol.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
13	0	CAN bus timeout	Error message from manufacturer-specificprotocol.	ChecktheCANparametrisation
14	0Insufficientpower supplyforidentifi-cation		Currentregulatorparameters cannotbedetermined(because ofinsufficientsupply).	The available intermed cuitvoltageistoolowfor measurement.
	1Currentcontroller identification: Measurementcycle insufficient		Toofewortoomanymeasurementcyclesrequiredforthe connected motor.	Automaticdeterminationof parametershassuppliedatime constant outside the parametris-ablevaluerange.Theparameter mustbemanuallyoptimised.
	2Outputstageen-ablecouldnotbe issued		Theoutputstagehasnotbeen enabled.	ChecktheconnectionofDIN4.
	3Outputstagewas prematurely switchedoff		Outputstageenablewas switchedoffduringidentifica-tion.	Checkthesequencecontrol.
	4	Identification does notsupportthe configureddevice type	Reservedforlaterextensions: Identification cannot be carried outwiththeparametrisedangle encodersettings.	-
	5Indexpulsenot found		The index pulse was not afterthemaximumpermissible numberofelectricalrotations.	Check the indexpulsesignal. Angleencoderparametrisedcor-rectly?
	6	Hall signals invalid	Hall signals faulty or invalid. Thepulsetrainorsegmentingof theHallsignalsisinappropriate.	Checkconnection. Refertothetechnicaldatato checkwhethertheencoder showsthreeHallsignalswith 120° or 60° segments; if necessary, contact TechnicalSupport.

iatecir-

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...14	7	Identification not possible	Angle encoder at a standstill.	Ensure there is sufficient intermediatecircuitvoltage.Encoder cable connected to the correctmotor?Ismotorblocked,e.g.holdingbrakewillnotrelease?
	8Invalidnumberofpairsofpoles		Thecalculatednumberofpole pairsliesoutsidetheparame-trisablerange.	Compareresultwiththetechni-caldataspecificationsforthe motor.Checktheparametrisednumber oflines.
15	0Divisionby0Internalfirmwareerror. Divisionby0whenusingthe mathlibrary.			Loadthedefaultparameterre-cord. Check the firmware to makesurethatreleasedfirm-warehasbeenloaded.
	1RangeexceededInternalfirmwareerror. Overflowwhenusingthemath library.
	2CounterunderrunInternalfirmwareerror. Internalcorrectionfactorscould notbecalculated.			Checkthesettingofthefactor groupforextremevaluesand change if necessary.
16	0Errorinprogram execution		Internalfirmwareerror. Errorduringprogramexecution. IllegalCPUcommandfoundin theprogramsequence.	Iferrorisrepeated,loadfirm-wareagain.Iftheerrorappears again,thehardwareisfaulty.
	1	Illegal interrupt	Error during program execution. AnunusedIRQvectorwasused bytheCPU.
	2	Initialisation error	Internal firmware error.
	3UnexpectedstateErrorduringperipheryaccess withintheCPUorerrorinthe programsequence(illegal branching in case structures).

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
17	0Followingerrorlimit exceeded		Thethresholdofcomparisonto thefollowing(drag)errorlimit wasexceeded.	Enlargeerrorwindow.Accelerationparametertoo large.Motoroverloaded(current limitation from i2t monitoring is active?).
	1Encoderdifference monitoring		Deviationbetweentheactual positionvalueandcommutation positionistoogreat.Externalangleencodernotconnectedorfaulty?	Deviationfluctuates,e.g.dueto gearbacklash;cut-offthreshold mayneedtobeincreased.Checkconnectionoftheactual valueencoder.
180Analoguemotor temperature			Motortemperature(analogue) greaterthan5°belowT_max.	Checkparametrisationofcurrent regulator and/or speed tor.Motorpermanentlyoverloaded?
21	0Error1current measurementU		Offsetforcurrentmeasurement 1phaseUistoogreat.The closed-loopcontrollercarries outoffsetcompensationofthe currentmeasurementeverytime itscontrollerenableisissued.Toleranceswhicharetoohigh leadtoanerror.	Iftheerrorappearsagain,the hardwareisfaulty.
	1Error1current measurementV		Offsetforcurrentmeasurement 1phaseVistoogreat.
	2Error2current measurementU		Offsetforcurrentmeasurement 2phaseUistoogreat.
	3Error2current measurementV		Offsetforcurrentmeasurement 2phaseVistoogreat.
22	0PROFIBUS:Faulty initialisation		FaultyinitialisationoftheProfi-bustechnologymodule.Technologymoduledefective?	Replacethetechnologymodule.Repairbythemanufacturermay beanoption.
	2PROFIBUScommunicationerror		Faults in communication.	Check the slave address set.Checkbustermination.Checkwiring.

regula-

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...22	3PROFIBUS:Invalid slaveaddress		Communication was started with slaveaddress126.	Selectadifferentslaveaddress.
	4PROFIBUS:Value rangeerror		Duringconversionwiththefac-torgroup,thevaluerangewas exceeded.Mathematicalerrorwhencon-vertingphysicalunits.	Valuerangeofthedataa physicalunitsdonotmatch.Checkandcorrect.
25	0InvaliddevicetypeDevicecodingnotrecognisedor invalid.			Fault cannot be rectified inde-pendently.Sendthemotor controllertothemanufacturer.
	1Devicetypenot supported		Devicecodingvalid,butnotsup-portedbytheloadedfirmware.	Loadup-to-datefirmware.If newerfirmwareisnotavailable, theproblemmaybeahardware defect.Sendthemotorcon-trollertothemanufacturer.
	2Hardwareversion notsupported		Thecontroller'shardwarever-sionisnotsupportedbythe loadedfirmware.	Checkthefirmwareversion;up-datethefirmwaretoamore-re centversionifnecessary.
	3Devicefunctionality limited!		Deviceisnotunlockedforthis function	Deviceisnotunlockedforthe desiredfunctionalityandmay needtobeunlockedbythe manufacturer. The device must besenttothemanufacturerfor this.
26	0Missinguserpara-meterset		Novaliduserparameterrecord intheflashmemory	Loadfactorysettings.Iftheerror persists,thehardwaremaybe faulty.
	1	Checksum error	Checksum error in a parameter record	Loadfactorysettings.Iftheerror persists,thehardwaremaybe faulty.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...26	2Flash:WriteerrorErrorwhenwritingtointernalorexternalflashmemory			Repeatthelastoperation.Ifthe errorappearsagain,thehard-waremaybefaulty.
	3	Flash: Delete error	Error when clearing internal or externalflashmemory	Repeatthelastoperation.Ifthe errorappearsagain,thehard-waremaybefaulty.
	4Flash:Internalflash error		Thedefaultparameterrecordis corrupted/dataerrorinthe FLASHrangewherethedefault parameterrecordislocated.	Loadfirmwareagain.Iftheerror appearsagain,thehardware maybefaulty.
	5Missingcalibration data		Factory-setcalibrationpara-metersincomplete/corrupted.	Fault cannot be rectified inde-pendently.
	6Missinguser positiondatasets		Positiondatarecordsincom-pleteorcorrupt.	Loadthefactorysettingsorsave thecurrentparametersagainso thatthepositiondataiswritten again.
	7Faultydatatables (CAM)		Dataforthecamdiskiscor-rupted.	Loadthefactorysettings;if necessary,reloadtheparameter record.Iftheerrorpersists,con-tactTechnicalSupport.
27	0Followingerror warningthreshold		Motoroverloaded?Checkmotor capacity.Accelerationorbrakingramps aresettoosteep.Motorblocked?Commutation anglecorrect?	Checktheparametrisationofthe motordata.Checkparametrisationoffollow-inger(dragerror).
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
28	0Missingoperating hourmeter		Norecordforanhours-run metercouldbefoundinthe parameterblock.Anewhoursrunmeterwascreated.Occurs duringinitialstart-uporaprocessorchange.	Warningonly,nofurtheraction necessary.
	1Operatinghour meter:Writeerror		Thedatablockinwhichthe hours-runmeterisstoredcould not bewrittento.Cause known;possiblyproblemswith thehardware.	Warningonly,nofurtheraction necessary.uftheerroroccursagain,the hardwaremaybefaulty.
	2Operatinghour metercorrected		Thehours-runmeterhasa backup copy. If the controller's 24Vpowersupplyfailsprecisely whenthehours-runmeteris beingupdated,thewrittenrecordmaybecorrupted.Insuch cases,thecontrollerrestores thehours-runmeterfromtheintactbackupcopywhenitswitchesbackon.	Warningonly,nofurtheraction necessary.
	3Operatinghour meterconverted		Firmwarewasloadedinwhich thehours-runmeterhasadiffer-entdataformat.Thenexttime the controller is switched on, the oldhours-runmeterrecordis convertedtothenewformat.	Warningonly,nofurtheraction necessary.
30	0	Internal conversion error	Rangeexceededforinternal scalingfactorswhicharede-pendent on the parametrised controllercycletimes.	Checkwhetherextremelyshort orextremelylongcycletimes weresetintheparameters.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
31	0Motor12tMotorblocked?		Motorunder-sized?	Check power dimensioning of drivepackage.
	1	Servo controller 12t	The 12t monitoring is responding frequently.Motorcontrollerdoesnothave therequiredcapacity?Mechanicalsystemissluggish?	Checkthedesigncharacteristics ofthemotorcontroller;usea morepowerfultypeifnecessary.Checkthemechanicalsystem.
	2	PFC 12t	PFC power rating exceeded.	Parametrise operation without PFC(usingFCT).
	3	Braking resistor 12t	Overloading of the internal brakingresistor.External braking resistor connectedbutnotactivated?	Useanexternalbrakingresistor andactivateit.Checkparametrisationofthe externalloadresistance(FCT).
32	0	Intermediate circuit chargingtime exceeded	Theintermediatecircuitcould notbechargedafterthemains voltagewasapplied.Afusemay befaulty,oraninternalbraking resistormaybefaulty,or,inthe caseofoperationwithanexternalresistor,thatresistorisnot connected.	Checkinterfacetotheexternal brakingresistor.Alternatively, checkwhetherthejumperfor theinternalbrakingresistorisin place.Iftheinterfaceiscorrect, theinternalbrakingresistoror the built-in fuse is probably faulty. On-site repair is not possible.
	1Undervoltagefor activePFC		The PFC cannot be activated at alluntilanintermediatecircuit voltageofabout130VDCis reached.	Checkthepowersupply.
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...32	5Brakechopper overload.Inter-mediatecircuit couldnotbedis-charged.		Theutilisationofthebrake chopperwhenquickdischarge beganwasalreadyintherange above100%.Quickdischarge tookthebrakechoppertothe maximumloadlimitandwas prevented/aborted.	Nomeasuresrequired
	6	Intermediate circuit dis c h a r g e t i m ceeded	Intermediate circuit could not be quicklydischarged.Theinternal brakingresistormaybefaultyor, inthecaseofoperationwithan externalresistor,thatresistoris notconnected.	Checkinterfacetotheexternal braking resistor. Alternatively, checkwhetherthejumperfor theinternalbrakingresistorisin place.Iftheinternalresistorhas beenactivatedandthejumper hasbeenpositionedcorrectly, theinternalbrakingresistoris probablyfaulty.On-siterepairis notpossible.
	7Powersupply missingforcon-trollerenable		Controllerenablewasissued whentheintermediatecircuit wasstillinitschargingphase aftermainsvoltagewasapplied andthemainsrelaywasnotyet activated.Thedrivecannotbe enabledinthisphase,because thedriveisnotyetfirmlycon-nectedtothemains(through themainsrelay).	Intheapplication,check whetherthemainssupplyand controllerenablesignalswere sentonequicklyaftertheother.
	8Powersupplyfail-ureduringcon-trollerenable		Interruptions/failureinthe powersupplywhilethecon-trollerenablewasactivated.	Checkthepowersupply.
	9	Phase failure	Failure of one or more phases (onlyinthecaseofthree-phase supply).	Checkthepowersupply.
330Encoderemulation followingerror			Thecriticalfrequencyforencoderemulationwasexceeded(seemanual)andtheemulatedangleatX11wasnolongerableto follow.Can o c c u r w h e n highnumbersoflinesarepro-gram m e d a t X 1 1 and t h e reacheshighvelocities.	Checkwhethertheparametrisednumberoflinesmaybetoohighforthevelocitybeingrepre-sented.Reducethenumberof linesif necessary.
34	0	No synchronisation viaFieldbus	Whenactivatingtheinterpolatedpositionmode,thecontrollercouldnotbesynchronisedtothefieldbus.Thesynchronisationmessagesfrommastermayhavefailed.OrthelPOintervalis not correctly set to the n isation interval of the fieldbus.	Checkthesettingsforthecon-trollercycletimes.
	1Fieldbussynchro-nisationerror		Synchronisationviafieldbus messagesduringongoingoper-ation (interpolated position mode)hasfailed.Synchronisationmessagesfrom masterfailed?Synchronisationinterval(IPOin-terval)settoosmall/toolarge?	Checkthesettingsforthecon-trollercycletimes.
35	0Linearmotorspinningprotection		Encodersignalsarefaulty.The motormayberacing(“spinning”)becausethecommutation positionhasbeenshiftedbythe faultyencodersignals.	Checkthatinstallationcomplies withEMCrecommendations.Inthecaseoflinearmotorswith inductive/opticalencoderswith separatelymountedmeasuring tapeandmeasuringhead:check themechanicalclearance.Inthe caseoflinearmotorswithinductiveencoders,makesurethat themagneticfieldofthe magnetsorthemotorwinding doesnotleakintothemeasuringhead(thiseffectusuallyoccurs when high accelerations = highmotorcurrent).
	5Errorduringthedeterminationofthe commutationposition		Therotorpositioncouldnotbe identifiedclearly.Theselected methodmaybeinappropriate.Theselectedmotorcurrentfor theidentificationmaynotbeset appropriately.	Checkthemethodfordeterminingthecommutationposition. 1)
1) Notes on determining the commutation position:a)Thealignmentmethodisinappropriateforlockedorsluggishdrivesordrivescapableoflow-frequencyoscillation.b)Themicrostepmethodisappropriateforair-coreandiron-coremotors.Asonlyverysmallmovements arecarriedout,itworksevenwhenthedriveisonelasticstopsorislockedbutcanstillbemoved elastically to some extent. Due to the high excitation frequency, however, the method is very susceptible to oscillationsinthecaseofpoorlydampeddrives.Insuchcases,youcanattemptoreducethe excitationcurrent(%).c) The saturation method uses local occurrences of saturation in the iron of the motor. Recommended forlockeddrives.Air-coredrivesarebydefinitionnotsuitableforthismethod.Ifthe(iron-core)drive moves too much when locating the commutation position, the measurement result may be adulterated. If this is the case, reduce the excitation current. In the opposite case, if the drive does not move, the excitation current may not be strong enough, causing the saturation to be insufficient.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
36	0Parameterwas limited		Anattemptwasmadetowritea valuewhichwasoutsidethe permittedlimits,sothevalue waslimited.	Checktheuserparameterre-cord.
	1Parameterwasnot accepted		Anattemptwasmadetowrite toanobjectwhichis"readonly" orisnotwrite-capableinthe currentstate(e.g.withcontroller enableactive).
37	0SERCOS:Received datadisrupted		ThesignalontheSercosbusis faulty.Thecauseinthiscase could be poor plug connectors orscrewfittingswhichhavenot beenightened.Thisproblem can also occur when the light outputissettoohigh(overloading).	Checkallconnectionsand cables(brokencableorcon-nectornottightened). Checkthesettingsforlightout-putinthering(toohigh/too low).
	1SERCOS:Fibre-opticringinter-rupted		The Sercosring is not clo The cause could be a bro cable.	Checkthatallcablesarecon-ectedandnonearebroken.
	2SERCOS:2-fold MSTfailure		Twosuccessivemastersync telegramsfromthemasterare missing.Thiserrorusuallyoc-curstogetherwith"Ringnot closed"or"Massivedistortion". Either the ring was interrupted duringoperation,orthemaster isnolongersendingsynctele-grams.	ChecktheSercosring(and checkforinterruptions). Checkthatthemasterisstill operatingcorrectly.
	3SERCOS:Invalid phasespecification inMSTinfo		Themasterspecifiesaninvalid phaseshift(e.g.aphaseistobe skipped).Thecauseliesinthe mastersoftware.	Checktheprograminthe SERCOSmaster.
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...37	4SERCOS:2-foldMDTfailure		Twosuccessivemasterdata telegramsfromthemasterare missing.Thiserrorusuallyoc-curstogetherwith“Ringnot closed”or“Massivedistortion”. Either the ring was interrupted during operation, or the master isnolongersendingdatatele-grams.	ChecktheSercosringandcheck forinterruptions.Checkthatthemasterisstill operatingcorrectly.
	5SERCOS:Shiftto unknownoperating mode		Themasterwantstogointoan operatingmodewhichisnot supportedbythedrive.	Checkthesettingsfortheoper-atingmodesinDNsS-0-0032to S-0-0035.
	6SERCOS:T3invalidThemasters		specifiesaninvalid timefortakingonthesetpoint values(T3).Thislieswithinthe transmissiontimeofATsor MDTsonthebus.TheT3timeis determined by the master during phaserun-up.Thecause beeitherinvalidtimingbythe masterorthetransmissionof to o much cyclic data for t cycletimeused.	Increasethebaudrateto shortenthransmissiontimeof thetelegramsonthebus. Increase the cycle time.MoveT3timemanually(canbe donebymanuallyenteringan offset for T3ontheBeckhoff controlsystems,forexample). he
38	0SERCOS:SERCON statusevent		SERCOSprog::errorduringinitialisationoftheSERCONchip ontheSERCOSTechnologymod-ule.	Ifpossible,replacethetechnol- ogymoduleandsendittothe manufacturerforchecking.
	1SERCOS:Nomod- ulepresent		When the Sercos bus was acti-vated,novalidmodulewasde- tected.	CheckthataSercosmoduleis pluggedintoTECH2.Replacethetechnologymodule ifpossible.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...38	2SERCOS:Defective module		Thehardwaretestofthemodule (thememorytest)failedwhen theSercosbuswasactivated.	Replacethetechnologymodule andsendittothemanufacturer forchecking.Iftheerrorstilloccurswithare-placementtechnologymodule, themotorcontrollermustbe senttothemanufacturerfor checking.
	3SERCOS:S-0-0127:Invaliddatain S-0-0021		Inthecommand“Phasetransi-tionCP2->CP3”itwasfound that some of the configuration datatransmittedinCP2isfaulty.Thefollowingsettingsare checkedherebythemaster:-Configurationofthecycli-callytransmitted parametersinATandMDT.-Timinginformation.	Configurationofthecyclicdata forMDTandAT(insomecircum-stances,parametersnotsup-portedtheremightbeconfi-gured).Timeslotcalculationbythe master?
	4SERCOS:S-0-0127:InvalidIDNsinAT orMDT		Unknown/invalidIDNswere configuredfortheparametersto betransmittedcyclicallyinMDT andAT.	Checktheconfigurationofthe data to be transmitted cyclically.
	5SERCOS:S-0-0128:Invaliddatain S-0-0022		Inthecommand“Phasetransi-tionCP3->CP4”itwasfound that some of the configuration datainCP3isfaulty.Thefollow-ing settings are checked:-Weightingsettings.-Operatingmodesettings.	Checktheweightingsettings.Checktheoperatingmodeset-tings (also for internal/external angleencoder).
	6SERCOS:S-0-0128:Weighting parametersfaulty		Invalidweightingsettingswere foundinthecommand“Phase transition CP3 -> CP4”.	Checktheweightingsettings.
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...38	6SERCOS	S:S-0-0128: Weightingpara-metersfaulty	SERCOSphaserun-up:errorin commandS-0-0128-errorinthe settingoftheweightingpara-meters.	PleasecontactTechnical Supportifnecessary.
	7SERCOS	S:Invalid IDNinS-0-0026/ S-0-0027	InvalidIDNswereconfiguredfor theSercos“signalstatusword” orthe“Sercossignalcontrol word”.	Checktheconfigurationinsignal statusandcontrolwordsinthe IDNlistsS-0-0026and S-0-0027.
	8SERCOS	S:Errordur-ingconversion	An internal conversion error has occurred (when converting from busintointernalbasicunits,or viceversa).Theweightingset-tingsmustbecheckedhere. Overflow,underfloworsome otherinternalmathematical errorhasoccurred.	Checktheuseofanalternative weighting.
	9SERCOS	S:SERCON 410bmodeactive	SERCOS activation: SERCON 816 isbeingoperatedinSERCON 410bcompatibilitymode.	Replacethetechnologymodule and send it to them an ufa forchecking.
39	0SERCOS	S:List S-0-0370:MDT datacontainercon-figurationerror	Reserved: SERCOS:errorinconfiguration listS-0-0370forMDTdatacon-tainer.	-
	1SERCOS	S:List S-0-0371:ATdata containerconfigur-ationerror	Reserved: SERCOS:errorinconfiguration listS-0-0371forATdatacon-tainer.
	2SERCOS	S:Errorin MDTcyclicchannel	Reserved: SERCOS:errorinMDTcyclic channel.
	3SERCOS	S:Errorin ATcyclicchannel	Reserved: SERCOS:errorinATcyclic channel.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...39	4SERCO	S:ErrorinMDTcyclicdatacontainer	Reserved: SERCOS:errorinMDTcyclic datacontainer.	-
	5SERCO	S:ErrorinATcyclicdatacon-tainer	Reserved: SERCOS:errorinATcyclicdata container.
40	0Negativesoftware limitswitch reached		Thepositionsetpointhasre-achedorexceededtherespect-ivesoftwarelimitswitch.	Checkthetargetdata.Checkthepositioningrange.
	1Positivesoftware limitswitch reached
	2Target position behindthenega-tivesoftwarelimit switch		Start of a positioning task was suppressed because the target lies behind the respective software limits switch.
	3Target position behindthepositive software limit switch
410Recordchaining: Synchronisation error			Start of synchronisation without priorsampling pulse	Checkthederivativeactionset- tingsintheparameters.
42	0Positioning: Missingsubse-quentpositioning: Stop		Thepositioningtarget cannot bereachedduetotheoptions forpositioningorancillary parameters.	Checkparametersoftheposi-tionrecordsinquestion.
	1	Positioning: Rota-tionreversalisnot allowed:Stop
	2	Positioning: Rota-tionreversalafter stopisnotallowed
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
...42	3Startpositioningrejected:Wrong modeofoperation		Switchingoftheoperatingmode bythepositioningrecordwas notpossible.	Checkparametersofthe positionrecordsinquestion.
	4Startpositioningrejected:Please enforcehoming run!		Anormalpositioningrecordwas started,butthedriveneedsa validreferencepositionbefore starting.	Resetoptional“Homing required”parameter.Carryouthomingagainafter resettinganangleencodererror.
	5Rotaryaxis:Directionofrotationis notallowed		Thepositioningtargetcannot bereachedduetotheoptions forpositioningorancillary parameters.Thecalculateddirectionof rotationisnotpermittedfor therotaryaxisinthesetmode.	Checktheselectedmode.
	9Errorwhenstarting thepositioningtask		Accelerationlimitexcededor positioningrecorddisabled.	Checkparametrisationand sequence control and correct if necessary.
43	0Limitswitch:Negativesetpointlocked		Negativehardwarelimitswitch reached.	Checkparameters,wiring,and limitswitches.
	1Limitswitch:Positivesetpointlocked		Positivehardwarelimitswitch reached.
	2Limitswitch:Positioningsuppressed		Thedrivehaslefttheintended rangeofmotion.Technicaldefectinthesystem?	Checktheintendedrangeof motion.
44	0Faultinthecam disktables	Camdisktobestartednot available.	Checktransmittedcamdisk number.Correctparametrisation orprogramming
	1Camdisk:general faultinreferencing	Startingacamdiskwhenhom-ingisrequiredbutthedriveis notyetreferenced.	Carryouthoming.
		Starthomingwithactivecam disk	Deactivatecamdisk.Then restartcamdiskifnecessary
45	0Driversupplycan-notbeswitchedoff	Duringactivationof“Safestand-still”thedriversupplywasnot switchedoffwithinanadequate time.	The internal logic may be being disruptedbyhigh-frequency switchingoperationsatthe inputforsafestandstill.•Checkcontrol;theerrormust notappearagain.Iftheerroroccursrepeatedly:•Checkthefirmware(released version?)Ifalloftheabovepossibilities havebeenruledout,themotor controllerhardwareisfaulty.
	1Driversupplycan-notbeactivated	Duringdeactivationof“Safe standstill”thedriversupplywas not switchedon with in a equatetime.
	2Driversupplywas activated	Theinternaldriversupplywas re-appliedeventhoughsafe standstill had been activated.	Iftheerrorappearsrepeatedlywhensafestandstillisactivated, themotorcontrollerhardwareis faulty.
47	0Threadmodeerror:Timeoutexpired	Thespeedrequiredforsetting-up was not reduced enough inthetimeallotted.	Checktheprocessingofthecon-trol-side requirements.
49	2	DCO file: Data fault	- Formatting error in the DCO file.-Faultyparametersinthe DCOfile(invalidvalue).-ErrorduringKOaccess (readorwrite).Note:error49-2isnottriggered in the case of the SD card. In-steaderror29-2istriggered (duetocompatibilitywith CMMS-ST)	-
50	0	Too many syn-chronousPDOs	MorePDOshavebeenactivated than can be processed in the underlyingSYNCinterval.Thismessagealsoappearsif onlyonePDOistobetrans-mittedsynchronously,butahigh numberofotherPDOswitha differenttransmissiontypehave beenactivated.	ChecktheactivationofPDOs.If the configuration is appropriate,thewarningcanbesup-pressedusingerrormanage-ment.Extend the synchronisation inter-val.
	1SDOerrorshave occurred		AnSDOtransferhascausedan SDOabort,forexampledueto dataexceedingthevaluerange or accessing of an object which doesnotexist.	Checkthecommandsent.

3. Faultreactionanddiagnosis

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
51	0No/unknownFSM module		Unknown module type (reading of EEPROM).	-
	1FSM:Driversupply isfaulty		SignalRM_5V_OSorRM_5V_US isnotpresent(FSMblind).
	2Unequalmodule type		Unequal module type (reading EEPROMandcomparingwith dataintheparameterFLASH memory).
	3Unequalmodule version		Unequalversionnumberforan otherwiseequalmoduletype (reading EEPROMandcomparingwith dataintheparameter FLASHmemory).
60	0	Ethernet user-specific(1)	Reserved.	-
61	0	Ethernet user-specific(2)	Reserved.	-
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
62	0EtherCAT:general buserror	No EtherCAT bus present.	Switch on the EtherCAT master.Checkcabling.
	1EtherCAT:Initialisationfault	Errorinthehardware.Replaceethetechnologymodule and send it to the manufacture forchecking.
	2EtherCAT:Protocol error	CAN over EtherCAT is not in use.	Incorrect protocol. EtherCAT bus cablingfault.
	3EtherCAT:Invalid RPDOlength	Syncmanager2buffersizeis toolarge.	ChecktheRPDOconfiguration of themotorcontrollerand the higher-level control system.
	4EtherCAT:Invalid TPDOlength	Syncmanager3buffersizeis toolarge.	ChecktheTPDOconfiguration of themotorcontrollerand the higher-level control system.
	5EtherCAT:Cyclic datatransmission error	Emergencyshut-downdueto failureofcyclicdatatrans-mission.	Checktheconfigurationof the master. Synchronous trans-missionisunstable.
63	0EtherCAT:Defective module	Errorinthehardware.Replaceethetechnologymodule and send it to the manufacture forchecking.
	1EtherCAT:Invalid data	Faulty telegram type.	Check the cabling.
	2EtherCAT:TPDO datanotread	Thebufferforsendingthedata isfull.	Thedatawassentfasterthan themotorcontrollercouldpro-cess it. Reduce the cycle time on theEtherCATbus.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...63	3EtherCAT:No distributedclocks active		Warning:firmwareissynchronisingwiththetelegram,notwith the distributed clocks system. WhentheEtherCATwasstarted, nohardwareSYNC(distributed clocks)wasfound.Thefirmware nowsynchroniseswiththe EtherCATframe.	Ifnecessary,checkwhetherthe mastersupportsthedistributed clocksfeature.Ifnot:ensurethattheEtherCAT framesarenotdisruptedby otherframesiftheinterpolated positionmodeistobeused.
	4ASYNCmessageis missingintheIPO cycle		Telegramsarenotbeingsentin thetimeslotpatternoftheIPO.	Check the station responsible fordistributedclocks.
64	0DeviceNet:DuplicateMACID		The duplicate MACID ch foundtwonodeswiththesame MACID.	Change the MAC ID of one of the nodestoavaluewhichisnotal-readyused.
	1DeviceNet:Bus voltagemissing		TheDeviceNetmoduleisnot suppliedwith24VDC.	InadditiontothemotorcontrollertheDeviceNetmodule mustalsobeconnectedto 24VDC.
	2DeviceNet:Receive bufferoverflow		Toomanymessagesreceived withinashortperiod.	Reducethescanrate.
	3DeviceNet:Send bufferoverflow		Not sufficient freespa canCANbusforsendingmessages.	Increase thebaudrate,reduce thenumberofnodesorreduce thescanrate.
	4DeviceNet:IO messagenotsent		Error in sending I/O data.	Check that the network is connected correctly and has no faults.
	5	DeviceNet: Bus Off	The CAN controller is BUS OFF.	Check that the network is connected correctly and has no faults.
	6DeviceNet:CAN controllerreports overrun		TheCANcontrollerhasanoverrun.	Increasethebaudrate,reduce thenumberofcustomernodes orreducethescanrate.
ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
65	0Device	Netactivated,butno module	TheDeviceNetcommunicationis activatedintheparameterre-cordofthemotorcontroller,but nomoduleisavailable.	DeactivatetheDeviceNetcom-munication or connect a module.
	1	IO connection time-out	Interruption of an I/O con-tion.	Not/Omessagereceivedwithin theexpectedtime.
70	1FHPP:	Mathematicalerror	Overrun/underrunordivisionby zeroduringcalculationofcyclic data.	Checkthecyclicdataand/or checkthefactorgroup.
	2FHPP:	Factorgroup invalid	Calculationofthefactorgroup leadstoinvalidvalues.	Checkthefactorgroup.
	3FHPP:	Invalidoper-atingmodechange	Changing from the current to the desiredoperatingmodeisnot permitted.	Checkyourapplication.ltmay bethatnoteverychangeisper-mitted.
71	1FHPP:	Invalidre-ceivetelegram	Too little data is being trans-mittedbythecontrolsystem (datalengthtooshort).	Checkthedatalengthparame-trisedinthecontrolsystemfor the controller's received tele-gramand/orchecktheconfi-gureddatalengthintheFHPP+ EditorintheFCT.
	2FHPP:	Invalidre-sponsetelegram	Too much data is settobe transmitted from the CMMP-AS tothecontrolsystem(data lenghtoogreat).
80	0Overflowcurrent controllerIRQ		The process data could not be calculatedinthesetcurrent/vel-ocity/position interpolator cycle.	PleasecontactTechnical Support.
	1Overflowspeed controllerIRQ
	2Overflowposition controllerIRQ
	3Overflowinterpola-torIRQ
81	4	Overflow low-level IRQ
	5OverflowMDCIRQ

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
82	0	Sequencing control	IRQ4 overflow (10 ms low-level IRQ).	Internalsequencecontrol:processinterrupted.Onlyforinformation-nomeasuresrequired.
83	0	technology module	Thetechnologymoduleplugged incouldnotbedetectedorthe loadedfirmwarewasunknown.Asupportedtechnologymodule mightbepluggedintothewrong slot(e.g.SERCOS2,EtherCAT).	Checkthefirmwaretofindout whetherthetechnologymodule issupported.Ifyes,thencheck thatthetechnologymoduleisin t h e r i g h t p l a c e a n d i s p l correctly. If necessary, replace technologymoduleand/orfirm-ware.
	1	logymodule notsupported	Thetechnologymoduleplugged incouldbedetected,butisnot supportedbytheloadedfirm-ware.	Checkthefirmwaretofindout whetherthetechnologymodule issupported.Ifnecessary,re-placethefirmware.
	2	Technology module:Hardwareversionnotsupported	Thetechnologymoduleplugged incouldbedetectedandisalso usuallysupported,howeverin thiscasethecurrenthardware versionisnotsupported(be-causeitistooold).ExamplesincludetheProfiBus piggy-backandtheEA88piggy-back,whichwereproducedin aninitial5Vversion(Version1.0) but which cannot run on the current motor controller.	Thetechnologymodulemustbe replaced.Ifnecessary,contact TechnicalSupport.Withthe ProfiBusorEA88module,use hardwareversion2.0orgreater.
	3	Service module:Writeerror	Dataaccesstotheservicemod-ule(FLASHtechnologymodule) isbeingdisrupted.Thererere sectorswhichcouldnotbe writtenorcleared.	Switchonthedeviceagain (24V).Iftheerrorappearsagain, thehardwareoftheFLASH moduleisfaulty.Inthatcasere-placethemodule.Ifthatisnot successful,thehardwareofthe motorcontrollerisdefectiveand on-siterepairisnotpossible.
... 83	4	MC2000 Watchdog	Reserved.	-

ggedin

ErrormessagesCMMP
Main index	index			MeasuresCausesMessageSub-
85...89	0Reserved.—
90	0Missinghardware component(SRAM)	ExternalSRAMnotdetected/notsufficient.	Hardwareerror(SRAMcomponentorboardisdefective).
	1Missinghardware component (FLASH)	ExternalFLASHnotdetected/notsufficient.	Hardwareerror(FLASHcomponentorboardisdefective).
	2ErroratFPGAboot-up	The FPG A cannot be booFPGAisbootedseriallywhenthe deviceisstarted,butinthiscase itcouldnotbeloadewithdata oritreportedachecksumerror.	Switchonthedeviceagain (24V).Iftheerrorappearsagain, the hardware is faulty.
	3ErroratSD-ADUstart	SD-ADUscannotbested.One ormoreSD-ADUsarenotsupplyinganyserialdata.	Switchonthedeviceagain (24V).Iftheerrorappearsagain, the hardware is faulty.
	4SD-ADUsynchronisationerrorafter start	SD-ADU not synchronous after starting.Duringoperation,the SD-ADUsfortheresolversignals continuerunningwithstrictsynchronisationoncetheyhave beeninitiallystartedsynchronously.TheSD-ADUscouldnotbe startedatthesametimeduring thatinitialstartphase.	Switchonthedeviceagain (24V).Iftheerrorappearsagain, the hardware is faulty.

ErrormessagesCMMP

Main index	index			MeasuresCausesMessageSub-
...90	5SD-AD	Unotsyn-chronous	SD-ADUnotsynchronousafter starting. During operation, the SD-ADUsfortheresolversignals continuerunningwithstrictsyn- chronisationoncetheyhave beeninitiallystartedsynchron-ously.Thisischeckedcontinually duringoperationandanerror maybetriggered.	SevereEMCinterferencecould theoreticallyalsocausethisef- fect.Switchonthedeviceagain (24V).Iftheerrorappearsagain, thehardwareisfaulty(almost certainlyoneofthethree SD-ADUs).
	6IRQ0	(currentcon- troller):Trigger error	The output stage is not t ingthesoftwareIRQwhichthen operatesthecurrentregulator. Verylikelytobeahardware error on the board or in t cessor.	Switchonthedeviceagain (24V).Iftheerrorappearsagain, thehardwareisfaulty. e pro -
	7NoCAN	controller present	CANcontrollerchipcouldnotbe foundorisdefective.	Inthecaseofafirmwareerror, anupdatemustbeloaded. Inthecaseofahardwareerror (CANchiporboarddefective), thehardwareisfaulty.
	8Device	parameters checksumerror	Thedeviceparameterrecord, whichincludesdescriptionof theoutputstagedata,isincon- sistent.Sinceitisitselfpartof thefirmware,thiserrorcanonly occurwithbetaversions.	Checkthefirmwareversion, andupdatethefirmwareif necessary.
	9DEBUG	firmware loaded	Abetaversioncompiledforthe debuggerwasloadedasnormal.	Checkthefirmwareversion, andupdatethefirmwareif necessary.
910Inte	nalinitial	sa- tionerror	InternalSRAMtoosmallforthe compiledfirmware.Canonly occurwithbetaversions.	Checkthefirmwareversion, andupdatethefirmwareif necessary.

3.4.2 CMMS/CMMDfaultnumbers

ErrormessagesCMMS/CMMD
Main index	Sub-index	Fault code	Meaningoferror message	Measures
0106180	Stackoverflow	Incorrectfirmware?		Reloadstandardfirmwareifnecessary.ContactTechnicalSupport.
0203220	Undervoltagein	intermediatecircuit		UndervoltagemonitoringsconfiguredusingtheFCT.Measureintermediatecircuitvoltage.Checkconfiguration.
0304310	Motortempera-	turemonitoring		Motortoohot?Checkparameters(currentregulator,currentlimits)Rightsensor?Cablebroken?Sensordefective?Iftheerrorremainsevenwhenthesensorisbridged:devicedefective.
0314310	Motortempera-	turemonitoring		Faultindigitalmotortemperaturesensor.
0404210	Over-/under-tem-	peratureinpower electronics		Temperaturedisplayplausible?Checkinstallationconditions(cooling:viathehous-ingsurface,theintegratedheatsinkandbackwall)
05	0	5114	5V supply fault	Fault cannot be rectified independently.Sendthemotorcontrollertothermanufacturer.
	151152	4Vsupply	fault(outofrange)	16V16V16V16V=OK,otherwiseNOK
	2	511612	Velectronics supplyfault	11V11V11V11V=OK,otherwiseNOK
		8000Driversupply fault		Faultintheplausibilitycheckofthedriversupply(safestandstill)

ErrormessagesCMMS/CMMD

Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
060232	Overcurrent	rentof	theintermediate circuit/power stage	Motordefective?Shortcircuitinthecable?Outputstagedefective?
070321	Overvoltage	tageinin-	termediatecircuit	Checktheconnectiontothebrakingresistor.Checkdesign(application).
08	27380	Encodersupply fault	4V < U_encoder < 6V = OK, otherwise NOK
	67386	CMMS-AS/	CMMD-ASonly:SINCOS-RS485 communication error	Angle encoder cable connected?
	87388	CMMS-AS/	CMMD-ASonly:Internalangleen-codererror	Alarm bit set in the EnDat encoder.
1118A81	Errorduringhom-ing			Homingwasinterrupted,e.g.bywithdrawalofcon-trollerenableorbyalimitswitch.Check whether the limit switches are connected in the correctdirectionoftravelorwhetherhelimitswitches haveaneffectontheintendedinputs.Checkphasesequenceofthemotorconnection.Checkconfigurationofthereferenceswitches.Movelimitswitchsothatitisnotinthezeropulsearea.
122818	CANcommunica-tionerror			Commonerror:1.Errorwhensendingamessage(e.g.nobuscon-nected)2.TimeoutwhenreceivingtheSYNCmessagesin interpolatedpositionmode
1496197	Motoridentifica-tionfault			Errorwhenautomaticallydeterminingthemotor parameters.
16	2	6187	Initialisation fault	Error initialising the default parameters.
1636183	Unexpected		status/program-mingerror	Thesoftwarewentintoanunexpectedstate,e.g.unknownstateintheFHPPstatemachine.

ErrormessagesCMMS/CMMD

Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
1708611	Following	gerror	limitexceeded	Enlargeerrorwindow.Accelerationparametertoolarge.
18	04380M	Motortempera-ture5°C below maximum	Temperature5°Cbelowmaximum	Themotortemperatureislessthan5°C below the parametrisedmaximumtemperature
	142800	Outputstage temperature5°C belowmaximum	Temperature5°C belowmaximum	CMMS-ST:theoutputstagetemperatureisgreater than80°C CMMS-AS/CMMD-AS:theoutputstagetemperature isgreaterthan90°C
19	0	2380	I2T at 80%	Common error:80%ofthemaximumI2Tutilisationhasbeenreachedbytheclosed-loopcontrollerorbythemotor.
2105210	Faultinoffset		currentmeasurement	Faultcannotberectifiedindependently.Sendthemotorcontrollertothemanufacturer.
22	07500P	PROFIBUS: faultyinitialisation	faultPROFIBUS	Extensionmoduledefective?PleasecontactTechnicalSupport.
	27500C	Communication faultPROFIBUS	faultPROFIBUS	Checkthesetslaveaddress.CheckbusterminationCheckwiring
25	1	6081	Hardware error	Motor controller and firmware are not compatible. Updatethefirmware.
26	1	5581	Checksum error	Fault cannot be rectified independently.PleasecontactTechnicalSupport.
29	0	7680	No SD	Tried to access missing SD card.
	17681S	Dinitialisation error	error	Erroroninitialisation/communicationnotpossible.
	27682S	Dparameter recorder	recorderror	Checksumincorrect/filemissing/incorrectfileformat/errorwhensavingtheparameterfiletotheSD card

ErrormessagesCMMS/CMMD

Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
31	02312I	2tfaulton	motor(I2tat100%)	I2t monitoring of the motor has responded; motor/mechanicalsystemblockedorsluggish?
	12311I	2tfault	on con-troller(I2tat100%)	I2t monitoring of the controller has responded.Checkpowerdimensioningofdrivepackage.
32	03280C	MMS-AS/	CMMD-ASonly:Intermediatecir-cuitpre-charging fault	Intermediatecircuitcouldnotbecharged(UIC<150V)
	83285C	MMS-AS/	CMMD-ASonly:Fault:controller enablewithout intermediatecir-cuit	Powerfailureaftercontrollerenableisissued
35	16199T	Timeoutfor	quick stop	Theparametrisedtimeforquickstopwasexceeded
40	08612F	Fault:SWli	mit switchreached	Negativesoftwarelimitswitchreached.
	18612F	Fault:SWli	mit switchreached	Positivesoftwarelimitswitchreached.
	28612F	Fault:SWli	mit switchreached	Targetpositionisbehindthenegativesoftwarelimit switch
	38612F	Fault:SWli	mit switchreached	Targetpositionisbehindthepositivesoftwarelimit switch
41	86193F	fault:record	chaining,unknowncommand	Unknowncommandfoundduringrecordchaining
	96192R	Routeprogram	jumptargeterror	Jumptoapositioningrecordoutsidethepermitted range

ErrormessagesCMMS/CMMD

Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
42	18681	Positioning	:Errorinpre-calculation	Thepositioningtargetcannotbereachedduetothe optionsforpositioningorancillaryparameters.Checkparametersofthepositionrecordsinques-tion.
	4	8488	Homing required	No positioning possible without homing. Homing mustbecarriedout.
	96191	Positiondatare-corder		Commonerror:1.Anattemptisbeingmadetostartanunknownor deactivatedpositionrecord.2.Thesetaccelerationistoosmallforthemaximum velocitypermitted.(Riskofcomputationaloverrunin trajectorycalculation)
43	08612	Faultinlimit	switch	Negativehardwarelimitswitchreached.Check parameters,wiring,andlimitswitches.
	18612	Faultinlimit	switch	Positivehardwarelimitswitchreached.Check parameters,wiring,andlimitswitches.
	98612	Faultinlimit	switch	Bothlimitswitchesactiveatthesametime.Check parameters,wiring,andlimitswitches.
45	08000	Driversupply	fault	Thedriversupplyisstillactivatedespiterequestofthe 'SafeHalt'.1)
	18000	Driversupply	fault	Thedriversupplyisactivatedagain,eventhoughthe "SafeHalt" hasbeenrequested.1)
	28000	Driversupply	fault	Thedriversupplyhasnotbeenreactivated,even thoughtthe'SafeHalt'isnolongerrequested.1)
	38087	DIN4plausibility error	error	Errorduringplausibilitycheckofoutputstageen-able.
1)Theinternallogicmightmalfunctionduetohigh-frequencyswitchingoperationsattheinputfor thesafehalt->Checkactivation.Iftheerroroccursagain->Checkfirmware(releasedversion?).Ifthesepossibilitieshavebeenexcluded,thehardwareofthemotorcontrollerisdefective.

ErrormessagesCMMS/CMMD

Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
64	17584D	DeviceNet	generalerror	The24Vbusvoltageismissing
	27582D	DeviceNet	communicationerror	Receivebufferoverflow
	37582D	DeviceNet	communicationerror	Sendbufferoverflow
	47582D	DeviceNet	communicationerror	IOmessagecouldnotbesent
	57582D	DeviceNet	communicationerror	BusOff
	67582D	DeviceNet	communicationerror	OverrunintheCANcontroller
65	07584D	DeviceNet	generalerror	Commonerror:Communicationhasbeenactivatedeventhoughthereisnopiggy-backmodulepluggedin.TheDeviceNetpiggy-backisattemptingtoreadan unknownKO.UnknownDeviceNeterror.
	1	7583DeviceNetinitialisationerror		DeviceNetpiggy-backinitialisationerror:Nodenumberexiststwice
		7582DeviceNetcommunicationerror		IOconnectiontimeout
70	26195G	Generalarithmeticerror		The FHPP factor group cannot be calculated correctly.
	363800	Operatingmode error		Prohibitedchangeofoperatingmode.E.g.ProfileTorquemode(torquecontrol)onCMMS-STinopen-loop-controlledoperationorparametrisationmodeinFHPP;changeinoperatingmodewhen outputstageisreleased.
ErrormessagesCMMS/CMMD
Main index	Sub-index	Fault code	message	MeasuresMeaningoferror
76	081000	CMMD-AS	only: SSIOcommunicationerror(master-slave)	Commonerror: 1.ChecksumerrorduringtransmissionofSSIO protocol 2.Timeoutduringtransmission
	181000	CMMD-AS	only: SSIOcommunicationerror(partner)	SSIOpartnerhaserror760.
7907510	RS2320	communi-	cationerror	OverrunwhenreceivingRS232commands.

3.5DiagnosisusingFHPPstatusbytes

The controllersupportsthefollowingdiagnosisoptionsusing FHPPstatusbytes(seesection1.4):

-SCON.B2(WARN)-Warning

- SCON.B3 (FAULT) - Fault

- SPOS.B5 (DEV) - Drag fault

-SPOS.B6(STILL)-Standstillcontrol

Inaddition, alldiagnostic information available as PNU (e.g. thediagnostic memory) can be readover FPC (Festo Parameter Channel → Section 5.1) or FHPP+ (→ Appendix B.1).

1. Faultreactionanddiagnosis

Parameters

Chapter4

Contents

4.1FHPPgeneralparameterstructure4-4.....
4.2 Accessprotection4-5.....

4.2.1 AccessviaPLCandFCT4-5.....

4.3 Overview of FHPP parameters 4-6
4.4 Descriptions of FHPP parameters 4-13

4.4.1 Representation of the parameter entries 4-13
4.4.2 PNUs for the telegram entries for FHPP+ 4-14
4.4.3 Device data – Standard parameters 4-16
4.4.4 Device data – Extended parameters 4-17
4.4.5 Diagnostics 4-20
4.4.6 Process data 4-24
4.4.7 On-the-fly measurement 4-29
4.4.8 Record list 4-30
4.4.9 Project data – General project data 4-42
4.4.10 Project data – Teaching 4-43
4.4.11 Project data-Jog mode 4-44
4.4.12 Project data – Direct mode, Profile Position mode ..... 4-45
4.4.13 Project data – Direct mode, Profile Torque mode 4-46
4.4.14 Project data – Direct mode, Profile Velocity mode 4-47
4.4.15 Function data – Camming function 4-48
4.4.16 Function data – Position triggers and rotor position triggers ..... 4-50
4.4.17 Axis parameters for electric drives 1 – Mechanical parameters ... 4-53
4.4.18 Axis parameters for electric drives 1 – Homing parameters ..... 4-56
4.4.19 Axisparametersforelectricdrives1-Closed-loopcontroller parameters 4-58
4.4.20 Axis parameters for electric drives 1 – Electronic rating plate .... 4-61
4.4.21 Axis parameters for electric drives 1 – Standstill control ..... 4-62
4.4.22 Axis parameters for electric drives 1 – Drag error monitoring .... 4-63
4.4.23 Axis parameters for electric drives 1 – Other parameters ..... 4-63
4.4.24 Function parameters for digital I/Os 4-64

4.1 FHPP general parameter structure

Acontrollercontainsaparameterrecordforeachaxiswith thefollowingstructure.

Group	IndicesDescription
Administrativeandconfigurationdata	1...99Special objects,e.g.forFHPP+
Device data	100 ... 199	Device identification and device-specific settings, version numbers,etc.
Diagnostics	200 ... 299	Diagnostic events and diagnostic memory. Fault numbers, faulttime,incoming/outgoingevent.
Process data	300 ... 399	Current setpoint and actual values, local I/Os, status dataetc.
Record list	400 ... 499	A record contains all the setpoint value parameters requiredforapositioningprocedure.
Project data	500 ... 599	Basic project settings. Maximum speed and acceleration, project zero point offset etc. -> parameters are the basis fortherecordlist.
Function data	700 ... 799	Parameters for special functions, e.g. for the camming function.
Axisdataforelectric drives1	1000 ... 1099	All axis-specific parameters for electric drives: gear ratio, feedconstant,referenceparameters,etc.
Functionparameters fordigitall/Os	1200...1239	Specificparametersforcontrolandevaluationofthe digitall/Os.

Tab.4/1: Parameterstructure

1. Parameters

4.2 Access protection

4.2.1 AccessviaPLCandFCT

Theusercanpreventthedrivefrombeingoperatedsimultaneously by PLC and FCT. The CCON.B5 bit (FCTaccessed and the SCON.B5 bit (FCTcontrolsovereignty) are used for this.

PreventingFCToperation:CCON.B5(LOCK)

BysettingtheCCON.B5controlbit,thePLCpreventstheFCT fromtakingovercontrolsovereignty.SoiftheLOCKisset,FCT cannotwriteparametersorcontrolthedrive,executehoming etc.

ThePLCisprogrammednottoenablethisuntiltheuser carriesouttherelevantaction. Thisgenerallyexitsautomatic operation. ThismeansthatthePLCprogrammercanensure thatthePLCalwaysknowswhenithascontroloverthedrive.

Important: theblockisactiveiftheCCON.B5bithaslogic1. Itthereforedoesnotneedtobesetcompulsorily.Auserwho doesnotneedthistypeoflockingcanalwayssetthebitto0.

ControlsovereigntyacknowledgmentforFCT:SCON.B5 (LOCK)

ThisbitinformsthePLCthatthedriveiscontrolledbytheFCT andthatthePLCnolongerhasanycontroloverthedrive.This bitdoesnotneedtobeevaluated.ThePLCcanreactby switchingtostopormanualoperation.

4.3 OverviewFHPPparameters

The following overview(Tab.4/2) shows the FHPP's parameters.

The parameters are described in sections 4.4.2 to 4.4.21.

Generalremarksontheparameternames: ThenamesarelargelybasedonDS402.Somenamesmay varyfromproducttoproductwhilethefunctionalityremains thesame(e.g.inFCT).Examples:velocityandspeed,or torqueandforce.

Name	Controller	FHPP
		PNUSubind.Type
PNUsfortheFHPP+telegramentries(seesection4.4.2)
FHPPReceiveTelegram(FHPPtelegramreceivedbycontroller)	CMMP	40	1 ... 10	uint32
FHPPResponseTelegram(FHPP telegram sent by controller)	CMMP	41	1 ... 10	uint32
FHPPReceive Telegram State(stateofFHPPtelegramreceivedbycontroller)	CMMP	42	1	uint32
FHPPResponseTelegram State(state of FHPP telegram sent by controller)	CMMP	43	1	uint32
Devidedata
Device data – Standard parameters (see section 4.4.3)
Manufacturer Hardware Version	All	100	1	uint16
Manufacturer Firmware Version	All	101	1	uint16
Version FHPP	All	102	1	uint16
Project Identifier	All	113	1	uint32
Controller Serial Number	CMMP	114	1	uint32
	CMMS/CMMD	114	1 ... 12	uint8
Name	ControllerName	TPP		TypeSubind.PNU
Devidedata-Extendedparameters(seesection4.4.4)
Manufacturer Device Name	All	120	1 ... 30	uint8
UserDeviceNameAll1211...32uint8
DriveManufacturerAll1221...30uint8
HTTP Drive Catalog Address	All	123	1 ... 30	uint8
FestoOrderNumberAll1241...30uint8
Device Control	All	125	1	uint8
Data Memory Control	All	127	1 ... 6	uint8
Diagnosis (see section 4.4.5)
Diagnostic Event	CMMP	200	1 ... 32	uint8
Fault Number	CMMP	201	1 ... 32	uint16
	CMMS/CMMD	201	1 ... 4	uint16
Fault Time Stamp	CMMP	202	1 ... 32	uint32
Fault Additional Information	CMMP	203	1 ... 32	unt32
Diagnosis Memory Parameter	CMMP	204	1, 2, 4	uint8
Fieldbus Diagnosis	CMMP	206	5	uint8
Device Warnings	CMMP	210	1 ... 16	uint8
Warning Number	CMMP	211	1 ... 16	uint16
Warning Time Stamp	CMMP	212	1 ... 16	uint32
Warning Additional Information	CMMP	213	1 ... 16	unt32
Warning Memory Parameter	CMMP	214	1, 2, 4	uint8
Process data (see section 4.4.6)
Position Values	All	300	1 ... 3	int32
Torque Values	All	301	1 ... 3	int32
Local Digital Inputs	All	303	1, 2, 4	uint8
Local Digital Outputs	All	304	1, 3	uint8
Maintenance Parameter	All	305	3	uint32
Velocity Values	All	310	1 ... 3	int32
State Signal Outputs	All	311	1, 2	uint32
Name	ControllerName	Type	TypeSub	PNU
On-the-flymeasurement(seesection4.4.7)
PositionValueStorageAll3501,2int32
Recordlist(seesection4.4.8)
RecordStatusAll4001...3uint8
Record Control Byte 1	CMMP	401	1 ... 250	uint8
	CMMS/CMMD	401	1 ... 63	uint8
Record Control Byte 2	CMMP	402	1 ... 250	uint8
	CMMS/CMMD	402	1 ... 63	uint8
Record Setpoint Value	CMMP	404	1 ... 250	int32
	CMMS/CMMD	404	1 ... 63	int32
Record Preselection Value	CMMP	405	1 ... 250	int32
	CMMS/CMMD	405	1 ... 63	int32
Record Velocity	CMMP	406	1 ... 250	uint32
	CMMS/CMMD	406	1 ... 63	uint32
Record Acceleration	CMMP	407	1 ... 250	uint32
	CMMS/CMMD	407	1 ... 63	uint32
Record Deceleration	CMMP	408	1 ... 250	uint32
	CMMS/CMMD	408	1 ... 63	uint32
Record Velocity Limit	CMMP	412	1 ... 250	uint32
Record Jerkfree Filter Time	CMMP	413	1 ... 250	uint32
	CMMS/CMMD	413	1 ... 63	uint32
Record Profile	CMMS/CMMD	414	1 ... 63	uint8
Record Following Position	CMMP	416	1 ... 250	uint8
	CMMS/CMMD	416	1 ... 63	uint8
Record Torque Limitation	CMMP	418	1 ... 250	uint32
RecordCAMID (camdisknumberforrecord)	CMMP	419	1 ... 250	uint8
Record Remaining Distance Message	CMMP	420	1 ... 250	uint32
Record Control Byte 3	CMMP	421	1 ... 250	uint8
Name	ControllerName	Type
				TypeSubind.PNU
Projectdata
Projectdata-Generalprojectdata(seesection4.4.9)
ProjectZeroPointAll5001int32
SoftwareEndPositionsAll5011,2int32
Max. Speed	All	502	1	uint32
Max. Acceleration	All	503	1	uint32
Max. Jerkfree Filter Time	All	505	1	uint32
Projectdata-Teaching(seesection4.4.10)
Teach Target	All	520	1	uint8
Projectdata-Jogmode(seesection4.4.11)
Jog Mode Velocity Slow - Phase 1	All	530	1	int32
Jog Mode Velocity Fast - Phase 2	All	531	1	int32
Jog Mode Acceleration	All	532	1	uint32
Jog Mode Deceleration	All	533	1	uint32
Jog Mode Time Phase 1	All	534	1	uint32
Projectdata-Directmode,ProfilePositionmode(seesection4.4.12)
Direct Mode Position Base Velocity	All	540	1	int32
Direct Mode Position Acceleration	All	541	1	uint32
Direct Mode Position Deceleration	All	542	1	uint32
Direct Mode Jerkfree Filter Time	All	546	1	uint32
Projectdata-Directmode,ProfileTorquemode(seesection4.4.13)
Direct Mode Torque Base Torque Ramp	CMMP	550	1	uint32
Direct Mode Torque Target Torque Window	CMMP	552	1	uint16
Direct Mode Torque Time Window	CMMP	553	1	uint16
Direct Mode Torque Speed Limit	CMMP	554	1	uint32
Name	ControllerName	F1PP		TypeSubind.PNU
Projectdata-Directmode,ProfileVelocitymode(seesection4.4.14)
Direct Mode Velocity Base Velocity Ramp	All	560	1	uint32
Direct Mode Velocity Target Window	CMMP	561	1	uint16
DirectModeVelocityWindowTime(dampingtimeforvelocitytargetwindowindirect mode)	CMMP5621uin	16
DirectModeVelocityThreshold(standstilltargetwindowindirectmode)	CMMP5631uin	16
DirectModeVelocityThresholdTime(dampingtimeforstandstillindirectmode)	CMMP5641uin	16
Direct Mode Velocity Torque Limit	CMMP	565	1	uint32
Functiondata
Functiondata-Cammingfunction(seesection4.4.15)
CAMID(camdisknumber)	CMMP7001uint	8
MasterStartPositionDirectMode(masterstartpositionindirectmode)	CMMP7011int	32
InputConfigSync.(inputconfigurationforsynchronisation)	CMMP7101uint	32
GearSync.(synchronisationgearatio)	CMMP7111,2	uint32
OutputConfigEncoderEmulation(outputconfigurationforencoderemulation)	CMMP7201uint	32
Functiondata-Positiontriggersandrotorpositiontriggers(seesection4.4.16)
Position Trigger Control	CMMP	730	1	uint32
Position Trigger Low	CMMP	731	1 ... 4	int32
Position Trigger High	CMMP	732	1 ... 4	int32
Rotor Position Trigger Low	CMMP	733	1 ... 4	int32
Rotor Position Trigger High	CMMP	734	1 ... 4	int32
Name	ControllerName			TypeSubind.PNU
Axisparametersforelectricdrives1-Mechanicalparameters
Axisparametersforelectricdrives1-Mechanicalparameters(seesection4.4.17)
Polarity (reversalofdirection)	All10001uint8
EncoderResolutionAll10011,2uint32
GearRatioAll10021,2uint32
Feed Constant	All	1003	1, 2	uint32
Position Factor	All	1004	1, 2	uint32
Axis Parameter	All	1005	2, 3	int32
Velocity Factor	All	1006	1, 2	uint32
Acceleration Factor	All	1007	1, 2	uint32
PolaritySlave (reversalofdirectionfor slave)	All10081uint8
Axisparametersforelectricdrives1-Homingparameters(seesection4.4.18)
Offset Axis Zero Point	All	1010	1	int32
Homing Method	All	1011	1	int8
Homing Velocities	All	1012	1, 2	uint32
Homing Acceleration	All	1013	1	uint32
Homing Required	All	1014	1	uint8
Homing Max. Torque	CMMP	1015	1	uint8
Axis parameters for electric drives 1 - Closed-loop controller parameters (see section 4.4.19)
Halt Option Code	All	1020	1	uint16
Position Window	All	1022	1	uint32
Position WindowTime (adjustmenttimeforposition)	All10231uint16
ControlParameterSet (controller's parameters)	All102418...22,		32	uint16
MotorData	All10251,3uint32/			uint16
Drive Data	CMMP	1026	1 ... 4, 7	uint32
	CMMS/CMMD	1026	1, 3, 4, 7	uint32

4.Parameters

Name	ControllerName	Type
				TypeSubind.PNU
Axisparametersforelectricdrives1-Electronicratingplate(seesection4.4.20)
Max.CurrentAll10341uint16
MotorRatedCurrentAll10351uint32
MotorRatedTorqueAll10361uint32
TorqueConstantAll10371uint32
Axisparametersforelectricdrives1-Standstillcontrol(seesection4.4.21)
PositionDemandValue(setpointposition)	All10401int32
PositionActualValue(currentposition)	All10411int32
Standstill Position Window	All	1042	1	uint32
Standstill Timeout	All	1043	1	uint16
Axisparametersforelectricdrives1-Dragerrormonitoring(seesection4.4.22)
FollowingErrorWindow(dragerorwindow)	CMMP	10441int32
FollowingErrorTime(dragerortimeout)	CMMP	10451uint16
Axisparametersforelectricdrives1-Otherparameters(seesection4.4.23)
Torque Feed Forward Control	CMMP	1080	1	int32
Setup Velocity	CMMP	1081	1	uint8
Velocity Override	CMMP	1082	1	uint8
FunctionparametersfordigitalI/Os(seesection4.4.24)
RemainingDistanceforRemainingDistanceMessage All 1)		12301	uint32
1) WithCMMP-AS:inDirectmodeonly

Tab. 4/2: Overview of FHPP parameters

4. Parameters

4.4 DescriptionsofFHPPparameters

4.4.1 Representation of the parameter entries

6	EncoderResolution
	FHPP (all)	1001	1 ... 2		uint32	rw
7	DescriptionEncoderres	solutioninincrementsperrevolution Theencoderresolutionisfixedandcannotbemodifiedbytheuser.The calculatedvalueisderivedfromthefraction(encoderincrements/motor revolution).
8	EncoderIncrements	10011		uint32	rw
	MotorRevolutions	Value range: 0x00000000 ... 0xFFFFFFF (0 ... 2^32-1)
		10012		uint32	rw
		Fixed=1

1 Name of the parameter (sometimes with short explanation in brackets)
2 PNU(parameternumber)
3 Subindices of the parameter (1: no subindex, simple variable)
4 Elementvariabletype
5 Read/write permission: ro = read only, rw = read and write
6 Identifier for general or limited validity (e.g. CMMP only)
7 Descriptionoftheparameter
8 Nameanddescriptionofsubindices,ifpresent

Fig.4/1: Representationoftheparameterentries

4.Parameters

4.4.2PNUsforthetelegramentriesforFHPP+

FHPPReceiveTelegram(FHPPtelegramreceivedbycontroller)

FHPP (CMMP)	40	1 ... 10	Array	uint32	ro
DescriptionThisarray	definesthecontentsofthereceivedtelegrams(theoutputdataof thehigher-levelcontrolsystem)inthecyclicprocessdata.ThearrayisconfiguredusingtheFHPP+editorprovidedbytheFCTplug-in.Gapsbetween1-bytePNUsandfollowing16-or32-bytePNUsarefilledwith placeholderPNUs,asareunusedsubindices.Fortheformat,seeTab.4/3.
1st PNU	40	1		uint32	ro
	1sttransmittedPNU:alwaysPNU1:1
2nd PNU	40	2		uint32	ro
	2nd transmitted PNU: with FPC: always PNU 2:1withoutFPC:anyPNU
3rd PNU	40	3		uint32	ro
	3rd transmitted PNU: any PNU
... PNU	40	4 ... 10		uint32	ro
	...

FHPPResponseTelegram(FHPPtelegramsentbycontroller)

FHPP (CMMP)	41	1 ... 10	Array	uint32	ro
Description	This array defines the contents of the response telegrams (the input data of the higher-levelcontrolsystem)inthecyclicprocessdata;seePNU40. Fortheformat,seeTab.4/3.
1st PNU	41	1		uint32	ro
	1sttransmittedPNU:alwaysPNU1:1
2nd PNU	41	2		uint32	ro
	2nd transmitted PNU: with FPC: always PNU 2:1 withoutFPC:anyPNU
3. PNU	41	3		uint32	ro
	3rd transmitted PNU: any PNU
... PNU	41	4 ... 10		uint32	ro
	...
Contents of a subindex for PNU 40 and 41 (uint32-4 bytes)
Byte0123
Contents	Reserved (= 0)	Subindex	Transmitted PNU (2-byte value)

Tab.4/3: FormatoftheentriesinPNU40and41

FHPPReceiveTelegramState(stateofFHPPtelegramreceivedbycontroller)
FHPP (CMMP)	42	1	Var	uint32	rw
Description	Type of error in the telegram editor. Entry and the error location:Bit MeaningBits 0 ... 15 Error location, bit-serial, one bit per telegram entry.Bits 16...23 ReservedBits 24...31 Error type:Bit24=1:invalidPNU(witherrorlocationinbits0-15)Bit 25 = 1: PNU cannot be written (with error location in bits 0 - 15)Bit 26 = 1: maximum telegram length exceededBit27=1:PNUcannotbemappedin atelegramBit 28 = 1: entry cannot be modified in the current state(e.g.duringactivecycliccommunication)Bit29=1:16/32-bitentry beginswithanuneven addressBits 30...31 Reserved.Ifthetransmittedtelegramiscorrect,all bits=0.

FHPPResponseTelegramState(stateofFHPPtelegramsentbycontroller)
FHPP (CMMP)	43	1	Var	uint32	rw
Description	Type of error in the telegram editor. Entry and the error location:Bit MeaningBits 0 ... 15 Error location, bit-serial, one bit per telegram entry.Bits 16...23 ReservedBits 24...31 Error type:Bit24=1:invalidPNU(witherrorlocationinbits0-15)Bit 25 = 1: PNU cannot be read (with error location in bits 0 - 15)Bit 26 = 1: maximum telegram length exceededBit27=1:PNUcannotbemappedin atelegramBit 28 = 1: entry cannot be modified in the current state (e.g.duringactivecycliccommunication)Bit29=1:16/32-bitentry beginswithanuneven addressBits 30...31 Reserved.Ifthetransmittedtelegramiscorrect,all bits=0.

4.Parameters

4.4.3 Devicedata–Standardparameters

ManufacturerHardwareVersion

FHPP (all)	100	1		uint16	ro
DescriptionCodingof	thehardwareversion,specificationinBCD:xxyy(xx=mainversion,yy=secondaryversion)

ManufacturerFirmwareVersion

FHPP (all)	101	1		uint16	ro
DescriptionCodingof	thefirmwareversion,specificationinBCD:xxyy(xx=mainversion,yy=secondaryversion)

VersionFHPP(FHPPversion)

FHPP (all)	102	1		uint16	ro
DescriptionVersionn	umberoftheFHPP,specificationinBCD:xxyy(xx=mainversion,yy=secondaryversion)

ProjectIdentifier

FHPP (all)	113	1		uint32	rw
Description	32 bit value that can be used together with the FCT plug-in to identify the project.Value range: 0x00000001 ... 0xFFFFFFFF (1 ... 2^32 -1)

ControllerSerialNumber

FHPP (all)	114	1		uint32	ro
Description	Serial number for uniquely identifying the controller.

4. Parameters

4.4.4 Devicedata-Extendedparameters

ManufacturerDeviceName

FHPP (all)	120	1 ... 30		uint8	ro
DescriptionDesignationofthedriveorcontroller(ASCII,7bit).Unusedcharactersarefilledwithzero(00h='\0').Example:“CMMS-ST”

UserDeviceName

FHPP (all)	121	1 ... 32		uint8	rw
Description	User's designation of the controller (ASCII, 7 bit).Unusedcharactersarefilledwithzero(00h='\0').

DriveManufacturer

FHPP (all)	122	1 ... 30		uint8	ro
DescriptionNameofthedrive'smanufacturer(ASCII,7-bit)Fixed:“FestoAG&Co.KG”

HTTPDriveCatalogAddress(HTTPaddressofmanufacturer)

FHPP (all)	123	1 ... 30		uint8	ro
Description	Manufacturer's Internet address (ASCII, 7-bit) Fixed: “www.festo.com”

FestoOrderNumber

FHPP (all)	124	1 ... 30		uint8	ro
Description	Festo order number / order code (ASCII, 7-bit).

4. Parameters

DeviceControl
FHPP (all)	125	1		uint8	rw
DescriptionSpecifies whichinterfacecurrentlyhascontrolsovereigntyoverthedrive,in otherwords,whichinterfacecanbeusedtoenableandstartorstop(control) thedrive.Thefollowinginterfacesaretakenintoaccount:-Fieldbus:(CANopen,PROFIBUS,DeviceNet,...)-DIN:digitall/Ointerface(e.g.multi-pin,I/Ointerface)-ParametrisationinterfaceRS232/RS485(FCT)Thelasttwointerfacesaretreatedasequals.For all controllers of the type CMM...,the output stage enable closed-loop controller enable(DIN5) also havetobesetina faceinquestion(logicalANDoperation).Value Meaning SCON.B5(LOCK)0x00(0) Software has control sovereignty(+DIN) 10x01 (1) Fieldbus has control sovereignty (+ DIN) 00x02(2) OnlyDINhascontrolsovereignty 1Defaultafterpoweron:0x01(1)-Fieldbushascontrolsovereignty(+DIN)

DataMemoryControl

FHPP (all)	127	1 ... 6		uint8	wo
DescriptionDeleteEEPROM	Commands for EEPROM (non-volatile memory)
	1271uint8wo
SaveData1	Oncetheobjecthasbeenwritten,andafterswitchingpoweroff/on,thedatain theEEPROMisresettothefactorysettings.Fixed0x10(16):deletedatainEEPROMandrestorefactorysettings.Note:All user-specific settings except for the bus cycle will be lost on deletion (fac- torysettings).With CMMPthisalsoincludesthefieldbusaddress.• After deleting, always carry out the steps for commissioning the device.
	272uint8wo
ResetDevice1	Bywritingtheobject,thedatainEEPROMwillbeoverwrittenwiththe current user-specific settings.Fixed0x01(1):saveuser-specific datainEEPROM
	273uint8wo
EncoderData MemoryControl	Bywritingtheobject,thedataisreadfromEEPROMandadoptedasthecurrent settings (EEPROM is not deleted or cleared; it is in the same state as after switchingoff andon).Values: 0x10(16):resetdevice0x20 (32): auto reset upon incorrect bus cycle (deviating from theconfiguredbuscycle;withCMMPonly)
	1276uint8wo
	Transferoftheencoderdatabetweencontrollerandencoder.Values: 0x00 (0): No action (e.g. for test purposes)0x01(1): Loadingoftheparametersfromtheencoder0x02(2): Savingoftheparametersintheencoderwithoutzerooffset0x03(3): Savingoftheparametersintheencoderwithzerooffset

4.4.5 Diagnostics

For a description of how the diagnostic memory functions, see section 3.2.

DiagnosticEvent

FHPP (CMMP)	200	1 ... 32		uint8	ro
Description	Type of fault or diagnostic information saved in the diagnostic memory. Displays whether an incoming or outgoing fault is saved.
	Value	Type of diagnostic event
	0x00(0)	Nofault (or fault message deleted)
	0x01(1)	Incoming fault
	0x02(2)	Reserved (outgoing fault)
	0x03(3)	Reserved
	0x04(4)	Reserved (Overruntimestamp)
Event 1	200	1		uint8	ro
	Type of latest / current diagnostic message
Event 2	200	2		uint8	ro
	Type of second saved diagnostic message
Event ...	200	...		uint8	ro
	...

FaultNumber

FHPP (CMMP)	201	1 ... 32		uint16	ro
FHPP (CMMS/CMMD)	201	1 ... 4		uint16	ro
DescriptionFaultnum	bersavedinthediagnosticmemory;usedforidentifyingthefault.Seesection3.4.CMMP: Errornumber,e.g.402formainindex40,subindex2,seesection3.4.1.CMMS/CMMD: Faultcode,seesection3.4.2.
Event 1	201	1		uint16	ro
	Latest/currentdiagnosticmessage
Event 2	201	2		uint16	ro
	2ndsaveddiagnosticmessage
Event ...	201	...		uint16	ro
	...

FaultTimeStamp

FHPP (CMMP)	202	1 ... 32		uint32	ro
DescriptionTimeofth	ediagnosticeventinsecondsafterswitch-on.Incaseofoverrun, thetimestampjumpsfrom0xFFFFFFFto0.
Event 1	202	1		uint32	ro
	Timeofthelatest/currentdiagnosticmessage
Event 2	202	2		uint32	ro
	Timeofthesecondsaveddiagnosticmessage
Event ...	202	...		uint32	ro
	...

FaultAdditionalInformation(additionalinformationforfault)

FHPP (CMMP)	203	1 ... 32		uint32	ro
DescriptionAdditionalinformationforservicestaff.
Event 1	203	1		uint32	ro
	Additionalinformationforthelatest/currentdiagnosticmessage
Event 2	203	2		uint32	ro
	Additionalinformationforthesecondsaveddiagnosticmessage
Event ...	203	...		uint32	ro
	...

DiagnosisMemoryParameter(parametersfordiagnosticmemory)

FHPP (CMMP)	204	1, 2, 4		uint8	ro
DescriptionConfigurationFault Type	Nationofthediagnosticmemory.
	204	1		uint8	ro
Resolution	Incomingandoutgoingfaults.Fix0x02(2):Recordonlyincomingfaults
	204	2		uint8	ro
Number of Entries	Timestampresolution.Fix0x03(3):1Second
	204	4		uint8	ro
	Readoutthenumberofvalidentriesinthediagnosticmemory.Valuerange: 0..32

4. Parameters

FieldbusDiagnosis

FHPP (CMMP)	206	5		uint8	ro
DescriptionReadoutCANopenDiagnosis2	offieldbusdiagnosticdata.
	065uint8ro
	Selectedprofile(protocoltype):Values:0=DS402(notavailableviaFHPP)1 = F H PP

DeviceWarnings

FHPP (CMMP)	210	1 ... 16		uint8	ro
Description	Type of warning or diagnostic information saved in the warning memory. Indicationofwhetheranincomingoroutgoingwarningwassaved.
	Value	Typeofdiagnosticevent
	0x00(0)	Nowarning(orwarningmessagedeleted)
	0x01(1)	Incomingwarning
	0x02(2)	Reserved(outgoingwarning)
	0x03(3)	PowerDown(withvalidtimestamp)
	0x04(4)	Reserved(overruntimestamp)
Event12	101uint8ro
	Typeoflatest/currentwarningmessage
Event22	102uint8ro
	Typeofsecondsavedwarningmessage
Event ...	210	...		uint8	ro
	...

Warning Number

FHPP (CMMP)	211	1 ... 16		uint16	ro
DescriptionWarning Event 1	numbersavedinthewarningmemory(e.g.190formainindex19, subindex0;usedtoidentifythewarning,seesections3.2and3.4.1).
	211	1		uint16	ro
	Mostrecent/currentwarningmessage
Event 2	211	2		uint16	ro
	2ndsavedwarningmessage
Event ...	211	...		uint16	ro
	...

WarningTimeStamp

FHPP (CMMP)	212	1 ... 16		uint32	ro
DescriptionTimeofthewarningeventinsecondsafterswitch-on.Incaseofoverrun, thetimestampjumpsfrom0xFFFFFFFto0.
Event 1	212	1		uint32	ro
	Timeofthelatest/currentwarningmessage
Event 2	212	2		uint32	ro
	Timeofthesecondsavedwarningmessage
Event ...	212	...		uint32	ro
	...

WarningAdditionalInformation(additionalinformationforwarning)

FHPP (CMMP)	213	1 ... 16		uint32	ro
DescriptionAdditionalinformationforservice staff.
Event 1	213	1		uint32	ro
	Timeofthelatest/currentdiagnosticmessage
Event 2	213	2		uint32	ro
	Timeofthesecondsaveddiagnosticmessage
Event ...	213	...		uint32	ro
	...

Warning Memory Parameter (parameters for warning memory)

FHPP (CMMP)	214	1, 2, 4		uint8	rw/ro
DescriptionWarning TypeResolutionNumber of Entries	Configuration of the warning memory.
	214	1		uint8	ro
	Incomingandoutgoingwarnings.Fix0x02(2):Recordonlyincomingwarnings
	214	2		uint8	ro
	Timestampresolution.Fix0x03 (3):1Second
	214	4		uint8	ro
	Readnumberofvalidentriesinthe warningmemory.Value range: 0 ... 16

4. Parameters

4.4.6 Processdata

PositionValues

FHPP (all)	300	1 ... 3		int32	ro
DescriptionCurrentValuesofthepositioncontroller,statedinthepositioningunit(seePNU1004).
Actual Position	300	1		int32	ro
	Currentactualpositionofthecontroller.
NominalPosition(setpointposition)	3002int32ro
	Currentsetpointpositionofthecontroller.
Actual Deviation	300	3		int32	ro
	Current deviation.

Torque Values

FHPP (all)	301	1 ... 3		int32	ro
DescriptionActual ForceNominal Force(setpointforce)Actual Deviation	Current values of the torque controller, stated in mNm.
	301	1		int32	ro
	Current actual valueofthe controller.
	3012int32ro
	Current setpoint value of the controller.
	301	3		int32	ro
	Current deviation.

4. Parameters

LocalDigitalInputs

FHPP(all)3031,2,4uint8ro
DescriptionThecont	roller'slocaldigitalinputs.
InputDINO...730	B1uint8ro
	Digitalinputs:standardDIN(DINO...DIN7)
InputDIN8...1330	B2uint8ro
	Digitalinputs:standardDIN(DIN8...DIN13)
InputCAMCDINO ...7	3034uint8ro
	Digitalinputs:CAMC-D-8E8A(DINO... DIN7)

PNU303allocation

Subindex 1	Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
	Reserved(=0)		DOUT: READY LED	DOUT: CANLED	DOUT 3	DOUT 2	DOUT 1	DOUT 0: controller readyfor operation
Subindex 3	Bit 7	Bit 6	Bit 5	Bit 4	Bit 3	Bit 2	Bit 1	Bit 0
	DOUT 7	DOUT 6	DOUT 5	DOUT 4	DOUT 3	DOUT 2	DOUT 1	DOUT 0

4. Parameters

MaintenanceParameter

FHPP (all)	305	3		uint32	ro
Description Information about the controller'sorthedriver'srunning performance.
Operating Hours 3	053uint32ro
	Hours-runmeterins.

Velocity Values

FHPP (all)	310	1 ... 3		int32	ro
DescriptionCurrentvaluesofthespeedregulator.
ActualRevolutions(actualspeed)	3101int32		ro
	Currentactualvalueofthecontroller.
Nominal Revolutions(setpointspeed)	3102int32		ro
	Currentsetpointvalueofthecontroller.
Actual Deviation	310	3		int32	ro
	Speeddeviation.
FHPP (CMMP)	311	1,2		uint32	ro
Description	Parameters for displaying the status of the signal outputs.
OutputsPart131	11uint32ro
	BitValueMeaning
	0Reserved(0)
	1 0x00000002	I^1 tmonitoringofmotorisactive
	2 0x00000004	Comparisonspeedreached
	3 0x00000008	PositionXsetpoint=Xtarget
	4 0x00000010	PositionXactual=Xtarget
	5 0x00000020	Remainingpositioningdistance
	6 0x00000040	Homingisactive
	7 0x00000080	Referencepositionisvalid
	8 0x00000100	Undervoltageinintermediatecircuit
	9 0x00000200	Dragerror
	10 0x00000400	Outputstageisactive
	11 0x00000800	Lockingbrakebled
	12 0x00001000	Linearmotoridentified
	13 0x00002000	Negativesetpointlockisactive
	14 0x00004000	Positivesetpointlockisactive
	15 0x00008000	Alternativetargetreached
	16 0x00010000	Velocity0
	17..32	Reserved(0)
Outputs Part 2	311	2		uint32	ro
	BitValueMeaning
	0 0x00000001	Camcontroller1
	1 0x00000002	Camcontroller2
	2 0x00000004	Camcontroller3
	3 0x00000008	Camcontroller4
	4...7	Reservedforcamcontroller5...8
	8 0x00000100	Positiontrigger1
	9 0x00000200	Positiontrigger2
	10 0x00000400	Positiontrigger3
	11 0x00000800	Positiontrigger4
	12...15	Reservedforpositiontriggers5...8
	16 0x00010000	Rotorpositiontrigger1
	17 0x00020000	Rotorpositiontrigger2
	18 0x00040000	Rotorpositiontrigger3
	19 0x00080000	Rotorpositiontrigger4
	20...23	Reservedforrotorpositiontriggers5...8
	24 0x01000000	Generalactionbits1
	25 0x02000000	Generalactionbits2
	26 0x04000000	Generalactionbits3
	27 0x08000000	Generalactionbits4
	28...31	Reservedforgeneralactionbits5...8

4. Parameters

4.4.7 On-the-flymeasurement

Forinformationabouton-the-flymeasurement, seesection2.9.

PositionValueStorage
FHPP(all)3501,2int3	2ro
DescriptionSampled	positions.
SampleValue RisingEdge	3501int32ro
	Lastsampledpositionwitharisingedge,statedinpositioningunit(see PNU1004).
SampleValue FallingEdge	3502int32ro
	Last sampled position with a falling edge, stated in positioning unit (see PNU1004).

4. Parameters

4.4.8Recordlist

PNU400401record status (recordno.)		402404RCB1uint8	4054064RCB2uint8	4074084Setpoint valueint32	412413...Preselection valueint32	Velocityuint32	Accelerationuint32	Decelerationuint32	Velocitylimituint32	Jerk-free filtertimeint32	...
1......		......
2......		......
... 1)	......	......	...
1) Numberofpositioningrecords:ForCMMP...:1...250ForCMMS/CMMD...:1...63

Tab.4/4:StructureofFHPPrecordlist

WithFHPP,recordselectionforreadingandwritingismade viathesubindexofthePNUs401....Theactiverecord for positioning orteaching isselectedwithPNU400.

Controller/drive

PNU

401

402

404

405

406

407

408

412

413

414

416

418 ... 421

CMMP-AS

x

x

x

x

x

x

x

x

x

-

x

x

CMMS-AS/CMMD-AS

x

x

x

x

x

x

x

-

x

x

x

-

CMMS-ST

x

x

x

x

x

x

x

-

x

x

x

-

Tab.4/5: Supportedelementsintherecordlist

WiththeCMMS/CMMDcontrollers,the"dynamic"parametersofarecordaredefinedasagroupviatherecordprofile(PNU414).

When these parameters (PNU405,406,407,408,413) are written in a record, the profile parameters assigned to the record are overwritten. This cause the modified parameters to become effective for all records assigned to that profile; see Fig. 4/2.

Memorystructureofpositioningrecordlistand recordprofilesforCMMS/CMMD

Recordlist

Fig.4/2: Positioning recordlist and record profiles

RecordStatus

FHPP (all)	400	1 ... 3		uint8	rw/ro
DescriptionRecordstatus.
DemandRecordNumber	4001uint8rw
	Nominalrecordnumber.ThevaluecanbechangedusingFHPP.InRecordselectionmode,thenominalrecordnumberisalwayscopiedfromthemaster'soutputdatawitharisingedgeatSTART.Value range:CMMP:0x00...0xFA(0...250)CMMS/CMMD:0x00...0x3F(0...63)
ActualRecordNumber	4002uint8ro
	Currentrecordnumber.
RecordStatusByte40	03uint8ro
	The record status byte (RSB) contains a feedback code that is transmitted in the input data. When a positioning task starts, the RSB is reset.See Tab. 4/6 for the allocation of the record control byte.Note: this byte is not the same as SDIR, there is only a feedback signal for dynamic states and not absolute/relative, for example. This makes it possible to provide feedback about record chaining, for example.

RSBallocation

Bit	Meaning
Bit0RC1	= 0: A step enabling condition was not configured/achieved.= 1: The first step enabling condition was achieved.
Bit1RCC	Valid as soon as MC applies.= 0: Record chaining cancelled. At least one step enabling condition was not achieved.= 1: Record chain was processed to the end of the chain.
Bits 2 ... 7	Reserved.

Tab. 4/6: Allocation of PNU 400/3 (RSB)

RecordControlByte1

FHPP (CMMP)	401	1 ... 250		uint8	rw
FHPP (CMMS/CMMD)	401	1 ... 63		uint8	rw
DescriptionTherecoRecord 1	dcontrolbyte1(RCB1)controlsthemostimportantsettingsforthepositioningtaskinRecordselectionmode.Therecordcontrolbyteisbit-orientated.Forallocation,seeTab.4/7
	401	1		uint8	rw
	Recordcontrolbyte1 forpositioningrecord1.
Record 2	401	2		uint8	rw
	Recordcontrolbyte1 forpositioningrecord2.
Record ...	401	...		uint8	rw
	Recordcontrolbyte1 forpositioningrecord...

BitDescription

B0ABS	Absolute/Relative=0: Setpointvalueisabsolute=1: Setpoint value is relative to last setpoint valueFHPP does not provide access to other modes, e.g. relative to actual value, analogue input,etc.
B1, B2COM1/2	Bit 2 1 Controlmodefeedback0 0 ProfilePositionmode0 1 Profile Torque mode (torque, current)1 0 Profile Velocitymode(speed)1 1 ReservedOnlyProfilePositionmodecanbeusedforthecammingfunction.
B3, B4FNUM1/2	Withoutcammingfunction(CDIR.B7,FUNC=0):nofunction,=0!Ifthecammingfunctionisused(onlywithCMMP,CDIR.B7,FUNC=1):No. Bit2 1 Functionnumber*)0 0 0 Reserved1 0 1 Synchronisation with an external input2 1 0 Synchronisation with an external input with camming function3 1 1 Synchronisation with a virtual master with camming function
B5, B6FGRP1/2	Withoutcammingfunction(CDIR.B7,FUNC=0):nofunction,=0!Ifthecammingfunctionisused(onlywithCMMP,CDIR.B7,FUNC=1):No. Bit 2 1 Function group0 0 0 Synchronisation with/without cam diskAllotherevalues(No.1...3)arereserved.
B7FUNC	=0: Normal task=1:Executecammingfunction,asperbits3...6(onlywithCMMP)

Tab. 4/7: RCB1allocation

RecordControlByte2

FHPP (CMMP)	402	1 ... 250		uint8	rw
FHPP (CMMS/CMMD)	402	1 ... 63		uint8	rw
DescriptionRecord	controlbyte2(RCB2)controlsconditionalrecordchaining.
	Ifaconditionwasdefined,itispossibletoprohibitautomaticcontinuationto thefollowingrecordbysettingtheB7bit.Thisfunctionisintendedfordebug-gingandnotfornormalcontrolpurposes.
	BitMeaning____
	Bit0...6Numericalvalue0...128:stepenablingconditionasalist, seesection2.6.3Tab.2/13.
	Bit7 =0:recordchaining(bits0...6)isnotdisabled=1:recordchainingisdisabled
Record 1	402	1		uint8	rw
	Recordcontrolbyte2forpositioningrecord1.
Record 2	402	2		uint8	rw
	Recordcontrolbyte2forpositioningrecord2.
Record ...	402	...		uint8	rw
	Recordcontrolbyte2forpositioningrecord...

Record Setpoint Value

FHPP (CMMP)	404	1 ... 250		int32	rw
FHPP (CMMS/CMMD)	404	1 ... 63		int32	rw
DescriptionRecord 1	Target position of the positioning record table. Setpoint position as per PNU401/RCB1,absoluteorrelative,statedinpositioningunit(seePNU1004).
	404	1		int32	rw
	Setpointpositionforpositioningrecord1.
Record 2	404	2		int32	rw
	Setpointpositionforpositioningrecord2.
Record ...	404	...		int32	rw
	Setpointpositionforpositioningrecord ....

Control	Step size	Default	Minimum	Maximum
Position 1)	1/100mm	0(=0.0mm)	-1,000,000 (= -10.0m)	1,000,000 (=10.0m)
	1/1000inch	0 (= 0.0 inch)	-400,000 (= -400inch)	400,000 (=400inch)
	1/100°	0 (= 0.0°)	-36,000 (= -360.0°)	36,000 (=360.0°)
1) Examplesofpositioningunit,seePNU1004

Tab.4/8:Setpointvaluesforpositioning unitsinPNU404

RecordPreselectionValue

FHPP (CMMP)	405	1 ... 250		int32	rw
DescriptionRecord 1	Following position (record number of the following position with NEXT1).
	405	1		int32	rw
	Followingpositionforrecord1.
Record 2	405	2		int32	rw
	Followingpositionforrecord2.
Record ...	405	...		int32	rw
	Followingpositionforrecord...

RecordPreselectionValue

FHPP (CMMS/CMMD)	405	1 ... 63		int32	rw
DescriptionPreselectionRecord 1	tionvalueforconditionalrecordchainingoftherecordprofileinms,asperstepenablingconditionfromPNU402(RCB2);seesection2.6.3Tab.2/13.Valuerange:0ms...100,000ms=100sWhenwritten,thevaluebecomeseffectivefortherecordprofile;seeFig.4/2.
	405	1		int32	rw
	Preselectionvalueforrecord1.
Record 2	405	2		int32	rw
	Preselectionvalueforrecord2.
Record ...	405	...		int32	rw
	Preselectionvalueforrecord...

RecordVelocity

FHPP (CMMP)	406	1 ... 250		uint32	rw
DescriptionVelocityRecord 1	setpointvalueinunitofvelocity(seePNU1006).
	406	1		uint32	rw
	Velocitysetpointvalueforpositioningrecord1
Record 2	406	2		uint32	rw
	Velocitysetpointvalueforpositioningrecord2
Record ...	406	...		uint32	rw
	Velocitysetpointvalueforpositioningrecord...

RecordVelocity

FHPP (CMMS/CMMD)	406	1 ... 63		uint32	rw
Description	Velocity setpoint value of the record profile as per PNU 414, stated in the unit ofvelocity(seePNU1006).Whenwritten,thevaluebecomeseffectivefortherecordprofile;seeFig.4/2.
Record14	061uint32rw
	Velocitysetpointvalueoftherecordprofileofpositioningrecord1.
Record24	062uint32rw
	Velocitysetpointvalueoftherecordprofileofpositioningrecord2.
Record ...	406	...		uint32	rw
	Velocitysetpointvalueoftherecordprofileofpositioningrecord...

RecordAcceleration

FHPP (CMMP)	407	1 ... 250		uint32	rw
DescriptionAccelerationRecord14	tionsetpointvalueforstart-up,statedinunitofacceleration(seePNU1007).
	071uint32rw
	Accelerationsetpointvalueforpositioningrecord1.
Record24	072uint32rw
	Accelerationsetpointvalueforpositioningrecord2.
Record ...	407	...		uint32	rw
	Accelerationsetpointvalueforpositioningrecord...

RecordAcceleration

FHPP (CMMS/CMMD)	407	1 ... 63		uint32	rw
Description	Acceleration setpoint value for the record profile as per PNU 414 for start-up, statedintheunitofacceleration(seePNU1007).Whenwritten,thevaluebecomeseffectivefortherecordprofile;seeFig.4/2.
Record14	071uint32rw
	Accelerationsetpointvalueoftherecordprofileofpositioningrecord1.
Record24	072uint32rw
	Accelerationsetpointvalueoftherecordprofileofpositioningrecord2.
Record ...	407	...		uint32	rw
	Accelerationsetpointvalueoftherecordprofileofpositioningrecord...

RecordDeceleration

FHPP (CMMP)	408	1 ... 250		uint32	rw
DescriptionDecelerationsetpointvalueforbraking,statedinunitofacceleration(seePNU1007).
Record14	081uint32rw
	Decelerationsetpointvalueforpositioningrecord1
Record24	082uint32rw
	Decelerationsetpointvalueforpositioningrecord2
Record ...	408	...		uint32	rw
	Decelerationsetpointvalueforpositioningrecord...

RecordDeceleration

FHPP (CMMS/CMMD)	408	1 ... 63		uint32	rw
Description	Deceleration setpoint value for the record profile as per PNU 414 for braking, statedintheunitofacceleration(seePNU1007).Whenwritten,thevaluebecomeseffectivefortherecordprofile;seeFig.4/2.
Record14	081uint32rw
	Decelerationsetpointvalueoftherecordprofileofpositioningrecord1.
Record24	082uint32rw
	Decelerationsetpointvalueoftherecordprofileofpositioningrecord2.
Record ...	408	...		uint32	rw
	Decelerationsetpointvalueoftherecordprofileofpositioningrecord...

RecordVelocityLimit

FHPP (CMMP)	412	1 ... 250		uint32	rw
DescriptionRecord14	Velocity limit for Profile Torque mode, stated in the unit of velocity (see PNU1006).
	121uint32rw
	Velocitylimitforpositioningrecord1.
Record24	122uint32rw
	Velocitylimitforpositioningrecord2.
Record ...	412	...		uint32	rw
	Velocitylimitforpositioningrecord...

4. Parameters

RecordJerkfreeFilterTime

FHPP (CMMP)	413	1 ... 250		uint32	rw
DescriptionJerk-freefiltertimeinms.
Record14	Specifiesthefiltertimeconstantfortheoutputfilterthatisusedtosmooththelinearmovementprofiles.Completelyjerk-freemovementisachievedifthefiltertimeisthesameastheaccelerationtime.
	131uint32rw
Jerk-freefiltertimeforpositioningrecord1.
Record24	132uint32rw
Jerk-freefiltertimeforpositioningrecord2.
Record ...	413	...		uint32	rw
	Jerk-freefiltertimeforpositioningrecord...

RecordJerkfreeFilterTime

FHPP (CMMS/CMMD)	413	1 ... 63		uint32	rw
DescriptionJerk-freeRecord14	filtertimeoftherecordprofileasperPNU414,statedinms.Specifiesthefiltertimeconstantfortheoutputfilterthatisusedtosmooththelinearmovementprofiles.Completelyjerk-freemovementisachievedifthefiltertimeisthesameastheaccelerationtime.Whenwritten,thevaluebecomeseffectivefortherecordprofile;seeFig.4/2.
	131uint32rw
	Jerk-freefiltertimeoftherecordprofileofpositioningrecord1.
Record24	132uint32rw
	Jerk-freefiltertimeoftherecordprofileofpositioningrecord2.
Record ...	413	...		uint32	rw
	Jerk-freefiltertimeoftherecordprofileofpositioningrecord...

RecordProfile

FHPP (CMMS/CMMD)	414	1 ... 63		uint8	rw
Description	Specifies affiliation to a record profile. The positioning records are assigned to theprofiles(0...7).Thefollowingparametersaredefinedinaprofile:-Preselectionvalue(PNU405)-Positioningvelocity(PNU406)-Acceleration(PNU407)-Deceleration(PNU408)-Jerk-freefiltertime(PNU413)-Maximumpositioningtime 1)- Start duringanongoingpositioningtask 1)Thesettingsintherecordprofileareuniformlyeffectiveforallassignedrecords;seeFig.4/2.Valuerange:0...7(equatestotheassignedrecordprofile)
Record 1	414	1		uint8	rw
	Recordprofileforpositioningrecord1.
Record 2	414	2		uint8	rw
	Recordprofileforpositioningrecord2.
Record ...	414	...		uint8	rw
	Recordprofileforpositioningrecord...
1) CannotbeparametrisedwithFHPP,accessviaFCTonly

Record Following Position (for record chaining)

FHPP (CMMP)	416	1 ... 250		uint8	rw
FHPP (CMMS/CMMD)	416	1 ... 63		uint8	rw
DescriptionRecordn	umbertowhichrecordchainingjumpswhenthestepenablingcondi-tionismet. Valuerange:0x01...0x7F(1...250)
Record 1	416	1		uint32	rw
	Followingpositionforpositioningrecord1.
Record 2	416	2		uint32	rw
	Followingpositionforpositioningrecord2.
Record ...	416	...		uint32	rw
	Followingpositionforpositioningrecord...

RecordTorqueLimitation

FHPP (CMMP)	418	1 ... 250		uint32	rw
DescriptionTorque/Record14	currentcurrentlimitationinProfilePositionmodeinmNm.
	181uint32rw
	Torquelimitation forpositioningrecord1.
Record24	182uint32rw
	Torque limitationforpositioningrecord2.
Record ...	418	...		uint32	rw
	Torque limitationforpositioningrecord...

RecordCAMID(camdisknumberforrecord)

FHPP (CMMP)	419	1 ... 250		uint8	rw
Description	This parameter is used to select the cam disk for the relevant record. Value range: 0 ... 16 (with value 0 the cam disk from PNU 700 is used)
Record14	191uint8		rw
	Cam disk number for positioning record 1.
Record24	192uint8		rw
	Cam disk number for positioning record 2.
Record ...	419	...		uint8	rw
	Cam disk number for positioning record ...

RecordRemainingDistanceMessage

FHPP (CMMP)	420	1 ... 250		int32	rw
DescriptionRecord 1	Message reporting the remaining positioning distance in the record list, stated inpositioningunits (seePNU 1004).
	420	1		int32	rw
	Remaining distance message for positioning record 1.
Record 2	420	2		int32	rw
	Remaining distance message for positioning record 2.
Record ...	420	...		int32	rw
	Remaining distance message for positioning record ...

4. Parameters

RecordControlByte3

FHPP (CMMP)	421	1 ... 250		uint8	rw
DescriptionRecordRecord 1	controlbyte3(RCB3)controlsthespecificbehaviouroftherecordwhenparticulareventsoccur.Therecordcontrolbyteisbit-orientated.Forallocation,seeTab.4/9
	421	1		uint8	rw
	Recordcontrolbyte3 forpositioningrecord1.
Record 2	421	2		uint8	rw
	Recordcontrolbyte3 forpositioningrecord2.
Record ...	421	...		uint8	rw
	Recordcontrolbyte3 forpositioningrecord...

BitDescription

B0, B1	Start command during active positioning:Bit1 0 Description
	0 0 Ignore0 1 Interruptactive1 0 Appendtoactivepositioning(wait)1 1 Reserved
B2 ... B9	Reserved (= 0 !)

Tab. 4/9: RCB3allocation

4.Parameters

4.4.9 Projectdata-Generalprojectdata

ProjectZeroPoint(projectzeropointoffset)

FHPP (all)	500	1		int32	rw
Description	Offset from axis zero point to project zero point in positioning unit. (seePNU1004). Pointofreferenceforpositionvaluesintheapplication(seePNU404).

SoftwareEndPositions

FHPP(all)5011,2int3	2rw
Description	Software end positions in positioning unit (see PNU 1004)Asetpointspecification(position)outsidetheendpositionsisnotpermittedandwillleadtoafault.Theoffsettotheaxiszeropointisentered.Plausibilityrule:min.limit≤max.limit
Lower Limit	501	1		int32	rw
	Lowersoftwareendposition
Upper Limit	501	2		int32	rw
	Uppersoftwareendposition

Max.Speed

FHPP (all)	502	1		uint32	rw
Description	Max. permissible speed in unit of velocity (see PNU 1006).Thisvaluelimitsthespeedinalloperatingmodesexcepttorquemode.

Max.Acceleration

FHPP (all)	503	1		uint32	rw
Description	Max. permissible acceleration in unit of acceleration (see PNU 1007).

Max.JerkfreeFilterTime

FHPP (all)	505	1		uint32	rw
DescriptionMax.permissiblejerk-freefiltertimeinms.
	Value range: CMMP: 0x00000000 ... 0xFFFFFFFF (0 ... 4294967295)CMMS/CMMD:0x00000000...0x00000033(0...51)

4. Parameters

4.4.10 Projectdata–Teaching

TeachTarget

FHPP (all)	520	1		uint8	rw
DescriptionTheparameterdefinedistheonewrittenwiththeactualpositionbythenext Teachcommand(seesection2.5).Values:0x01(1): Setpointpositioninpositioningrecord(default)-WithRecordselection:positioningrecordasperFHPP controlbytes-WithDirectmode:positioningrecordasperPNU400/10x02(2): axiszeropoint(PNU1010)0x03(3): projectzeropoint(PNU500)0x04(4): lowersoftwareendposition(PNU501/01)0x05 (5): upper software end position (PNU 501/02)

4. Parameters

4.4.11 Projectdata-Jogmode

JogModeVelocitySlow-Phase1

FHPP (all)	530	1		int32	rw
DescriptionMaximum	mvelocityforphase1inunitofvelocity(seePNU1006).

JogModeVelocityFast-Phase2

FHPP (all)	531	1		int32	rw
DescriptionMaximum	mvelocityforphase2inunitofvelocity(seePNU1006).

JogModeAcceleration

FHPP (all)	532	1		uint32	rw
Description	Acceleration during jogging in unit of acceleration (see PNU 1007).

JogModeDeceleration

FHPP (all)	533	1		uint32	rw
DescriptionDecelerationduringjogginginunitofacceleration(seePNU1007).

JogModeTimePhase1

FHPP (all)	534	1		uint32	rw
DescriptionTimedurationofphase1(T1)in ms.

4. Parameters

4.4.12 Projectdata-Directmode, ProfilePositionmode

DirectModePositionBaseVelocity

FHPP (all)	540	1		int32	rw
DescriptionBasevelocityduringdirectProfilePositionmodeinunitofvelocity(seePNU1006).

DirectModePositionAcceleration

FHPP (all)	541	1		uint32	rw
DescriptionAccelerationduringdirectProfilePositionmodeinunitofacceleration(seePNU1007).

DirectModePositionDeceleration

FHPP (all)	542	1		uint32	rw
DescriptionDecelerationduringdirectProfilePositionmodeinunitofacceleration(seePNU1007).

DirectModePositionJerkfreeFilterTime

FHPP (all)	546	1		uint32	rw
DescriptionJerk-free	filtertimeduringdirectProfilePositionmodeinms.
	Value range: CMMP: 0x00000000 ... 0xFFFFFFF (0 ... 4294967295)CMMS/CMMD:0x00000000...0x00000033(0...51)

4. Parameters

4.4.13 Projectdata-Directmode, ProfileTorquemode

DirectModeTorqueBaseTorqueRamp
FHPP (CMMP)	550	1		uint32	rw
DescriptionBasevalue	efortorquerampindirectProfileTorquemodeinmNm/s.

DirectModeTorqueTargetTorqueWindow
FHPP (CMMP)	552	1		uint16	rw
DescriptionTorquein	mNm,beingtheamountbywhichtheactualtorqueispermittedto differfromthesetpointtorqueinordertobeinterpretedasstillbeinginthe targetwindow. Thewidthofthewindowistwicethevaluetransmitted,with thetargettorqueinthecentreofthewindow.

DirectModeTorqueTimeWindow
FHPP (CMMP)	553	1		uint16	rw
DescriptionDamping	timeforthetorquetargetwindowduringdirectProfileTorquemodeinms.

DirectModeTorqueSpeedLimit
FHPP (CMMP)	554	1		uint32	rw
Description	When Profile Torque mode is active, the velocity is limited to this value, stated inunitofvelocity(PNU1007).Note:PNU514allowsanabsolutespeedlimitobespecified,whichtriggersafaultifitisreached.Ifbothfunctions(limitationandmonitoring)aretobactiveatthesametime,PNU554mustbesignificantlylessthanPNU514.

4.4.14 Projectdata-Directmode, ProfileVelocitymode

DirectModeVelocityBaseVelocityRamp

FHPP (all)	560	1		uint32	rw
Description	Base acceleration value (velocity ramp) during direct Profile Velocity mode in unitofacceleration(seePNU1007).

DirectModeVelocityTargetWindow

FHPP (CMMP)	561	1		uint16	rw
Description	Velocity target window during direct Profile Velocity mode in unit of velocity (seePNU1006).

Direct Mode Velocity Window Time (damping time for velocity target window in direct mode)

FHPP (CMMP)	562	1		uint16	rw
DescriptionDamping	timeforvelocitytargetwindowduringdirectProfileVelocitymodeinms.

DirectModeVelocityThreshold(standstilltargetwindowindirectmode)

FHPP (CMMP)	563	1		uint16	rw
Description	Standstill target window during direct Profile Velocity mode in unit of velocity (seePNU1006).

Direct Mode Velocity Threshold Time (damping time for standstill in direct mode)

FHPP (CMMP)	564	1		uint16	rw
Description	Damping time for standstill target window during direct Profile Velocity mode in ms.

Direct ModeVelocityTorqueLimit

FHPP (CMMP)	565	1		uint32	rw
Description	Torque limitation during direct Profile Velocity mode in unit of torque (mNm).

4. Parameters

4.4.15 Functiondata-Cammingfunction

Selectingcamdisk

CAMID(camdisknumber)
FHPP7001uint8rw
DescriptionThisparameterisusedtoselectthenumberofthecamdiskinDirectmode.Valuerange1...16

MasterStartPositionDirectMode(masterstartpositionindirectmode)
FHPP7011int32rw
DescriptionDefinesthestartpositionofthemasterforthecammingfunction.

Synchronisation(input,X10)

InputConfigSync.(inputconfigurationforsynchronisation)
FHPP7101uint32rw
Description	Configuration of the encoder input for synchronisation (physical master on X10, slaveoperation).
	BitName	Description
	0	Ignoreindexpulse	Bit0=1:withoutindexpulse
			Bit0=0:withindexpulse
	1	-	Reserved = 0
	2	Switch off A/B track	Bit 2 = 1: without A/B track
			Bit2=0:withA/Btrack
	3...31	-...	Reserved=0

4. Parameters

GearSync.(synchronisationgearatio)
FHPP7111,2uint32rw
DescriptionGearratiofor synchronisationwithanexternalinput(physicalmasteronX10, slaveoperation).
MotorRevolutions71	11uint32rw
	Motorrevolutions(driveinput).
Shaftrevolutions7	112uint32rw
	Shaftrotations(output).

Encoderemulation(output,X11)

OutputConfigEncoderEmulation(outputconfigurationforencoderemulation)
FHPP7201uint32rw
DescriptionConfigurationoftheencoderforencoderemulation(virtualmaster).
	Bit	Name	Description
	0	Switch off A/B track	Bit 0 = 1: without A/B trackBit0=0:withA/Btrack
	1	Suppress index pulse	Bit 1 = 1: without index pulseBit1=0:withindexpulse
	2	Reversal of direction of rotation	Bit 2 = 1: with reversal of directionofrotationBit2=0:withoutreversalofdirectionofrotation
	3...31	-...	Reserved=0

4.4.16 Functiondata-Positiontriggersandrotorpositiontriggers

PositionTriggerControl

FHPP7301uint32rw
DescriptionBit-by-bitactivationofthecorrespondingtriggers.Bitisset=triggeriscomputed,i.e.thepositioncomparisoniscarriedout.Triggerswhicharenotcomputedsavecomputingtime.Bit(hexvalue)Description
						Reserved

PositionTriggerLow

FHPP	731	1 ... 4		int32	rw
Description	Position values for the low position trigger, stated in the positioning unit (see PNU1004).
Position Trigger 1	731	1		int32	rw
	Positionvaluesofthefirstlowpositiontrigger.
Position Trigger 2	731	2		int32	rw
	Positionvaluesofthesecondlowpositiontrigger.
Position Trigger 3	731	3		int32	rw
	Positionvaluesofthethirdlowpositiontrigger.
Position Trigger 4	731	4		int32	rw
	Positionvaluesofthefourthlowpositiontrigger.

PositionTriggerHigh

FHPP7321...4int32rw
Description	Position values for the high position trigger, stated in the positioning unit (see PNU1004).
Position Trigger 1	732	1		int32	rw
	Position values of the first high position trigger.
Position Trigger 2	732	2		int32	rw
	Position values of the second high position trigger.
Position Trigger 3	732	3		int32	rw
	Position values of the third high position trigger.
Position Trigger 4	732	4		int32	rw
	Position values of the fourth high position trigger.

RotorPosition TriggerLow

FHPP7331...4int32rw
DescriptionRotorPosition Trigger1	Angle for the low rotor position trigger, stated in°.Value range: -180 ...180
	7331int32rw
	Angle of the first low rotor position trigger.
RotorPosition Trigger2	7332int32rw
	Angle of the second low rotor position trigger.
RotorPosition Trigger3	7333int32rw
	Angle of the third low rotor position trigger.
RotorPosition Trigger4	7334int32rw
	Angle of the fourth low rotor position trigger.

4.Parameters

RotorPositionTriggerHigh
FHPP7341...4int32rw
DescriptionAnglefor	thehighrotorpositiontrigger, statedin°.Valuerange:-180...180
RotorPosition Trigger1	7341int32rw
	Angleofthefirsthighrotorpositiontrigger.
RotorPosition Trigger2	7342int32rw
	Angleofthesecondhighrotorpositiontrigger.
RotorPosition Trigger3	7343int32rw
	Angleofthethirdhighrotorpositiontrigger.
RotorPosition Trigger4	7344int32rw
	Angleofthefourthhighrotorpositiontrigger.

4. Parameters

4.4.17 Axis parameters forelectric drives 1-Mechanical parameters

Polarity(reversalofdirection)

FHPP (all)	1000	1		uint8	rw
DescriptionDirection	ofthepositionvalues.Values:Positionvalue(vector)0x00(0): normal(default)0x80(128):inverted(multipliedby-1)

EncoderResolution

FHPP (all)	1001	1, 2		uint32	rw
DescriptionEncoder	resolutioninencoderincrements/motorrevolutions.Specifiedinternalconversionfactor.Thecalculatedvalueisderivedfromthefraction“encoderincrements/motorrevolution”.
Encoder Increments	1001	1		uint32	rw
	Fixed:0x00010000(65536)
Motor Revolutions	1001	2		uint32	rw
	Fixed:0x00000001(1)

GearRatio

FHPP (all)	1002	1, 2		uint32	rw
DescriptionRatioofMotor Revolutions	motorrevolutionstogearingshaftrevolutions(driveoutput revolutions),seeappendixA.1.Gearratio=motorrevolutions/shaftrevolutions
	1002	1		uint32	rw
	Gearatio-numerator.Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))
Shaft Revolutions	1002	2		uint32	rw
	Gearatio-denominator.Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))

FeedConstant

FHPP (all)	1003	1, 2		uint32	rw
DescriptionThefeedFeedShaft Revolutions	constantspecifiesthepitchofthedrive’sshaftperrevolution,seeappendixA.1.Feedconstant=feed/shaftrevolution
	1003	1		uint32	rw
	Feedconstant-numerator.Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))
	1003	2		uint32	rw
	Feedconstant-denominator.Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))

PositionFactor

FHPP(all)10041,2uint	t32rw
Description	Conversion factor for all positioning units (for converting the user-defined units intointernalcontrollerunits).SeeappendixA.1forthecalculation.
	PositionFactor = EncoderResolution*GearRatioFeed Constant
Numerator	1004	1		uint32	rw
Denominator	Positionfactor-numerator.
	1004	2		uint32	rw
	Positionfactor-denominator.

Axis Parameter (axis parameters)

FHPP (all)	1005	2, 3		int32	rw
DescriptionSpecifyandreadoutaxisparameters.
Gear Numerator	1005	2		int32	rw
Gear Denominator	Gear ratio-axis gear numeratorValuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))
	1005	3		int32	rw
	Gear ratio-axis geardenominatorValuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))

4. Parameters

VelocityFactor

FHPP(all)10061,2uint32rw
Description	Conversion factor for all units of velocity (for converting the user-defined units intointernalcontrollerunits).SeeappendixA.1forthecalculation.VelocityFactor= *TimeFactor_vFeedConstant
Numerator	1006	1		uint32	rw
Denominator	Velocityfactor-numerator.
	1006	2		uint32	rw
	Velocityfactor-denominator.

AccelerationFactor

FHPP(all)10071,2uint32rw
Description	Conversion factor for all units of acceleration (for converting the user-defined unitsintointernalcontrollerunits).SeeappendixA.1forthecalculation.AccelerationFactor=EncoderResolution*TimeFactor_aFeedConstant
Numerator	1007	1		uint32
	Accelerationfactor-numerator.
Denominator	1007	2		uint32
	Accelerationfactor-denominator.

Polarity Slave (reversal of direction for slave)

FHPP (all)	1008	1		uint8	rw
Description	This parameter can be used to reverse the position specification for signals on X10(slaveoperation)Thisappliestothefunctions“Synchronisation”(includingelectronicgear units),“Flyingsaw”,“Camdisks”.ValueDescription
	0x00	Positionvaluevectornormal(default)
	0x80	Positionvaluevectorinverted

4.4.18Axisparametersforelectricdrives1-Homingparameters

OffsetAxisZeroPoint

FHPP (all)	1010	1		int32	rw
Description	Axis zero point offset in positioning unit (see PNU 1004).Theoffsetfortheaxiszeropoint(homeoffset)definestheaxiszeropoint<AZ>asadimensionalreferencepointrelativetothephysicalreferencepoint<REF>.Theaxiszeropointisthepointofreferencefortheprojectzeropoint<PZ>and forthesoftwareendpositions.Allpositioningoperationsrefertotheprojectzeropoint(PNU500).Theaxiszeropoint(AZ)iscalculatedfrom:AZ=REF+axiszeropointoffset

HomingMethod

FHPP (all)	1011	1		int8	rw
Description	Defines the method which the drive uses to carry out the homing. (seesection2.3,Tab.2/4).

HomingVelocities

FHPP (all)	1012	1, 2		uint32	rw
DescriptionSearch for SwitchRunning for Zero	Speeds during homing in unit of velocity (see PNU 1006).
	1012	1		uint32	rw
	SpeedwhensearchingforthereferencepointREForastoporswitch. Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))
	1012	2		uint32	rw
	SpeedoftraveltotheaxiszeropointAZ. Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))

HomingAcceleration

FHPP (all)	1013	1		uint32	rw
DescriptionAcceleration	tionduringhominginunitofacceleration(seePNU1007).Valuerange:0x00000000...0x7FFFFFFF(0...+(2 31-1))

4. Parameters

HomingRequired

FHPP (all)	1014	1		uint8	rw
DescriptionDefines	whetherornothomingmustbecarriedoutafterswitchingoninordertocarryoutpositioningtasks.Driveswiththemulti-turnabsolutedisplacementencoderonlyneedonehom-ingrunafterbeinginstalled.Values:0x00(0):Reserved0x01(1):HomingmustbecarriedoutFixed:0x01(1)

HomingMax.Torque

FHPP (CMMP)	1015	1		uint8	rw
DescriptionMax.torqueduringhoming.Specifiedasamultipleoftheratedtorquein%(seePNU1036).Themaximumpermittedtorque(viacurrentlimiting)duringhoming.Ifthis valueisreached,thedriveidentifiesthestop(REF)andtravelstotheaxis zeropoint.

4. Parameters

4.4.19Axisparametersforelectricdrives1-Closed-loopcontroller parameters

HaltOptionCode
FHPP (all)	1020	1		uint16	rw
DescriptionReaction	toaHaltcommand(fallingedgeatSPOS.B0).Values:0x00(0):Reserved(switchoff motor– coilwithoutcurrent,brake notactuated)0x01 (1): Brakewithstopramp0x02 (2): Reserved (brake with emergency stop ramp)

PositionWindow
FHPP (all)	1022	1		uint32	rw
Description	Tolerance window in positioning unit (see PNU 1004).Amount by which the current position may deviate from the target position,in order that it may still be regarded as being within the target window.The width of the window is twice the value transmitted, with the target positionin the centre of the window.

PositionWindowTime(adjustmenttimeforposition)
FHPP (all)	1023	1		uint16	rw
Description	Adjustment time in milliseconds.If the actual position has been in the target position window this amount of time, the bit “Target reached” will be set in the status word.

ControlParameterSet(controller'sparameters)

FHPP (all)	1024	18 ... 22, 32		uint16	rw
DescriptionControl	parametersaswellasparametersfor“quasi-absoluteposition registering”.
GainPosition	102418uint16	rw
	Gainofclosed-looppositioncontroller. Valuerange:0x0000...0xFFFF(0...65535)
GainVelocity1	2419uint16	rw
	Gainofclosed-loopvelocitycontroller. Valuerange:0x0000...0xFFFF(0...65535)
TimeVelocity (velocitytime constant)	102420uint16	rw
	Timeconstantfortheclosed-loopvelocitycontroller. Valuerange:0x0000...0xFFFF(0...65535)
Gain Current	1024	21		uint16	rw
	Gainofcurrentregulator. Valuerange:0x0000...0xFFFF(0...65535)
TimeCurrent (currenttime constant)	1024	22		uint16	rw
	Timeconstantforthecurrentregulator. Valuerange:0x0000...0xFFFF(0...65535)
Save Position	1024	32		uint16	rw
	Savethecurrentpositionwhenswitchingoff(“quasi-absolute”positioning). SeealsoPNU1014. Values: 0x00F0 (240) = Current position will not be saved at power-off (default) 0x000F(15)=Reserved

MotorData

FHPP (all)	1025	1, 3		uint32/uint16	ro/rw
DescriptionMotor-specific Number	specificdata.
	1025	1		uint32	ro
Time Max. Current	Festoserialnumberandmotor'sserialnumber.
	1025	3		uint16	rw
	I^2t time in ms.Whenthel ^2tttimeelapses , thecurrentislimitedautomaticallytothemotorratedcurrentinordertoprotectthemotor(MotorRatedCurrent,PNU1035).

4. Parameters

DriveData
FHPP (CMMP)	1026	1 ... 4,7		uint32	ro/rw
FHPP (CMMS/CMMD)	1026	1, 3, 4, 7		uint32	ro/rw
DescriptionGeneralmotordata.
PowerTemp.(outputstage temp.)	10261uint32	ro
	Temperatureoftheoutputstagein°C.
PowerStage Max.Temp.(outputstagemax.temp.)	10262uint32	ro
	CMMPonly:Maximumtemperatureoftheoutputstagein°C.
MotorRated Current	10263uint32	rw
	RatedmotorcurrentinmA,identicaltoPNU1035.
CurrentLimit(max.motor current)	10264uint32	rw
	Maximummotorcurrent,identicaltoPNU1034.
ControllerSerial Number	10267uint32	ro
	Controller'sinternalserialnumber.

4. Parameters

4.4.20Axisparametersforelectricdrives1

–Electronicratingplate

Max.Current

FHPP (all)	1034	1		uint16	rw
Description	Servo motors may normally be overloaded for a certain time period. The highestpermissiblemotorcurrenttissetwithPNU1034(identicalto PNU1026).Itreferstothemotorratedcurrent(PNU1035)andissetin thousandths.Thevaluerangeislimitedupwardbythemaximumcontrollercurrent(seetech-nicaldata,dependingonthecontrollercycletimeandthefinalstagefre-quency).PNU1034mayonlybewrittenwhenPNU1035waspreviouslyvalidlywritten.Note:pleasenotethatthecurrentlimitationalsolimitsthemaximumpossible velocityandthat(higher)setpointvelocitiesmaythereforenotbeachieved.

MotorRatedCurrent

FHPP (all)	1035	1		uint32	rw
DescriptionThemotor'sratedcurrentinmA,identicaltoPNU1026/3.

MotorRatedTorque

FHPP (all)	1036	1		uint32	rw
DescriptionThemotor'sratedtorquein0.001Nm.

TorqueConstant

FHPP (all)	1037	1		uint32	rw
DescriptionRatiobet	weenthecurrentandtorqueinthemotorusedinmNm/A.

4. Parameters

4.4.21 Axis parameters forelectric drives 1-Standstill control

PositionDemandValue(setpointposition)
FHPP (all)	1040	1		int32	ro
Description	Setpoint target position of the last positioning task, stated in positioning unit (seePNU1004).

PositionActualValue(currentposition)
FHPP (all)	1041	1		int32	ro
DescriptionCurrentpositionofthedrive,statedinthepositioningunit(seePNU1004).

StandstillPositionWindow
FHPP (all)	1042	1		uint32	rw
DescriptionStandstillpositionwindowinpositioningunit(seePNU1004).AmountbywhichthedrivemaymoveafterMC,untilstandstillcontrol responds.

StandstillTimeout
FHPP (all)	1043	-		uint16	rw
DescriptionStandstill	lcontroltimeoutinms.Timeduringwhichthedrivemustbeoutsidethestandstillpositionwindowbeforestandstillcontrolresponds.

4. Parameters

4.4.22Axisparametersforelectricdrives1–Dragerrormonitoring

FollowingErrorWindow(dragerorwindow)

FHPP (CMMP)	1044	1		uint32	rw
Description	Define or read the permitted range for drag errors, stated in positioning units. 0xFFFFFFFF=dragerrormonitoringOFF

FollowingErrorTime(dragerrortimeout)

FHPP (CMMP)	1045	1		uint16	rw
Description	Define or read a timeout time for drag error monitoring in ms. Valuerange:1...60000

4.4.23Axisparametersforelectricdrives1-Otherparameters

TorqueFeedForwardControl

FHPP (CMMP)	1080	1		int32	rw
DescriptionTorquefeedforwardcontrolinmNm(onlyeffectivefordirectmodewith positioncontrol).

SetupVelocity

FHPP (CMMP)	1081	1		uint8	rw
Description	Setup velocity as % of whatever velocity is specified. Valuerange:0...100

VelocityOverride

FHPP (CMMP)	1082	1		uint8	rw
DescriptionVelocity	overrideas%ofwhatevervelocityisspecified.
	Valuerange:0...255

4. Parameters

4.4.24 Function parameters for digital I/Os

RemainingDistanceforRemainingDistanceMessage
FHPP (all)	1230	1		uint32	rw
DescriptionTheremainingpositioningdistanceisthetriggerconditionfortheremainingdistancemessage,whichcanbeissuedonadigitaloutput.WithCMMP-AS:effectiveinDirectmodeonly.

1. Parameters

ParametrisationwithFPC

Chapter5

1. Parametrisation with FPC

Contents

5.1ParametrisationwithFHPP5-3.....

5.1.1 FestoParameterChannel(FPC)forcyclicdata(I/Odata)5-3.....
5.1.2 Taskidentifiers, responseidentifiers and error numbers 5-5.....
5.1.3 Rules for task-response processing 5-7

5.1 Parametrisation with FHPP

5.1.1 FestoParameterChannel(FPC)forcyclicdata(I/Odata)

Theparameterchannelisusedfortransmittingparameters. Theparameterchannelcomprisesthefollowing:

Components	Description
Parameteridentifier (ParID)	Parameterchannelcomponentwhichcontainsthetaskidentifier (“request”identifier,ReqID)orresponseidentifier(ResID)andtheparameternumber(PNU).Theparameternumberservesforidentifyingoraddressingtheindividual parameter. Thetaskorresponseidentifier(ReqID/ResID)describesthe task/responseintheformofanidentifiernumber.
Subindex (IND)	Addresses an element of an array parameter (sub-parameter number)
Parametervalue(Value)Value	oftheparameter.Ifataskforparameterprocessingcannotbecarriedout,anerrornumber willbetransmittedintheresponsetelegraminsteadofthevalue.The errornumberdescribesthecauseoftheerror.

Tab.5/1: Componentsoftheparameterchannel(FPC)

Theparameterchannelconsistsof8octets. The following tableshowsthestructureoftheparameterchannelinrelation to the size or type of the parameter value:

FPC
	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
Output data	0	IND	ParID		Value
Input data	0	IND	ParID		Value
IND	Subindex-foraddressinganarrayelement
ParID	Parameter identifier - consists of ReqID or ResID and PNU
Value	Parametervalue:–Withdoubleword:bytes5...8–Withword:bytes7,8– With byte: byte 8

Tab.5/2: Structureofparameterchannel

5. Parametrisation with FPC

Parameteridentifier(ParID)

Theparameteridentifiercontainsthetaskidentifier ("request"identifier,ReqID)orresponseidentifier(ResID) and the parameter number(PNU).

ParID
Bit	Octet2(byte4)Octet1(byte3)
	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Task	ReqID				Rsvd	Parameter number (PNU)
Response	ResID				Rsvd	Parameter number (PNU)
ReqID	Request identifier – task identifier (read, write, ...)
ResID	Response identifier (transmit value, fault, ...)
Value (PNU)	Parameter number – serves for identifying or addressing the relevant parameter(seesection5.1).Thetask/responseidentifieridentifies the type of task or response (see section 5.1.2).

Tab.5/3: Structureofparameteridentifier(ParID)

5.1.2 Taskidentifiers, responseidentifiers and error numbers

Thetaskidentifiersareshowninthefollowingtable:

ReqID	DescriptionResponseidentifier	PositiveNegative
0Notask0-
6Request	parameter(array)57
8	Modify parameter value (array, double word)	5	7
13	Request lower limit value	5	7
14	Request upper limit value	5	7

Tab.5/4: Taskidentifiersandresponseidentifiers

If the task cannot be carried out, response identifier 7 as well as the appropriate error number will be transmitted (negative response).

The followingtableshowstheresponseidentifiers:

ResID	Description
0Noresponse
5Parametervaluetransmitted(array,doubleword)
7	Task cannot be carried out (with error number)1)
1) Forerrornumbers, seefollowing table

Tab.5/5: Responseidentifiers

If the task for parameter processing cannot be carried out, an appropriate error number will be transmitted in the response telegram (octets7 and 8 of the FPC range). The order of error checking and the possible error numbers are shown in the following table:

No.	CheckingofErrornumbersDescription
1	PNU defined	0	0x00	Impermissible PNU. The parameter doesnotexist.
2	If array: IND defined	3	0x03	Faulty subindex
3	ReqID permissible	101	0x65	Festo: ReqID is not supported
4	Accessrights(read,write)	10x01	Parameter value	ecannotbechanged (read only)
		102	0x66	Parameter is write-only (with passwords)
5	If change: operating status	17	0x11	Task cannot be carried out due to operating status
6	If change: higher-order	11	0x0B	No higher-order
7	If change: password	12	0x0C	Incorrect password
8	If change: value permissible	2	0x02	Lower or upper value limit exceeded

Tab.5/6: Orderoferrorcheckinganderrornumbers

5.1.3 Rulesfortask-response processing

RulesDescription

1Ifthemastertransmitstheidentifierfor“Notask”,thecontrollerrespondswiththeresponseidentifierfor“Noresponse”.

2Ataskorresponsetelegramalwaysreferstoasingleparameter.

3Themastermustcontinuetosendataskuntilithasreceivedtheappropriateresponsefromthecontroller.

4Themasterrecognisestheresponsetothetaskrequested:-Byevaluatingtheresponseidentifier-Byevaluatingtheparameternumber(PNU)-Ifapplicable,byevaluatingthesubindex(IND)-Ifapplicable,byevaluatingtheparametervalue

5Thecontrollersuppliestheresponseuntilthemastersendsanewtask.

6a)Awritetask,evenwithcyclicrepetitionofthesametask,willonlybecarriedoutoncebythecontroller.b)Betweenwoconsecutivetaskswiththesametaskidentifier(ReqID),parameternumber (PNU) and subindex (IND), the task identifier 0 (no task) must be sent andtheresponseidentifier0(noresponse)mustbeawaited.Thisensuresthatan“old”responseisnotinterpretedasa“new”response.

Tab.5/7:Rulesfortask-responseprocessing

Sequenceofparameterprocessing

Caution

Observethefollowingwhenmodifyingparameters: AnFHPPcontrolsignalwhichistorefertoamodified parametermustnotbeissueduntiltheresponseidentifier "Parametervaluetransmitted"isreceivedfortherelevant parameterand(ifapplicable)fortheindex.

If, e.g. apositionvalueinapositionregisteristobemodified andifamovementisthentobemadetothisposition, the positioningcommandmustnotbegivenuntilthecontroller hascompletedandconfirmedthemodificationoftheposition register.

Caution

Inordertobesurethatan“old”responsecannotbeinterpretedasa“new”response,thetaskidentifier0(notask) mustbesentandtheresponseidentifier0(noresponse) mustbeawaitedbetweenwoconsecutivetaskswiththe sametaskidentifier(ReqID),parameternumber(PNU)and subindex(IND).

Evaluatingerrors

In the case of tasks which cannot be carried out, the slave responds as follows:

-Outputofresponseidentifier=7

-Outputanerrornumberinbytes7and8oftheparameter channel(FPC).

ExampleofparametrisationviaFPC

The following tableless show an example of parametrising a positioning task in the positioning record table via FPC (FestoParameterChannel).

Step1Outputstatusofthe8bytesofFPCdata:

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte	8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x00	0x00	0x00	0x00	0x00	0x00	0x00
Input data	0x00	0x00	0x00	0x00	0x00	0x00	0x00	0x00

Step2Writerecordnumber1withabsolutepositioning:

PNU401, subindex2-Modifyparametervalue, array, byte: ReqID12(0xC)withvalue0x00.

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte	8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0xC1	0x91	Unused	Unused	Unused	0x00
Input data	0x00	0x02	0xC1	0x91	0x00	0x00	0x00	0x00

Step3

AfterreceivingtheinputdatawithResID0xCsend outputdatawithReqID=0x0andwaitforinputdatawith ResID=0x0:

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte	8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0x01	0x91	Unused	Unused	Unused	0x00
Input data	0x00	0x02	0x01	0x91	0x00	0x00	0x00	0x00

Step4Writerecordnumber1withtargetposition0x1234(decimal

4660increments):

PNU404,subindex2-Modifyparametervalue,array,double

word:ReqID8(0x8)withvalue0x00001234.

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0x81	0x94	0x00	0x00	0x12	0x34
Input data	0x00	0x02	0x81	0x94	0x00	0x00	0x12	0x34

Step 5
After receiving the input data with ResID 0x8 send output data withReqID=0x0 and waitforinputdatawithResID =0x0:

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0x01	0x94	0x00	0x00	0x12	0x34
Input data	0x00	0x02	0x01	0x94	0x00	0x00	0x12	0x34

Step6Writerecordnumber1withspeed0x7743(decimal30531

increments/s):

PNU406,subindex2-Modifyparametervalue,array,double

word:ReqID8(0x8)withvalue0x00007743.

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0x81	0x96	0x00	0x00	0x77	0x43
Input data	0x00	0x02	0x81	0x96	0x00	0x00	0x77	0x43

Step 7
After receiving the input data with ResID 0x8 send output data withReqID=0x0 and waitforinputdatawithResID =0x0:

	Byte1Byte	2Byte3Byte	4Byte5Byte	6Byte7Byte8
	Reserved	Subindex	ReqID/ResID + PNU		Parameter value
Output data	0x00	0x02	0x01	0x94	0x00	0x00	0x77	0x43
Input data	0x00	0x02	0x01	0x94	0x00	0x00	0x77	0x43

Technicalappendix

AppendixA

A. Technical appendix

Contents

A.1 Conversion factors (factor group) A-3.

A.1.1OverviewA-3.....

A.1.2 Objects in the factor group A-5

A.1.3 Calculating the positioning units A-6

A.1.4 Calculating the units of velocity ..... A-9

A.1.5 Calculating the units of acceleration A-13

A.1 Conversion factors (factorgroup)

A.1.1 Overview

Motorcontrollersareusedinawidevarietyofapplications:as directdrives,withdownstreamgearunits,forlineardrivesetc.

Inordertoenablesimpleparametrisationforallapplications, themotorcontrollercanbeparametrisedwiththeparameters inthe“factorgroup”(PNU1001to1007,seesection4.4.17) insuchawaythatvariablessuchastherotationalvelocity canbedirectlyspecifiedorreadintheunitsofmeasurement required.

Themotorcontrollerthenusesthefactorgrouptoconvert theentriesintoitsinternalunitsofmeasurement.Oneconversionfactorisavailableforeachofthephysicalparameters: position,velocityandacceleration.Theseconversionfactors adjusttheuser'sunitsofmeasurementtotheapplicationin question.

Fig.A/1clarifiesthefunctionofthefactorgroup:

```mermaid
graph LR
    subgraph Factorgroup
        direction TB
        A["Position"] --> B["PositionFactor"]
        C["Positioningunits"] --> A
        D["Positioningunits"] --> C
        E["Positioningunits"] --> D
        F["Positioningunits"] --> E
        G["Positioningunits"] --> H["Positioningunits"]
        I["Positioningunits"] --> J["Positioningunits"]
        K["Positioningunits"] --> L["Positioningunits"]
        M["Positioningunits"] --> N["Positioningunits"]
        O["Positioningunits"] --> P["Positioningunits"]
        Q["Positioningunits"] --> R["Positioningunits"]
        S["Positioningunits"] --> T["Positioningunits"]
        U["Positioningunits"] --> V["Positioningunits"]
        W["Positioningunits"] --> X["Positioning units"]
        Y["Positioning units"] --> Z["Positioning units"]
        AA["Positioning units"] --> AB["Positioning units"]
        AC["Positioning units"] --> AD["Positioning units"]
        AE["Positioning units"] --> AF["Positioning units"]
        AG["Positioning units"] --> AH["Positioning units"]
        AI["Positioning units"] --> AJ["Positioning units"]
        AK["Positioning units"] --> AL["Positioning units"]
        AM["Positioning units"] --> AN["Positioning units"]
        AO["Positioning units"] --> AP["Positioning units"]
        AQ["Positioning units"] --> AR["Positioning units"]
        AS["Positioning units"] --> AT["Positioning units"]
        AU["Positioning units"] --> AV["Positioning units"]
        AW["Positioning units"] --> AX["Positioning units"]
        AY["Positioning Units"] --> AZ["Positioning Units"]
        BA["Positioning Units"] --> BB["Positioning Units"]
        BC["Positioning Units"] --> BD["Positioning Units"]
        BE["Positioning Units"] --> BF["Positioning Units"]
        BG["Positioning Units"] --> BH["Positioning Units"]
        BI["Positioning Units"] --> BJ["Positioning Units"]
        BK["Positioning Units"] --> BL["Positioning Units"]
        BM["Positioning Units"] --> BN["Positioning Units"]
        BO["Positioning Units"] --> BP["Positioning Units"]
        BP --> BQ["Positioning Units"]
        BR["Positioning Units"] --> BS["Positioning Units"]
        BT["Positioning Units"] --> BU["Positioning Units"]
        BV["Positioning Units"] --> BW["Positioning Units"]
        BX["Positioning Units"] --> BY["Positioning Units"]
        BZ["Positioning Units"] --> CA["Positioning Units"]
        CB["Positioning Units"] --> CD["Positioning Units"]
        DD["Positioning Units"] --> DE["Positioning Units"]
        EF["Positioning Units"] --> EF1["Positioning Units"]
        GF["Positioning Units"] --> GF2["Positioning Units"]
        GH["Positioning Units"] --> GH1["Positioning Units"]
        IG["Positioning Units"] --> IG1["Positioning Units"]
        JH["Positioning Units"] --> JH1["Positioning Units"]
        BKJ["Positioning Units"] --> BKJ1["Positioning Units"]
        BLKJ1 --> BLKJ1p["polarity_flag^1"]
        BLKJ1p --> BLKJ1p2["polarity_flag^1"]
    end

    subgraph Factorgroup
        direction TB
        S1["Symmetry Parameter 1: 1 rev/min."] --> S2["Symmetry Parameter 2: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S3["Symmetry Parameter 3: 1 rev/min."] --> S4["Symmetry Parameter 4: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S5["Symmetry Parameter 5: 1 rev/min."] --> S6["Symmetry Parameter 6: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S7["Symmetry Parameter 7: 1 rev/min."] --> S8["Symmetry Parameter 7: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S9["Symmetry Parameter 9: 1 rev/min."] --> S10["Symmetry Parameter 9: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S11["Symmetry Parameter 11: 1 rev/min."] --> S12["Symmetry Parameter 11: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S13["Symmetry Parameter 13: 1 rev/min."] --> S14["Symmetry Parameter 13: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S15["Symmetry Parameter 15: 1 rev/min."] --> S16["Symmetry Parameter 15: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S17["Symmetry Parameter 17: 1 rev/min."] --> S18["Symmetry Parameter 17: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S19["Symmetry Parameter 19: 1 rev/min."] --> S20["Symmetry Parameter 19: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S22["Symmetry Parameter 22: 1 rev/min."] --> S23["Symmetry Parameter 22: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S24["Symmetry Parameter 24: 1 rev/min."] --> S25["Symmetry Parameter 24: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S26["Symmetry Parameter 26: 1 rev/min."] --> S27["Symmetry Parameter 26: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S28["Symmetry Parameter 28: 1 rev/min."] --> S29["Symmetry Parameter 28: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S30["Symmetry Parameter 30: 1 rev/min."] --> S31["Symmetry Parameter 30: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S32["Symmetry Parameter 32: 1 rev/min."] --> S33["Symmetry Parameter 32: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S34["Symmetry Parameter 34: 1 rev/min."] --> S35["Symmetry Parameter 34: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S36["Symmetry Parameter 36: 1 rev/min."] --> S37["Symmetry Parameter 36: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S38["Symmetry Parameter 38: 1 rev/min."] --> S39["Symmetry Parameter 38: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S40["Symmetry Parameter 40: 1 rev/min."] --> S41["Symmetry Parameter 40: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S42["Symmetry Parameter 42: 1 rev/min."] --> S43["Symmetry Parameter 42: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S44["Symmetry Parameter 44: 1 rev/min."] --> S45["Symmetry Parameter 44: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S46["Symmetry Parameter 46: 1 rev/min."] --> S47["Symmetry Parameter 46: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S48["Symmetry Parameter 48: 1 rev/min."] --> S49["Symmetry Parameter 48: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S50["Symmetry Parameter 50: 1 rev/min."] --> S51["Symmetry Parameter 50: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S52["Symmetry Parameter 52: 1 rev/min."] --> S53["Symmetry Parameter 52: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S54["Symmetry Parameter 54: 1 rev/min."] --> S55["Symmetry Parameter 54: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S56["Symmetry Parameter 56: 1 rev/min."] --> S57["Symmetry Parameter 56: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S58["Symmetry Parameter 58: 1 rev/min."] --> S59["Symmetry Parameter 58: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S60["Symmetry Parameter 60: 1 rev/min."] --> S61["Symmetry Parameter 60: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S62["Symmetry Parameter 62: 1 rev/min."] --> S63["Symmetry Parameter 62: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S64["Symmetry Parameter 64: 1 rev/min."] --> S65["Symmetry Parameter 64: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S66["Symmetry Parameter 66: 1 rev/min."] --> S67["Symmetry Parameter 66: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S68["Symmetry Parameter 68: 1 rev/min."] --> S70["Symmetry Parameter 68: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S72["Symmetry Parameter 72: 1 rev/min."] --> S73["Symmetry Parameter 72: 1 rev/4096min."]
    end

    subgraph Factorgroup
        direction TB
        S74["Symmetry Parameter 74: 1 rev/min."] --> S75["Symmetry Parameter 75: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S76["Symmetry Parameter 76: 1 rev/min."] --> S77["Symmetry Parameter 76: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S78["Symmetry Parameter 78: 1 rev/min."] --> S79["Symmetry Parameter 78: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S80["Symmetry Parameter 80: 1 rev/min."] --> S81["Symmetry Parameter 80: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S82["Symmetry Parameter 82: 1 rev/min."] --> S83["Symmetry Parameter 82: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S84["Symmetry Parameter 84: 1 rev/min."] --> S85["Symmetry Parameter 84: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S86["Symmetry Parameter 86: 1 rev/min."] --> S87["Symmetry Parameter 86: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S88["Symmetry Parameter 88: 1 rev/min."] --> S89["Symmetry Parameter 88: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S90["Symmetry Parameter 90: 1 rev/min."] --> S91["Symmetry Parameter 90: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S92["Symmetry Parameter 92: 1 rev/min."] --> S93["Symmetry Parameter 92: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S94["Symmetry Parameter 94: 1 rev/min."] --> S95["Symmetry Parameter 94: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S96["Symmetry Parameter 96: 1 rev/min."] --> S97["Symmetry Parameter 96: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S98["Symmetry Parameter 98: 1 rev/min."] --> S99["Symmetry Parameter 98: one RPM / (256sec)"]
    end

    subgraph Factorgroup
        direction TB
        S100["Symmetry Parameter 90: -"]

Fig.A/1: Factorgroup

Allparametersarealwayssavedinthemotorcontrollerinits internalunitsofmeasurementandareonlyconverted(using thefactorgroup)whentheparametersarewrittenorread out.

Forthisreason, the factor group should be set first during parametrisation and should not be changed again during parametrisation.

Thefactorgroupissettothefollowingunitsbydefault:

Variable	NameUnitExplanation
Length	Positioning units	Increments	65536 increments per revolution
Velocity	Units of velocity	min^-1	Revolutionsperminute
Acceleration	Units of acceleration	(min^-1)/s	Velocityincreasepersecond

Tab.A/1: Factor group default settings

A.1.2 Objectsinthefactorgroup

Tab.A/2showstheparametersinthefactorgroup.

Name	PNUO	objectTypeAccess
Polarity (reversalofdirection)	1000Var	uint8rw
Position Factor	1004	Array	uint32	rw
Velocity Factor	1006	Array	uint32	rw
Acceleration Factor	1007	Array	uint32	rw

Tab.A/2: Overviewofthefactorgroup

Tab.A/3showstheparametersinvolvedintheconversion.

Name	PNUO	objectTypeAccess
Encoder Resolution	1001	Array	uint32	rw
Gear Ratio	1002	Array	uint32	rw
Feed Constant	1003	Array	uint32	rw
Axis Parameter	1005	Array	uint32	rw

Tab.A/3:Overviewofparametersinvolved

A.1.3 Calculating the positioning units

The position factor (PNU 1004, see section 4.4.17) is used to convert all the length values from the user's positioning units into the internal unit increments (65536 increments are equivalent to onemotor revolution). The position factor consists of numerators and denominators.

Fig.A/2: Calculating the positioning units

The following parameters are involved in the position factor's calculation formula:

GearRatio Gearatiobetweenrevolutionsattheinputside(revs IN) and revolutionsattheoutputside(revs OUT).

Feed Constant Ratio between movement in positioning units at the drive and revolutions at the gear unit's output (revs OUT). (e. g. 1 rev ≦ 63.15 mm or 1 rev ≦ 360° degrees)

Thepositionfactoriscalculatedusingthefollowingformula:

PositionFactor=

$$ \frac {\text { GearRatio } * \text { Increments } / \text { Revolutions }}{\text { FeedConstant }} $$

Thepositionfactormustbewrittentothemotorcontroller separatedintonumeratorsanddenominators. Thiscanmake itnecessary to bring the fraction uptowhole integers by expanding it accordingly.

Example

First, thedesiredunit(column1) and thedesirednumber of decimal places(dp) havetobespecified, along with the application's gear ratio and its feed constant (if applicable). The feed constant is thendisplayed in the desired positioning units (column2).

In this way, all the values can be entered into the formula and the fraction can be calculated:

Positionfactorcalculationsequence
Positioning units 1)	Feed constant 2)	Gear ratio 3)	Formula 4)	Result shortened
degrees, 1 dp 1/10degree (°/10)	1r OUT = 3600 o/10	1/1	1r *65536 lnc/r = 65536lnc/3600 o/10	num:4096/div:225
Examplesofcalculatingthepositionfactor
Positioning units 1)	Feed constant 2)	Gear ratio 3)	Formula 4)	Result shortened
increments,0 dpinc.	1r_OUT = 65536 Inc	1/1	1r1r *65536 65536 Inc1 r = 1 Inc1 Inc	:1div:1
degrees,1 dp1/10degree(°/10)	1r_OUT = 3600 10	1/1	1r1r *65536 3600 101 r = 65536 Inc3600 10	:4096div:225
revs,2 dp1/100revs( revs/100)	1r_OUT = 100 100	1/1	1r1r *65536 100 1001 r = 65536 Inc100 100	:16384div:25
		2/3	2r3r *65536 100 1001 r = 131072 Inc300 100	:32768div:75
mm,1 dp1/10mm(mm/10)	1r_OUT = 631.5 10	4/5	4r5r *65536 631.5 101 r = 2621440 Inc31575 10	:524288div: 6315
1)Desiredunitattheoutput2)Positioningunitsperrevolution(revs OUT).Drive'sfeedconstant(PNU1003)*10 -dp (decimalplacestakenintoconsideration)3)revsIN perrevsOUT4)Insertvaluesintoformula.

Fig.A/3: Positionfactorcalculationsequence

Tab.A/4: Examplesofcalculatingthepositionfactor

A.1.4 Calculating the unit of velocity

Thevelocityfactor(PNU1006, see section4.4.17) is used to convert all the velocity values from the user's unit of velocity into the internal unit:

-WithCMMS/CMMD:revolutionsperminute

- With C M M P - A S : revolutionsper4096

The velocity factor consists of numerators and denominators.

The velocity factor is calculated into two parts: a conversion factor from internal unit of length into the user's positioning units and a conversion factor from internal unit of time into user-defined unit of time (e.g. from second to minutes). The first part is equivalent to calculating the position factor; an additional factor is required to calculate these second part:

Timefactor_vRatiobetweentheinternalunitoftimeandtheuser-defined unitoftime: (e.g.withCMMS1min= 14096 4096min)

GearRatioGearatiobetweenrevolutionsattheinputside(revs IN ) and revolutionsattheoutputside(revs OUT ).

FeedConstant Ratiobetweenmovementinpositioningunitsatthedrive andrevolutionsatthegearunit'soutput(revs OUT). (e. g. 1 rev ≧ 63.15 mm or 1 rev ≧ 360° degrees)

The velocity factor is calculated using the following formula:

VelocityFactor = *TimeFactor_vFeedConstant

Likethepositionfactor,thevelocityfactoralsohastobe writtentothemotorcontrollerseparatedintonumeratorsand denominators.Thiscanmakeitnecessarytobringthefractionuptowholeintegersbyexpandingitaccordingly.

Example

First, thedesiredunit(column1) and thedesirednumber of decimal places(dp) havetobespecified, along with the application's gear ratio and its feed constant (if applicable). The feed constant is thendisplayed in the desired positioning units (column2).

Then, the desired unit of time is converted into the motor controller's unit of time (column 3).

In this way, all the values can be entered into the formula and the fraction can be calculated:

Fig.A/4: Velocityfactorcalculationsequence(hereCMMP-AS)

ExamplesofcalculatingthepositionfactorwithCMMS/CMMD
Unitsof velocity 1)	Feedconstant 2)	Timeconstant 3)	Gear 4)	Formula 5)	Result shortened
rpm,0 dp1/100 revs/min	1_OUT = 65536 inc	1 1min = 1 1min	1/1	1r1r * 1r1r * 1min1r1r = 1 1	num:1div:1
°/s,1 dp 1/10^/s (°/10s)	1_OUT = 3600 10	1 1s = 60 1min	1/1	1r1r * 1r1r * 60* 1min1s3600 101r = 60 3600 10 s	num:1div:60
rpm,2 dp1/100 revs/min (revs/100 min)	1_OUT = 100 100	1 1min = 1 1min	1/1	1r1r * 1r1r * 1min100 1001r = 1 100 100min	num:1div:100
			2/3	1r1r * 2r3r * 1min100 1001r = 2 300 100min	num:1div:150
mm/s,1 dp 1/10 mm/s (mm/10s)	63.15 1_OUT = 631.5 10	1 1s = 60 1min	1/1	1r1r * 1r1r * 60* 1min1s631.5 101r = 120 1263 10 s	num:40div:421
			4/5	1r1r * 4r5r * 60* 1min1s631.5 101r = 96 1263 10 s	num:32div:421
1)Desiredunitattheoutput2)Positioningunitsperrevolution(revs OUT).Drive'sfeedconstant(PNU1003)*10 -dp(decimalplacestakenintoconsideration)3)Timefactor_v:desiredunitoftimeperinternalunitoftime4)Gear ratio:revs IN perrevs OUT5)Insertvaluesintoformula.
Examples of calculating the position factor with CMMP-AS
Unitsof velocity 1)	Feedconstant 2)	Timeconstant 3)	Gear 4)	Formula 5)	Result shortened
rpm,0 dp(revs/min)	1r_OUT = 1r_OUT	1 1min = 4096 14096min	1/1	11r * 4096 14096min1 1min1r1r = 4096 4096min1	:4096div:1
rpm,2 dp1/100 revs/min (revs/100 min)	1r_OUT = 100 100	1 1min = 4096 14096min	2/3	23r * 4096 14096min1 1min100 1001r = 8192 4096min300 100min	:2048div: 75
°/s,1 dp 1/10^/_s (°/10s)	1r_OUT = 3600 10	1 1s = 60 1min = 60*4096 14096min	1/1	11r * 60*4096 14096min1 1s3600 101r = 245760 4096min3600 10s	:1024div: 15
mm/s,1 dp 1/10^mm/_s (mm/10s)	63.15 1r_OUT = 631.5 10	1 1s = 60 1min = 60*4096 14096min	4/5	45r * 60*4096 14096min1 1s631.5 101r = 1966080 4096min6315 10s	:131072div: 421
1) Desired unit at the output2) Positioning units per revolution (revs OUT).Drive's feed constant (PNU1003)*10 -dp (decimal placestaken into consideration)3) Timefactor_v: desired unit to time per internal unit to time4) Gear ratio: revs IN per revs OUT5) Insert values into formula.

Tab.A/5:Examplesofcalculatingthepositionfactor withCMMS/CMMD

Tab.A/6:ExamplesofcalculatingthepositionfactorwithCMMP-AS

A.1.5 Calculating the unit is of acceleration

The acceleration factor (PNU1007, see section 4.4.17) is used to convert all the acceleration values from the user's units of acceleration into the internal unit revolutions per minute per 256 seconds.

The acceleration factor consists of numerators and denominators.

Theaccelerationfactorisalsocalculatedintwoparts:a conversionfactorfrominternalunitsoflengthintotheuser's positioningunitsandaconversionfactorfrominternalunits oftimesquaredintouser-definedunitsoftimesquared (e.g.fromseconds ^2 tominutes ^2 ).Thefirstpartisequivalent tocalculatingthepositionfactor;anadditionalfactorisrequiredtocalculatethesecondpart:

Timefactor_aRatiobetweentheinternalunitoftimesquaredandtheuser-definedunitoftimesquared (e.g. 1 min ≠ 1 min * 1 min = 60 s * 1 min ≠ 256 min*s).

GearRatioGearatiobetweenrevolutionsattheinputside(revs IN ) and revolutionsattheoutputside(revs OUT ).

FeedConstantRatiobetweenmovementinpositioningunitsatthedrive andrevolutionsatthegearunit'soutput(revs OUT). (e. g. 1 rev ≧ 63.15 mm or 1 rev ≧ 360° degrees)

The acceleration factor is calculated using the following formula:

AccelerationFactor = *TimeFactor_aFeedConstant

Likethepositionandvelocityfactors,theaccelerationfactor alsohastobewrittentothemotorcontrollerseparatedinto numeratorsanddenominators.Thiscanmakeitnecessaryto bringthefractionuptowholeintegersbyexpandingitaccordingly.

Example

First, thedesiredunit(column1) and thedesirednumber of decimal places(dp) havetobespecified, along with the application's gear ratio and its feed constant (if applicable). The feed constant is then displayed in the desired positioning units (column2).

Then, the desired unit of time ^2 is converted into the motor controller's unit of time ^2 (column3).

In this way, all the values can be entered into the formula and the fraction can be calculated:

Fig.A/5: Calculating the acceleration factor

Examplesofcalculatingtheaccelerationfactor
Unitsof accelerer.1)	Feedconstant2)	Timeconstant3)	Gear4)	Formula5)	Result shortened
rpm/s,0 dprevs/mins	1r_OUT = 1r_OUT	11min*s = 2561min256*s	1/1	1r* 2561256mins11min*s1r1r = 2561	num:256div:1
°/s2,1 dp 1/10^/s^2 (°/10s2)	1r_OUT = 360010	11s^2 = 601min*s = 60*2561min256*s	1/1	1r* 60*2561256min*s11s^23600101r = 15360360010s^2	num:64div:15
rpm2,2 dp 1/100 revs/min2 (revs/100 min2)	1r_OUT = 100100	11min^2 = 1601mins = 256601min256*s	2/3	2r* 2561256min*s601min^21001001r = 51218000100min^2	num:32div:1125
mm/s2,1 dp 1/10 mm/s2( mm/10s2)	63.15 1r_OUT = 631.510	11s^2 = 601min*s = 60*2561min256*s	4/5	4r* 60*2561256min*s11s^2631.5101r = 122880631510s^2	num:8192div:421
1)Desiredunitattheoutput2)Positioningunitsperrevolution(revs OUT).Drive'sfeedconstant(PNU1003)*10 -dp (decimalplacestakenintoconsideration)3)Timefactor_a:desiredunitoftime 2 perinternalunitoftime 24)Gearratio:revs IN perrevs OUT5)Insertvaluesintoformula.

Tab.A/7:Examplesofcalculatingtheaccelerationfactor

A. Technical appendix

FHPP+andcamdiskexpansions

AppendixB

Contents

B.1FHPP+overviewB-3.

B.1.1 StructureoftheFHPP+telegramB-4.....

B.1.2ExamplesB-5.....

B.1.3 Configuration of the fieldbuses with FHPP+ B-6

B.1.4 Telegram editor for FHPP+ B-6

B.1.5 Overview of FHPP+ parameters B-6

B.2 CMMP-AS - operation of cam disks B-7

B.2.1 Camming function in Direct mode B-8

B.2.2 Camming function in Record selection mode ...... B-10

B.2.3 Parameters for the camming function B-10

B.2.4 Extended finite state machine with camming function ..... B-11

B.1FHPP+overview

FHPP+isanexpansionoftheFHPPcommunicationprotocol.

To find out whether this function is supported by the controllery you are using and its firmware version, seethe help for the associated FCT plug-in.

TheFHPP+expansionallowsadditionalPNUsconfiguredby theusertobetransmittedviathecyclictelegram,inaddition tothecontrolandstatusbytesandtheoptionalparameter channel(FPC).

Theminimumconfigurationforeachtelegramcontainsthe controlandstatusbytes, meaningthat8bytesaresentand received. If the parameter channelistransmitted as well, it directly followsthel/Ochannel.

FHPP+canbeusedtoattachadditionalsetpointvaluestothe receivedtelegramwhicharenotrepresentedinthecontrol andstatusbytesorintheFPC.Additionalactualvaluescan beforwardedintheresponsetelegram,suchastheintermediatecircuitvoltageorthetemperatureoftheoutput stage.

The additional data(FHPP+) must always be transmitted in multiples of 8 bytes, up to total length of 32 bytes.

ThedatatransmittedviaFHPP+isconfiguredusingtheFHPP+telegrameditorinthecontroller'sFCTplug-in.

Note

NotallPNUscanbeconfiguredfortheFHPP+telegram. Forexample,thePNUs40to43cannotbetransmittedat all;PNUswithoutwriteaccesscannotbeconfiguredinthe outputdata;etc.

B.1.1 StructureoftheFHPP+telegram

The first entry in the telegram (address0) is reserved for the I/O channel.

Optionally, if the parameter channel FPC is required by the application and it has been defined in the bus configuration, it must be selected as these second entry (address8). The parameter channel must only be configured in this position.

From the third entry onwards in the telegram (address 16), or these second entry if FPC is not used (address 8), all remaining PNUs can be mapped which are required in the application.

With certain control systems (e.g. SIEMENSS7), makesure that PNUs with length sof 2 or 4 bytes are suitable addresses. These PNU should only be inserted in every addresses. Placeholders are defined so that any gap can be filled. They can be used to ensure that PNUs can be mapped in the addresses desired.

Allunusedpartsofatelegramandespeciallyallunused entriesinthetelegrameditorarefilledwiththeplaceholders.

B.1.2Examples

Example1

WithFPC,maximum16bytesforFHPP+

Outputdata,bytes1...31
12	345	6789	101	112	1314	151	617	1819	202	1222	2324	252	627	2829	303	1
CCON, CPOS, ...							FPC, PNU, SI								...	...	PNU...			PNU...		PNU...		PNU...		PNU...
Control bytes							Parameter channel FPC								FHPP+ (max. 16 bytes)

Inputdata,bytes1...31
12	345	6789	101	112	1314	151	617	1819	202	1222	2324	252	627	2829	303	1
SCON, SPOS, ...							FPC, PNU, SI								PNU...			PNU...			PNU...			PNU...
Status bytes							Parameter channel FPC								FHPP+ (max. 16 bytes)

Example2

WithoutFPC,maximum24 bytesfor FHPP+

Outputdata,bytes1...31
12	345	6789	101	112	1314	151	617	1819	202	1222	2324	252	627	2829	3031
CCON, CPOS, ...							PNU...			PNU...		PNU...			PNU...			PNU...		PNU...			PNU...		PNU...
Control bytes							FHPP+ (max. 24 bytes)

Inputdata,bytes1...31
12	345	6789	101	112	1314	151	617	1819	202	1222	324	252	627	2829	3031
SCON, SPOS, ...							PNU...			PNU...			PNU...			PNU...			...	...	PNU...			PNU...
Statusbytes							FHPP+ (max.24bytes)

B.1.3 Configuration of the field buses with FHPP+

Thelengthandcontentsofthetransmitteddataaredefined usingthetelegrameditor.

Thedatadefinedinthiswaymustbeconfiguredonthe master/scannersspecificallyforeachfieldbus,forexampleby meansofthecorrespondingGSDorEDSfiles.

Informationaboutconfigurationcanbefoundintherelevant fieldbusmanual.

B.1.4 TelegrameditorforFHPP+

The transmitted data is configured solely via the FHP provided by the FCT plug-in.

TherelevantPNUs40and41areread-only; seesectionB.1.5.

TheFHPP+telegrameditorassignsthedatacontentsofthe cyclicFHPPtelegramuniquelytothePNUs.Thespecifications providegenerallyfor16entriesperreceivedandsenttelegram.Thecurrentstageofdevelopmentpermitsupto10 entriesfortheCMMP-AScontroller.Themaximumlengthofa telegramisrestrictedto32bytes.

ThePNUsfortelegrammappingsettingsmustnotbemapped intheFHPP+telegram.

B.1.5 Overview of FHPP+parameters

ThespecialparametersforFHPP+aredescribedin section4.4.2.

B.2CMMP-AS-operationofcamdisks

TheCMMP-AShastheoptionofoperating16camdiskseach with4camtracksassignedtoit.

ThisfunctionisavailablewithCMMP-ASfirmwareversion 3.5.1501.4.1andhigher.

TheCMMP-ASprovidesthefollowingfunctionalityforthis purposeviaFHPP:

-Operationinsynchronisationwithanexternalinput,slave mode.

-Operationinsynchronisationwithanexternalinputwith camdisk,slavemode.

-Virtualmaster(internal)withcamdisk.

Controlispossibleinthefollowingmodes:

-Recordselection.

–Directmode,positioning.

ThecamdisksareparametrisedviatheFCTplug-in. For informationaboutparametrisation,seethehelpforthe CMMP-ASplug-in.

Forcompleteinformationonthecammingfunction,seethe specialcamdiskmanual.

B.2.1 CammingfunctioninDirectmode

Synchronisationwithanexternalmastercontroller withcamdisk(slaveoperation)

Synchronisationoperationalallowsaslavecontrollertofollowa mastercontrollerviaanadditionalexternalinputinaccordancewithparametrisedrules.

This can be purely positions synchronisation or it can be done with an additional camming function, the CAM function.

ActivatingsynchronisationoperationinDirectmode:

Synchronisedoperationcanbeselectedwithcontrolbyte3, CDIR by setting CDIR.B7 (FUNC), and the desired functionality canbeselectedinthefunctiongroupandthefunction number,CDIR.B6...B3(FGRP,FNUM).

Synchronisedoperationisthenactivatedwithapositiveedge atthebitCPOS.B1(START).ThebitCCON.B1(STOP)stops synchronisationoperation.ThebitCPOS.B0(HALT)hasno intermediatestopfunction(goesto"ready"withastop ramp).ThenegativeedgeofCPOS.B1(START)alsostop synchronisationoperation.

Setpointandactualvaluesaccordingtothefunction numbers

Functionnumber	Allocationofthesetpoint/actualvalues
FNUM=0:reserved-
FNUM=1,FNUM=2:synchronisationoperation without/withcamdisk	Setpointvalue1Irrelevantasthepositionsetpointcomesviathe externalinput.Setpointvalue2Irrelevantasthepositionsetpointcomesviathe externalinput.Actualvalue1ActualvelocityoftheslaveasinProfilePosition mode(accordingtothecamdisk)Actualvalue2ActualpositionoftheslaveasinProfilePosition mode(accordingtothecamdisk)
FNUM=3:virtualmaster (internal)withcamdisk	Setpointvalue1Setpointvelocityofthemaster,subjecttothe operatingmodeofthemasterSetpointvalue2Setpointpositionofthemaster,subjecttothe operatingmodeofthemasterActualvalue1Actualvelocityoftheslave(accordingtothe camdisk)Actualvalue2Actualpositionoftheslave(accordingtothe camdisk)

Tab.B/1:Allocationofsetpoint/actualvalues

ThecamdiskisselectedwithPNU700.

FHPP+canbeusedtomapthisselectiontotheprocessdata.

B.2.2 CammingfunctioninRecordselectionmode

WithRecordselection, the type of record is defined with the record control byte in the record list. The expansion to camming operation can be activated as for Direct mode with the bit provided for general function expansion, bit 7 (FUNC) in record control byte 1.

ThecamdisknumberisselectedwithPNU419.IfPNU419=0, thecontentsofPNU700areused.

B.2.3 Parameters for the camming function

The parameters for the camming function can be found in section 4.4.15.

B.2.4 Extended finitestatemachinewith camming function

graph TD
    Switchedoff --> S1["Controller switchedon"]
    S1 -->|T1| S2["Drivenisabled"]
    S2 -->|T5| S3["Driveenabled"]
    S3 -->|T4| SA1["Ready"]
    S3 -->|T3| SA1
    S1 -->|T7*| S5["Reactiontofault"]
    S5 -->|T8| S6["Fault"]
    S6 -->|T10| SA1
    S6 -->|T11| Fromallstates
    SA1 -->|TA9| Jogpositive["SA5 Jogpositive"]
    SA1 -->|TA10| Jognegative["SA6 Jognegative"]
    SA1 -->|TA11| Jognegative
    SA1 -->|TA12| Jognegative
    SA1 -->|TA2| Positioningtask["SA2 Positioningtask active"]
    SA1 -->|TA3| Intermediatestop["SA3 Intermediatestop"]
    SA1 -->|TA4| Positioningtask
    SA1 -->|TA5| Positioningtask
    SA1 -->|TA6| Operationenabled["S4 Operationenabled"]
    SA4["Homingisbeing carriedout"] --> SA4
    SA4 --> SA7["Preparecamdisk"]
    SA7 --> SA8["Camdiskactive andbeingrun"]
    SA8 --> SA9["Camdisk intermediatestop"]
    SA8 --> TA15["TA15"]
    SA8 --> TA16["TA16"]
    SA8 --> TA17["TA17"]
    SA8 --> TA18["TA18"]
    SA8 --> TA19["TA19"]
    SA8 --> TA2["TA2"]
    SA8 --> TA3["TA3"]
    SA8 --> TA4["TA4"]
    SA8 --> TA5["TA5"]
    SA8 --> TA6["TA6"]
    SA8 --> TA7["TA7"]
    SA8 --> TA8["TA8"]
    SA8 --> TA9["TA9"]
    S2 --> Drivedisabled
    Drivedisabled --> Drivedisabled
    Drivedisabled --> Drivedisabled
    Drivedisabled --> Drivedisabled
    Drivedisabled --> Drivedisabled

Fig.B/1: Finitestatemachinewithcammingfunction

TADescriptionEventwithAncillarycondition
TA13Preparecamdisk(activate)		“Rising”edge(change)ofrecord number.	-Oldrecord:FUNC=0	Newrecord:FUNC=1
		-RisingedgeatFUNC.-
		RisingedgeatSTOPorENABLE(activationof controllerenable).		FUNC=1
TA14,TA19	De-activatecam disk	“Rising”edge(change)ofrecord number.	-Oldrecord:FUNC=1	Newrecord:FUNC=0
		-FallingedgeatFUNC.	-
		STOP or withdrawal of ENABLE.		None, FUNC = any
TA15Camdiskactive andbeingrun		Rising edge at START.		Drive is in TA 13.
TA16Changecamdisk		Rising edge at START.	-	Changed cam disk number inPNU419 or PNU700.FUNC=1
		“Rising”edge(change)ofrecord numberandrising edgeatSTART.	-Changedcamdisk	number inPNU419 or PNU700.FUNC=1
		-	Rising edge at START,startsthevirtual masterautomatically.	PNU700hasbeen changed.FUNC=1
TA17	Intermediate stop	HALT = 0		Intermediatestopwith virtualmaster only.
TA18Endintermediate stop		HALT=1

Index

AppendixC

C.Index

A

Absolute1-18,4-32.

Diagnostic memory (faults) 3-7

Diagnostics, FHPP status bytes 3-53

Direct mode 1-5

Drive ...... XIII

E

Effectivestroke 2-4.....

Electric axis ..... XIII

Encoder ..... XIII

Errornumbers 5-6.....

F

Festo Configuration Tool (FCT) ..... XIII

Festo Parameter Channel (FPC) ..... XIII, 5-3

FHPP 1-3

FHPP operatingmode

Direct mode 1-5

Record selection 1-5

FHPP+ B-3

H

HMI(seedevicecontrol) XIII......

HomingXIII.

HomingmodeXIV.

Homing method ..... XIII

Reference point ..... XIV

Reference switch XV

J

Jog mode ..... XIV

0

Operating mode ..... XIV

Homing mode ..... XIV

Profile Position mode ..... XIV

Profile Torque mode ..... XIV

Speed adjustment XV

Teachmode XV.

Operatingmode(FHPPoperatingmode)

Direct mode 1-5

Record selection 1-5

P

Parameter channel (FPC) 5-3

Parameter identifier (ParID) 5-3, 5-4

Parameter number (PNU) 5-4

Parameter value (Value) 5-3

Parametrisation with FHPP 5-3

Pictograms ..... XI

PLC ...... XIV

Positioning record ..... XIV

ProfilePositionmodeXIV.....

ProfileTorquemodeXIV.....

ProfileVelocitymodeXV.....

ProjectzeropointXIV,4-41.....

R

Record selection 1-5

Referencesystem 2-4.....

Relative 1-18,4-32

Response identifier (ResID) 5-4, 5-5

S

Safety instructions VIII

Service IX

Software end position …… XV, 4-41

Negative (lower) XV

Positive (upper) XV

Speed adjustment XV

Subindex (IND) 5-3

T

Target group IX

Task identifier (ReqID) 5-4, 5-5

Teach mode XV

Text designations ..... XI

U

Userinstructions X.....

C.Index

V

VersionXII.

W

Warningmemory3-8.