CMMO-ST_BES_D_ z1_ b
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- 馆谊 闵
- 5 years ago
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1 CMMO ST-...-DION/DIOP I/O CMMO-ST-C5-1-DIOP CMMO-ST-C5-1-DION b [ ]
2 CMMO ST-...-DION/DIOP GDCP-CMMO-ST-EA-SY-ZH Adobe Reader, Firefox, Internet Explorer, Microsoft, Windows : : : 1. : <xxx> [xxx] [xxx] FCT [ ] [xxx] FCT [xxx] FCT-PlugIn FCT 2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
3 CMMO ST-...-DION/DIOP CMMO ST-...-DION/DIOP Safe Torque Off FCT (Festo Configuration Tool) I/O ( ) ( ) Time-Out Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 3
4 CMMO ST-...-DION/DIOP EMC FE [X1] I/O [X1A] [X2] [X3] STO [X6] [X9] [X18] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 CMMO ST-...-DION/DIOP 5.4 FCT (Festo Configuration Tool) FCT FCT I/O ( ) / (READY) (RESET) (CONTROL ENABLE) (REF) (RECORD) I/O ( ) / (READY) / (MODE) (RESET) (CONTROL ENABLE) (REF) (TEACH) (RECORD) FCT (Trace) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 5
6 CMMO ST-...-DION/DIOP A A A A A A A A.2.2 [X1] I/O A.2.3 [X1] V OUT [X1.24] GND [X1.25] A.2.4 [X9] A.2.5 [X18] B (CVE) B B B.1.2 CVE B B B.3 CVE Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
7 CMMO ST-...-DION/DIOP, Festo (GDCP-CMMO-ST-EA-SY-...) CMMO-ST-C5-1-DIOP/DION : CMMO-ST-... 1), GDCP-CMMO-ST-EA-SY-... 2) FCT 2) GDCP-CMMO-ST-EA-S ) 2) OMS_Parameter_xxxx_de_en.pdf CMMO-ST_SPUL 1) 1), 2) CD-ROM Tab. 1 Webserver / Festo Configuration Tool (FCT) I/O Festo Configuration Tool (FCT), : Festo Optimised Motion Series (OMS) STO ( Safe Torque Off ) Festo Optimised Motion Series (OMS) Underwriters Laboratories Inc. (UL) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 7
8 CMMO ST-...-DION/DIOP : CMMO-ST() Festo Optimised Motion Series (OMS) (Quick start guide) () Festo (:EPCO) CODESYS : :V 1.2.x FCT-PlugIn:CMMO-ST V 1.2.x? FCT? V 1.0.x V 1.1.x V 1.2.x EPCO EMMS-ST Festo,: ELGR ERMO EPCO-...-KF CMMO-ST V 1.0.x CMMO-ST V 1.1.x CMMO-ST V CMMO-ST V Tab. 2 FCT PlugIns, : MAC-ID Diagnosis (), FCT( Controller ( )),,: : :, FCT ( 8 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
9 ,,: :! (: ),,:,,:: Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 9
10 1!,, : 1.1.2, CMMO-ST : Festo Optimised Motion Series (OMS), :EPCO : Festo 2- - (EMMS-ST) Festo,: EGC, DNCE, DGE (STO, Safe Torque Off) :,,, 10 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
11 : : (: ) : STO : GDCP-CMMO-ST-EA-S ,, :, : ( A), : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 11
12 Safe Torque Off (STO) CE 2006/42/EC EN ISO :2008 EN ISO :2008 EN 1037:1995+A1: /108/EC EN :2004 EN :2006 Tab. 1.1 ( ) Underwriters Laboratories Inc. (UL), : UL Listing Mark for Canada and the United States UL UL : A Safe Torque Off, [X3] (Safe Torque Off, STO) STO GDCP-CMMO-ST-EA-S1-... STO 12 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
13 CMMO-ST 2 LAN PC, CMMO-ST FCT (Festo Configuration Tool) Fig. 2.1 () 3 (PLC/IPC), I/O,:CECC 4 24 V PELV 5 (: EPCO) 6 ( CMMO-ST_SPUL) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 13
14 [X9] / 2 [X1] SPC/IPC I/O [X18] (RJ-45) 5 [X1A] 6 [X3] STO 7 [X2] (RS422) 8 [X6] 9 (3x) aj ( ) aa aa aj Fig. 2.2 CMMO 14 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
15 Tab. 2.1 CMMO-ST-C5-1-DIOP CD02 Rev 03 MAC-ID 00-0E-F0-40-C V DC 5.7 A () CMMO-ST-C5-1-DIOP ( Tab. 2.2) CD02 ( Tab. 2.3) Rev 03 (/ ) MAC-ID 00-0E-F0-40-C5-49 MAC (Media Access Control) 24 V DC. 5.7 A () : CMMO-, A ST- C5 5.7 A 1 24 V DC DIOP I/O, PNP DION I/O, NPN Tab. 2.2 : CD C=2012, D= 1 = X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029 Tab. 2.3 (20 ) 2 = 1 = 2 = 3 = 4 = 5 = 6 = 7 = 8 = 9 = O = N = D = Tab. 2.4 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 15
16 CMMO ST-...-DION/DIOP 1 CD-ROM: Festo Configuration Tool (FCT) Tab. 1 (:EPCO ELGR) 1 NEKM-C-10 5, [X1A] STO [X3] [X2] [X6] [X9] 2 ( ) Tab : (I/O ) 25 Sub-D NEBC-S1G25-K-3.2-N-LE25 NEFC-S1G25-C2W25-S6 I/O CMMO-ST/ NEFC-S1G25-C2W25-S7 NEBC-S1G25-K N-S1G25 NEBM-... I/O CDSM-S3-P/N, 16 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
17 , 1) (RS422 ), 3, STO (Safe Torque Off) ( ) 2) 24 V DC 24 V DC 5.7 A 31 ( ) TCP/IP :FCT I/O (CVE, Control via Ethernet) 7 FCT 1) 2),: Tab. 2.6 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 17
18 2, : FCTY / FCT /, CMMO-ST, 100,000 I/O,, FCT FCT [...] [Controller] [I/O Configuration] : (),, Tab. 2.7 : 18 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
19 2,,:,,: ( > ),, : (:) 1) (closed-loop operation) (open-loop operation),, : / 1), FCT Tab. 2.8 : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 19
20 FCT (Festo Configuration Tool) Festo Configuration Tool (FCT) windows, (OMS) PC, ( ) ( ) FCT (), CMMO-ST FCT : (Framework) Framework (PlugIns) Framework PlugIn Framework PlugIn FCT,FCT PDF (Framework): FCT: [Help] [Contents FCT general] ([] [FCT ]) PDF:(FCT )\Help\FCT_de.pdf PlugIn : FCT: [Help] [Contents of installed plug-ins] [Festo] [plugin name] ([] [ PlugIns ] [Festo] [PlugIn ]) PDF:(FCT )\HardwareFamilies\Festo\()\V \Help\ CMMO-ST_...pdf, FCT PDF Adobe Reader 20 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
21 2 FCT / ( ) I/O 7 : I/O 31 : /, FCT I/O (),: / Tab. 2.9 Festo Configuration Tool (FCT), Plugin CMMO-ST Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 21
22 Festo : Diagnosis () Parameters () /,, (OMS) PC, IP,: Internet Explorer ( 6) (OMS),, CMMO-ST Diagnosis () Parameters (),: IP MAC () (Motion Complete, Referenced, Actual Position, Record Set Number ) () I/O ( Diagnosis ), (Upload),: PC (Download),: (OMS) : Festo ( Parameter Cloud ) (Valve-Profil) Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
23 , FCT Web FCT FCT, Diagnosis () Parameters (),, Tab HTTPS,, (Cache) ( Microsoft Internet Explorer [Extras](), ) FCT ( 5.4.6) ( 5.3.6), FCT V :, V :,, : /,?, Festo Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 23
24 2 2.4 [X18] (FCT ) : (CVE, Control via Ethernet) I/O [X1] (Digital Input DIN) (Digital Output DOUT) : PNP (CMMO-ST DIOP) NPN (CMMO-ST DION) 2 : Tab DHCP DHCP, DHCP PC DHCP/IPv4 IP IP : (private IP) : : :80 FCT:7508 CVE:49700 Tab TCP/IPv4 () ( DHCP ): DHCP, DHPC IP, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
25 2 - DHCP 1) PC ( - - ) PC () Windows : IP DNS DHCP PC (DHCP-Client) IP- IP : : ) Dynamic Host Configuration Protocol Tab () - - DHCP 1) IP-, IP- 1) Dynamic Host Configuration Protocol Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 25
26 I/O ( ) I/O 2 ( ), () FCT [...] [Application Data] Operation Modes I/O Festo OMS I/O,,, 7 (7 ), (7 ) I/O 5 31 ( 0 = ) MOTION COMPLETE DIN8 2 : 0: 1:/ Tab I/O 26 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
27 ( ) (Device Control),,,I/O, 3 2 TCP/IP 1 HTTP TCP/IP FCT CVE HTTP Web Tab TCP/IP, 2,,, Tab HTTP TCP, HTTP Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 27
28 2 I/O, (Quick Stop) : FCT CVE Web (: FCT),I/O, ( #3) I/O,I/O Tab CVE ( #4),, FCT I/O Time-Out FCT, FCT ( 0x32) 1 s,, Time-Out FCT,, 28 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
29 2 2.5, :, / Jog FCT I/O FCT I/O 1) 1) () ) ( ),, ) ( - - ), 3), 2.5.8, (), 1) FCT/ 2) 3) ( ) Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 29
30 : (+) = ( ) =,:( / ), FCT [...] [Application Data][ Environment]:Inverse Rotation Polarity. :, = (+) = (-) : ( ) (+) d e a b c M Ref SLN Ref (Reference Point) AZ (Axis Zero Point) PZ (Project Zero Point) SLN (SW Limit Negative) SLP (SW Limit Positive) TP (Target Position) AP / (Actual Position) a (AZ) b (PZ) c / (TP/AP) d (SLN) e (SLP) 1 () 2 () 3 AZ PZ TP/AP SLP Tab FCT [...] [Axis] [Measurements] 30 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
31 2 : AZ Ref 2 1 PZ 3 M d a b c TP/AP ( ) (+) e SLN SLP Ref (Reference Point) AZ (Axis Zero Point) PZ (Project Zero Point) SLN (SW Limit Negative) SLP (SW Limit Positive) TP (Target Position) AP / (Actual Position) a (AZ) b (PZ) c / (TP/AP) d :, (SLN) 1) e :, (SLP) 1) 1 2 3, 1), Tab FCT [...] [Axis] [Measurements] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 31
32 2 AZ = REF a PZ = AZ b = REF a + b SLN = AZ d = REF a d SLP = AZ e = REF a e / TP/AP = PZ c = AZ b c = REF a b + c Tab FCT [...] [Axis] [Measurements] SLN/SLP AZ SLN/SLP,, FCT [...] [Controller] [Error Management],,,,,,,, 32 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
33 , (:), : :, FCT FCT Homing, I/O DIN8 (REF) DIN1 DIN5 (RECORD 0) + DIN6 (START) Tab /,,, () Tab FCT [...] [Axis] [Homing] Settings Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 33
34 2 : - Tab Tab Tab FCT [...] [] [], : 1), ( = 0 PZ) ( = 0 AZ PZ) 1) FCT [...] [Axis] [Homing] Settings Tab Motion Complete (MC=0),, (MC=1) FCT I/O FCT :Homing Diagnosis (), Parameters () :DOUT9 / : DOUT6 7 Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
35 2 -, : (Search Velocity) (Crawing Velocity) (Acceleration) (Drive Velocity) (Axis Zero Point) () / (Force Limit/ Torque Limit) (Message Delay) / ( ) (),, Time-out() Time-out, (0x22) Tab FCT [...] [Axis] [Homing] Method :,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 35
36 2 CiA 402 1) DDh -35 2) 3) 3)2) EEh Efh 17h 1Bh 07h 0Bh ( ),,, 1) CANopen CiA 402 ) 2) : () 3) :( ) FCT [...] [Axis] Axis Options Tab FCT [Axis] [Homing] Method 1) : 1) Tab Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
37 2 ( ),, : ( ), / (: 3 mm) (: ) :,,: ( ) (:) (), 1. : ( ): :, 2. : 3. 1) : : 1) Tab Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 37
38 2 ( ) ( ) FCT [...] [Axis] Axis Options,,, 1) 1. : (Time-out) 2), 0x22 2. :, 3) : : Time-out Time-out 0x22 0x22 1. :, : 0x22 2. :, 3) : : 1), 2 2) FCT [...] [Axis] [Homing] Settings:Timeout 3) Tab Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
39 2 ( ) ( ) FCT [...] [Axis] Axis Options 1) 1. :, :( 0x22) 2. :, 3., : ( 0x23) 4. : 2) : : 1), 2 2) Tab Tab (),,, (OMS),, Festo Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 39
40 2 : FCT FCT Homing, REF Fig , FCT : (),,: = : = :, ( ),,( Tab. 2.34):,( +)( -),,(),, (+/-), - 40 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
41 2 v t1 t t +/ t Motion Complete (MC) t t1: Fig. 2.4 (Crawling Velocity) (Slow Moving Time) (Maximum Velocity) (Acceleration) (Maximum Following Error) (Message Delay), Tab FCT (Single step) FCT : FCT-PlugIn- Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 41
42 ,: 1) I/O FCT FCT FCT FCT FCT 1) Tab. 2.35,,, : 1. Tab ( : 2.5.3) 3., FCT, : FCT FCT PlugIn I/O ( ) 7, TEACH/ ACK :,, FCT Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
43 (STOP) (PAUSE), 1) : : :, Motion complete, : : :, Motion complete : : Motion complete 1) FCT [...] [Axis] [Record Table] Tab Quick Stop, Quick-Stop,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 43
44 ,,,,,, :,, CONTROL ENABLE 0 1 CONTROL ENABLE 1 0 X6.5 (BR+/BR-) Tab. 2.37,, :, ( = 0),,,,,, Tab FCT [...] [Motor],Brake control 44 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
45 2 :!,: I/O [X1.9] DIN BRAKE CONTROL = 1 FCT(,: ) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 45
46 ,( - - ), Tab. 2.39,,,() (: ),,, :,, ( 2.7.1, ) (Position) ( Tab. 2.39) (Velocity) (Acceleration) 1) (Deceleration) (Jerk for acceleration) 1) (Jerk for deceleration) 2) ( = 0) 0 0 1), FCT, 2) ( ) Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
47 2 (), = 0, > 0, Tab. 2.53, Tab Motion Complete :, :, v a t t s t Fig. 2.5 (Motion complete) : 0 mm/s, t Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 47
48 ,, Tab. 2.42,:,,, ( 2.7.1,) (Velocity) (Acceleration) (Deceleration) 1) (Jerk for acceleration) (Jerk for deceleration) 1) () 0 0 1), FCT, Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
49 2 (), Motion Complete Quick-Stop, Motion Complete ( Fig. 2.6 Fig. 2.7) :, :, Tab Motion Complete ; ; Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 49
50 2 s v t t (Motion complete) t Fig. 2.6 () t s v t t (Motion complete) () t t Fig Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
51 ,, ( ), Tab. 2.45, /; (Force) (Velocity) (%,) Tab (),,, Motion Complete, Quick-Stop, Motion Complete,,, Tab Motion Complete, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 51
52 CMMO-ST ( ) FCT ( / ), PLC (), 7 31 PA, PRN, PRA PA, PRN, PRA (PA) (PRN) (PRA) (VSL) (V) (FSL) (F) Tab ( ) VSL,V FSL, F I/O I/O, : : START PC TCP/IP ( B.1, ) FCT,, () 52 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
53 2 () (Target) (Velocity) / (Extra Load) (Torque Feed Forward) (Start Condition) (Condition) (Start Delay) MC (MC visible) (Final Velocity) (Following Set) (Force Comparator) (Position Comparator) (Velocity Comparator) (Time Comparator) (Force Limit/Torque Limit) (Stroke limit) (Max. Following Error) ,,, (: FCT),, ( Tab. 2.50, ), ( Tab. 2.51, ) ( 2.7.2) Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 53
54 ,, 1) (Ignore) (Delay) (Interrupt) Motion Complete () (Motion Complete ), 1), FCT [...] [Controller] [Record Table] Basic Data Tab : ( B) ( A) A t A B t Motion Complete t Fig Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
55 2 : ( B C) ( A) ( C), C A t A B C t Fig. 2.9 Motion Complete t : ( A)( B) B A t A B t Motion Complete Fig t Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 55
56 ,,,: : (Condition) (Start Delay) MC (MC visible) (Final Velocity) (Following Set) Tab () Tab Motion Complete,,,: : (Condition) Motion Complete...,... Motion Complete /... Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
57 2 () = 0, 0() :,, :,, : () : () Tab ( Motion Complete ) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 57
58 2 : 0() A A, B, v B A A s B t A t Motion Complete (MC ) t t Fig v 0 58 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
59 2 2.7,,, 2.7.1, Motion Complete () (2F h ) (37 h ) 1), ( Fig. 2.13), Motion Complete, Stop Pause ( Fig. 2.14) 1) FCT,( FCT-) Tab Motion Complete Motion Complete ( ), Motion Complete () v t t Motion Complete t1: Motion Complete 1 2 Fig Motion Complete 3 Motion Complete t Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 59
60 2,,: ( Fig. 2.13, 1 ), () ( ), 1 s 2 3 t1 2F h () t1: Fig : FCT, (2F h ) ( FCT-), 60 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
61 2, ( Fig. 2.14) ( Motion Complete ),,:,: ( = 1: ; = 0: ) 1 s t1 t2 t2 2 t Motion Complete t ( = 1, = 0) () t t t1: Motion Complete t2: 1 2 Fig , FCT, (37 h ) ( FCT-) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 61
62 ,() : ( 2.7.2, ) ( 5.6.1),,, :,, : -50 mm(= )š š -40 mm(= ) 1) (Min.) (Max.) 2) 1) FCT [...] [Controller] [Record Table] Record Messages 2) Tab _ _ _ _ 1) _ _ 1) Tab. 2.56,,(),,, -100 % %, 62 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
63 , () ( 6.3) 1) ( 2.5.1) 11 h, 12 h, 29 h, 2A h I 2 t() 2D h, 0E h ²--,, 17 h, 18 h 1A h, 1B h 15 h, 16 h, 33 h CPU /, 1) FCT [...] [Controller] [Error Management] Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 63
64 3 3, :! 3.1 Fig. 3.1 B1 B2 H1 H2 H3 H4 L1 L2 L3 [mm] Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
65 ( IEC/EN 60715:TH TH 35 15) 2. : Fig :( 5 mm) 3. 4., 5. 5 mm 1 Fig. 3.2 L1 H1 [mm] Tab. 3.2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 65
66 3 3.3 :, 3 Fig x M4 / : 3 x M4, 2 2 Fig x M4 / (3x) Fig (2x) 6 (2x) 66 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
67 4 4, :, 4.1 EMC EMC : ( ) 4.2 : 25 cm 90 ( 30 m) : 4.2 FE ( Fig. 4.1, 8) :, : mm², FE mm 6.3 x 0.8 Tab. 4.1 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 67
68 4 4.3, ( 2.2.3),, ESD ESD (electrostatic discharge),, ESD (: ) : / IP 1 [X9] 2 [X1] I/O (SPC/IPC) 3 [X18] 4 [X1A] 5 [X3] STO 6 [X2] 7 [X6] 8 FE (3x) Fig Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
69 4 () ( NEKM-C-10) [mm] [mm 2 ] [mm] [X1A] CAGE-AWG20-28 [X2] CAGE-AWG20-28 [X3] CAGE-AWG20-28 [X6] CAGE-AWG16-28 [X9] CAGE-AWG16-28 Tab. 4.2 () [m] [X1] I/O 30 1) [X1A] 30 1) [X2] 10 1) [X3] STO 30 2) [X6] 10 1) [X9] 30 2) [X18] 30 3) 1) 2) 3) ANSI/TIA/EIA-568-B.1 Tab. 4.3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 69
70 [X1] I/O I/O (PLC/IPC) : CMMO-...-DIOP = PNP( Fig. 4.2) CMMO-...-DION = NPN( Fig. 4.3) / ( ) X (DIN) (DOUT) LOGIC Out GND V 0 V Tab. 4.4 [X1] / 24 (+24 V Out) (I max. = 100 ma) 70 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
71 4 PLC X1: PNP 1 DIN1 2 DIN2 10 DIN10 11 DIN11 12 DOUT1 13 DOUT2 21 DOUT10 22 DOUT11 GND V OUT GND Fig. 4.2 PNP(CMMO-...DIOP) PLC X1: NPN 1 DIN1 2 DIN2 10 DIN10 11 DIN11 12 DOUT1 13 DOUT2 21 DOUT10 22 DOUT11 GND V OUT GND Fig. 4.3 NPN(CMMO-...DION) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 71
72 [X1A] Festo ( X1A V LOGIC OUT 2 REF CMMO-...-DIOP: PNP +24 V NO/NC 1) CMMO-...-DION: NPN NO/NC 1) 1 3 1) NO/NC = Normally Open/Normally Closed Tab. 4.5 X1A 3 0 V GND () 1 (+24 V Out) ( 100 ma) 72 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
73 [X2] [X2] RS422 AB- Festo, / ( X ) 5 V Ri = 120 Ω Tab. 4.6 [X2] 1 A 1) A+ 2 A/ 1) A 3 B 1) B+ 4 B/ 1) B 5 N 1) 6 N/ 1) 7 +5 V +5 V ± 10 % 100 ma 8 GND 0 V 7 (+5 V Out) ( 100 ma) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 73
74 [X3] STO, FCT I/O [X3] STO1/STO2 STO STO, X !, STO GDCP-CMMO-ST-EA-S1 STO ( Safe Torque Off ) STO V DC 1) LOGIC OUT [X9] 100 ma X3 2 STO 1 STO 3 STO STO, 1) (0 V) [X9] 4 Tab. 4.7 STO [X3] 1 (+24 V Out) ( 100 ma) 74 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
75 [X6] Festo, / ( 1 A 1 6 X6 2 A/ 3 B 4 B/ BR V 1.4 A 33 W 6 BR BR = GND, BR+ (24 V ) Tab. 4.8 [X6] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 75
76 [X9], IEC PELV (Protective Extra-Low Voltage, PELV) IEC PELV IEC , [X9] X ! 2! V DC () 4 0 V, STO I/O V DC () Tab. 4.9 [X9](NEKM-C-10) 76 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
77 [X18] :,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001, : : ( A.2.5) 1 TD TD 3 RD+ + X RD Tab [X18]( RJ45) Crossover (Auto-MDI/MDI-X) PC, Patch Crossover [X18] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 77
78 ,,, FCT I/O, STO1/STO2 STO STO, X !, STO GDCP-CMMO-ST-EA-S1 STO ( Safe Torque Off ) STO STO : STO ( GDCP-CMMO-ST-EA-S1), ( 4) 3., FE 4. PC ( 5.2 ) 1 : ( 5.3)- - FCT ( 5.4 ) (): 78 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
79 5 5.2, DHCP (Dynamic Host Configuration Protocol) DHCP, DHCP PC (DHCP ) DHCP! DHCP,, PC DHCP, DHCP, FCT IP ( 5.7.4) Fig. 5.1 ( - - ) PC DHCP ( PC ) DHCP () FCT 1. PC ( - - ) 2. DHCP PC IP ( 5.3.1) 1. FCT( 5.4.1) 2. FCT 3. FCT [Component] [Online] [Login] Tab. 5.1 DHCP () Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 79
80 5 : PC TCP/IPv4 ( Windows ): IP DNS Windows FCT ( FCT [Component] [FCT Interface] <Scan...>) 80 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
81 5 5.3,, :, Festo (*fpf) (OMS),, FCT (: ) FCT, : 7 ( ) *.fpf Parameters ()( 5.3.1) I/O () Festo OMS STO [X3] STO1 STO2 : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 81
82 : PC ( 5.2) PC (Internet Explorer >6; Firefox >3; JavaScript ) : Fig IP : : : IP ( FCT [Component] [FCT Interface], <Scan...>) Diagnosis () Parameters (), ;, 2.3.3, 1) Diagnosis Status 2) (); (Unit: mm/inch/inc) E/A-Interface 2) / Diagnostic Memory Parameters Parameter Up/Download Status 2) Control Password Homing 3) Record Table 3) (Valve ) 1) 2) 3) (OMS) Tab. 5.2 Diagnosis Parameters 82 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
83 (Device control) Device Control /,, I/O (DIN CONTROL ENABLE) Fig. 5.3 Parameters - Device Control() Parameters, Control : Device Control,, *.pdf (/Parameter Sets/) Fig. 5.4 Parameters - Control Enable( ) Control Enable Parameters, Control : Device Control Control Enable Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 83
84 Festo, OMS Parameters () OMS-ID OMS-ID OMS-ID (OMS) OMS,: : FCT Festo ( 2 WLAN/WiFI), Festo Parameter Cloud PC 1. Parameters 2. Parameter Up-/Download OMS-ID OMS-ID OMS : 3. (Parameter Up-/Download: <Search>) 4. (Parameter Up-/Download: <Save>) Festo Support Portal, PC (*.fpf), : 1., Control : Device Control 2. <Browse> 3. <Download parameter set to CMMO> Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
85 ,,,,,( ) FCT ( Tab. 2.25), : : : : 1. : Parameters, Control : Device Control Parameters, Control : Control Enable 2. : <Jog neg.> <Jog pos.> / : FCT I/O (:) 3. <Start Homing>, 4. : <Jog neg.> <Jog pos.>, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 85
86 Festo ( ), FCT FCT [...] [Controller] [Default Values], ( 5.3.4) : 1. : Parameters, Control : Device Control Parameters, Control : Control Enable 2. Control, Positioning typ :(Drop-Down ) 3. Positioning to absolute position : : <Jog neg.> <Jog pos.> <Teach Pos> 4.,: ( Velocity ), ( Acceleration ) ( Torque ) : 10 % <Download>(<Teach Pos>) 2. <Move to Pos.> <Stop> : Parameters, Control : Control Enable 5. <Store>() 86 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
87 : FCT FCT 30 (FCT Monitoring) : FCT [...] [Controller] [I/O Configuration] ():,, PC, 1. ( ) 2. <Store>() 3. <Upload parameter set to CMMO> 4. Windows *. fpf PC : <Download parameter set to CMMO> : (Power on/off), FCT : 1. ( ) 2. ( Parameters :Password): :16 :a Z, A Z, 0 9!"#$%&'()*+,./ ;<=>?@[\]^_{ }~ 3. <Apply> , <Apply> Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 87
88 5 5.4 FCT (Festo Configuration Tool) FCT FCT : FCT : FCT PlugIn-Workflow : PlugIn CMMO-ST : : Festo OMS-ID(: ) ( 2.4.2) STO [X3] STO1 STO2 : FCT PlugIn () PlugIn CD Festo Configuration Tool Auto-Run: Auto-Run: Setup.exe 3. Setup.exe (FCT-Assistent) 88 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
89 FCT Windows : [] [<>] [Festo ] [Festo Configuration Tool] 2. FCT [Project] [New] FCT : FCT ( ) ( [Festo] [CMMO-ST]) () Festo, PlugIn,, FCT,, PlugIn-Workflow, Workflow, ( ): 1. Workflow FCT [...] [Configuration] <> <> 2. <> Workflow, 3. FCT [Project] [Save] FCT, FCT 1. FCT [Component] [FCT Interface] FCT 2. PC ( 5.2) FCT : FCT [Component] [Online] [Login] <Offline/Online> Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 89
90 5 FCT / Tab. 5.3 FCT (Device control) FCT FCT,,, I/O (DIN CONTROL ENABLE) FCT, 1. FCT [Component] [Online] [Login] 2. FCT Device Control : FCT 3. ( ) FCT,,, Enable, FCT 1. FCT [Component] [Online] [Login] 2. FCT Device Control : FCT FCT Enable 90 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
91 ,,,,, FCT [...] [Axis] [Homing] :,,, FCT ( Tab. 2.25)., : : FCT [...] [Axis] [Measurements] FCT [...] [Axis] [Homing] : FCT <Download> : 1. FCT 2. : ( FCT Manual Move ) / : ( FCT [...] [Application Data] [Environment]) I/O (:) 3. ( FCT Homing ), 4. : ( FCT Manual Move ) <Single Step.> <Jog>, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 91
92 ( ) Festo, FCT FCT [...] [Controller] [Default Values], ( 5.4.4) : 1. FCT [...] [Controller] [Record Table] Basic Data:(Drop-Down ) 2., PA : Manual Move 3. : FCT [...] [Controller] [Record Table] FCT [...] [Controller] [Record Table] : FCT 2. <Download> 3. : ( FCT Manual Move Optimise ) 4. : ( FCT Optimise ) (), <Accept>, 92 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
93 : FCT FCT 30 (FCT Monitoring ) : FCT [...] [Controller] [I/O Configuration] 1. FCT ( ) 2. <Store> ():,, PC, 1. FCT ( ) 2. <Store> 3. FCT [Component] [Online] Backup Recovery...,([] []...),<> Windows PC : FCT [Component] [Online] Backup Recovery... Recover : FCT [Component] [Online] Restart Controller ( Power on/off) : FCT PlugIn Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 93
94 5, FCT : 1. FCT ( ) 2. FCT [Component] [Online] [Password]) : :16 :a Z, A Z, 0 9!"#$%&'()*+,./:;<=>?@[\]^_{ }~ 3. <Accept>,. V : FCT <Store> Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
95 5 5.5 I/O ( ),: 7 (DIN1 7) 7 (DOUT1 7) DIN8/DOUT9 :, (:) : :Motion Complete : I/O /, / DIN 1 7 RECORD 1 7 (START/STOP) X REF X1.8 9 BRAKE CONTROL X CONTROL ENABLE X RESET X1.11 DOUT 1 7 RECORD 1 7 (REACHED) X X REFERENCED X READY X TORQUE LIMIT REACHED X1.22 Tab. 5.4 :/ ( tmax = 1 ms), Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 95
96 5 (High, Low) (1, 0), (PNP/NPN) Timing-Diagramme 1 (CMMO-ST- PNP) (CMMO-ST- NPN) 1 High-Pegel (24 V) Low-Pegel (0 V) 0 Low-Pegel (0 V) High-Pegel (24 V) Tab. 5.5 DIN1 7 RECORD 1 7 (START/STOP) 0 1 DINx:RECORD x,, DOUT x:position x 1 0 :( ) DIN8 Ref 0 1 RECORD 1 7, 1 0,, DOUT9:REFERENCED DIN9 BRAKE CONTROL 1, X6.5 (BR+) 1-,( DIN10:CONTROL ENABLE) 0 DIN10:CONTROL ENABLE () DIN10 CONTROL ENABLE 0 1, 1 0 (Quick Stop) : DIN11 RESET 0 1 Tab. 5.6 : 96 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
97 5 DOUT1 7 RECORD 1 7 (REACHED) =1, (Motion complete),, DOUT8 =1 DIN ,,, RECORD 1 7, ; DOUT9 REFERENCED =1,, DOUT10 READY =1 : -/ [X3] STO1/STO2 = 1 CONTROL ENABLE = 1 DOUT11 TORQUE LIMIT REACHED =1 / Tab. 5.7 : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 97
98 (READY), 1 s (t1) [X3] STO1/STO2 = 1,, ( 5.5.3) CONTROL ENABLE DIN10 t1 READY DOUT10 t2 t3 t1 1s : t2: t3: 1 2 Fig. 5.5 : 3 (t2) :,, 98 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
99 (RESET), (READY=0) ( 6.3.2) RESET,, :,( : ) (RESET 0 1), (CONTROL ENABLE 0 1) (READY=1) RESET DIN11 t CONTROL ENABLE DIN10 READY DOUT10 t 2 ms 1 2 Fig. 5.6 : 3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 99
100 (CONTROL ENABLE) CONTROL ENABLE,,, CONTROL ENABLE 0 1, READY = 1,, : CONTROL ENABLE 1 0 Quick-Stop READY=0,,, BRAKE CONTROL CONTROL ENABLE DIN10 READY DOUT10 t1 t2 t3 t4 : t1: t2: t3: t4: 1 2 Fig. 5.7 :/ Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
101 (REF) REF 0 1 RECORD 1 7, REF, REFERENCED =1 (Motion complete), REFERENCED REF, REFERENCED RECORD 1 7 DIN1 7 READY DOUT10 REF DIN8 X1A.2 REFERENCED DOUT9 1 2 Fig. 5.8 : 3 X1A.2 (/) FCT [...] [Axis] Axis Options Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 101
102 (RECORD), : (DOUT REFERENCED = 1) (RECORD 1 7, REF) 0 1,,, ( ),, / : RECORDx,, RECORDx : RECORD x, RECORDx :, :, (Motion complete):, RECORDx REACHED (), 102 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
103 READY DOUT10 REFERENCED DOUT9 DIN1:RECORD 1 (START/STOP) DIN2:RECORD 2 (START/STOP) DOUT1:RECORD 1 (REACHED) Fig. 5.9 DOUT2:RECORD 2 (REACHED) :: : 5 1 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 103
104 5 5.6 I/O ( ) DIN1 DIN ; 1 31 MOTION COMPLETE DIN8 (Modus 0) (Modus 1) Tab DIN DIN Bit Bit ) ) (Homing) Tab. 5.8 : : : 2 (Mode 1) I/O (Mode 1) (Motion Complete) : : : 104 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
105 / DIN MODE 0() MODE 1(/) 1 RECORD Bit 0 RECORD Bit 0 X1.1 2 RECORD Bit 1 RECORD Bit 1 X1.2 3 RECORD Bit 2 RECORD Bit 2 X1.3 4 RECORD Bit 3 Jog+ X1.4 5 RECORD Bit 4 JOG X1.5 6 START TEACH X1.6 7 PAUSE# STOP# X1.7 8 MODE X1.8 9 BRAKE CONTROL X ENABLE X RESET X1.11 DOUT MODE 0() MODE 1(/) 1 MOTION COMPLETE X START ACK# TEACH ACK# X PAUSED/STOPPED# STOPPED# X MOVING X ERROR# X FCT [...] [Controller] [I/O Configuration] Digital X Outputs 8 X REFERENCED X READY X TORQUE LIMIT REACHED X1.22 Tab. 5.9 :/ ( tmax = 1 ms), (High, Low) (1, 0), Timing-Diagramme (CMMO-ST- PNP) (CMMO-ST- NPN) 1 High-Pegel (24 V) Low-Pegel (0 V) 0 Low-Pegel (0 V) High-Pegel (24 V) Tab /, 0, Tab. 5.9 # Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 105
106 5 / DIN 0: 1: 1 RECORD, RECORD X1.1 2 Bit 0 4 Tab. 5.8 Bit 0 2 Tab X1.2 3 X Jog+ 1: X1.4 5, JOG 1: X1.5 6 START 0 1: TEACH 0 1: 7 PAUSE 0: () 1: START : (DIN11) 8 MODE 0 1: 1 1 0: 0 9 BRAKE CONTROL 10 CONTROL ENABLE STOP 0: 1: JOG+/JOG- 1:, X6.5 (BR+) 1, ( CONTROL ENABLE) 0: CONTROL ENABLE () 0 1, 1 0 (Quick Stop) : 11 RESET 0 1: : - - PAUSE Tab : X1.6 X1.7 X1.8 X1.9 X1.10 X Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
107 5 DOUT 0: 1: 1 MOTION MOTION X1.12 COMPLETE COMPLETE 2 START ACK TEACH ACK X PAUSED/ STOPPED X1.14 STOPPED 4 MOVING X ERROR X FCT [...] [Controller] [I/O Configuration] Digital Outputs X X1.18 8, X REFERENCED X READY X TORQUE LIMIT REACHED X1.22 Tab : (TORQUE LIMIT REACHED) FCT, DOUT X1.11,,() Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 107
108 5 : DOUT2 High 1 Low 0 (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete( ), 1 Motion Complete( ), 1, 1, 1, 1 (0x37), 1 1), 1, 1-2), 1 1), 0 (0x2F), I²t (0x0E) 1 1) I²t (0x2D) (0x1A) (0x1B) 1) 2.7 2) DOUT8 IN ZONE Tab Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
109 (READY), 1 s (t1) [X3] STO1/STO2 = 1,, ( 5.6.4) ERROR DOUT5 t1 PAUSE/STOP DIN7 PAUSED/STOPPED DOUT10 CONTROL ENABLE DIN10 READY DOUT10 t2 t3 t1 1s : t2: t3: 1 2 Fig : 3 (t2) :,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 109
110 / (MODE) DIN MODE I/O (READY=1), Quick- Stop DIN8 [X1.8] MODE 0 0: 1 1:/ Tab I/O, t 5 ms READY DOUT10 MODE DIN8 1 0 t t t 5 ms Fig :/ (MODE) 110 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
111 (RESET), (ERROR=1, READY=0) ( 6.3.2) RESET,, :, ( : ) (RESET 0 1), (CONTROL ENABLE 0 1) (READY=1) ERROR DOUT5 RESET DIN11 t1 CONTROL ENABLE DIN10 READY DOUT10 t1 2 ms 1 2 Fig : 3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 111
112 (CONTROL ENABLE) DIN10, (: 2 s), X6.5 (BR+) : CONTROL ENABLE 0 1,, READY=1, ENABLE=1 CONTROL ENABLE 1 0 (Quick Stop),, READY=0 ENABLE=0,, BRAKE CONTROL PAUSE/STOP DIN7 CONTROL ENABLE DIN10 READY DOUT10 t1 t2 t3 t4 : t1: t2: t3: t4: 1 2 Fig :/ Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
113 (REF), RECORD 0 START 0 1, REFERENCED, REFERENCED READY DOUT MODE DIN8 RECORD BIT 0 4 DIN1 5 0 = t START DIN6 START ACK DOUT2 t X1A.2 MOTION COMPLETE DOUT1 t REFERENCED DOUT9 t 2 ms 1 2 Fig ( 0): X1A.2 - (/) FCT [...] [Axis] Axis Options Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 113
114 (TEACH) I/O 7 TEACH TEACH,, TEACH CONTROL ENABLE DIN10 PAUSE/STOP DIN7 READY DOUT10 MODE DIN8 JOG+ DIN4 MOTION COMPLETE DOUT1 RECORD BIT 0 2 DIN1 3 TEACH DIN6 t t TEACH ACK DOUT2 t t 2 ms 1 JOG+ 2 JOG+ Fig ( 1): Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
115 5, TEACH/TEACH ACK : PLC DIN1 3 (RECORD1 7) JOG+ JOG-, JOG- DIN6 (TEACH) DOUT2 (TEACH ACK) DIN6 (TEACH) DOUT2 (TEACH ACK) : : (): :, FCT 100,000, FCT FCT [...] [Controller] [I/O Configuration] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 115
116 (RECORD) : (DOUT REFERENCED = 1) MODE = 0 / : RECORD BIT :, START START ACK : PAUSE/STOP, (Pause) MOTION COMPLETE, START : MOTION COMPLETE / (Motion complete):, MOTION COMPLETE ( :), 116 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
117 5 :/ CONTROL ENABLE DIN10 PAUSE/STOP DIN7 READY DOUT10 PAUSED/STOPPED DOUT10 RESET DIN11 MODE DIN8 RECORD BIT 0 4 DIN1 5 START DIN6 t START ACK DOUT2 t MOTION COMPLETE DOUT1 t t t 2 ms 1 2 (PAUSE) 3 4 () Fig (Mode 0): :,/ Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 117
118 CONTROL ENABLE DIN10 PAUSE/STOP DIN7 READY DOUT10 PAUSED/STOPPED DOUT10 MODE DIN8 RECORD BIT 0 4 DIN1 5 x x+1 t t START DIN6 START ACK DOUT2 t MOTION COMPLETE DOUT1 t t 2 ms 1 x 2 x x+1 x+1 : 3 ( X+1) Fig (Modus 0): =, 118 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
119 FCT (Trace) FCT,: FCT FCT, FCT ( FCT [Component] [Firmware Download]) FCT Festo ( : PlugIn FCT :, :,,,, :, FCT (Backup- Datei), FCT Backup-Datei (Download) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 119
120 :,,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC ISO/IEC 27001, FCT IP- IP, PC IP DHCP/IPv4 DHCP- IP DHCP-, Tab TCP/IPv4-, IP- IP- PC IP-, IP- (Power OFF, ON) 120 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
121 CMMO-ST 7 4, ( 6.3.2) / B L E Bootloader 1 (), Festo Exxx 1) 2, Axxx 1) 3,, () HHHH STO Safe torque off 4 STO P000 5 P070 P071 P1xx 2) P2xx 2) P3xx 2) 1) xxx = 2) xx = Tab ,,, ( 6.2) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 121
122 , 6.1.3, ; : Diagnosis : Identify this CMMO: on FCT : FCT [Component] [FCT Interface] FCT Interface <> Festo Field Device Tool (Netzscan) [] 122 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
123 6 6.2,, 200, FCT FCT [...] [Controller] [Error Management] FCT Diagnosis : Diagnostic Memory FCT (Start-up event, 3Dh) (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) () ( Tab. 6.3) (0x = hex-prefix) HH.MM.SS:nnn(HH =,MM =,SS =,nnn = ) Festo Tab. 6.2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 123
124 FCT, (Error) (Warning) (Information),,,, Tab. 6.3 FCT [...] [Controller] [Error Management], -: (Free-wheeling) Quick-Stop (QS deceleration) (Record deceleration) (Finish record), (Motion Complete) Tab. 6.4! (: ),,: 124 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
125 6 A (),,,,, : No.... F/W/I = //( Tab. 6.3) ( F), : F/ / FCT (/) FCT I/O- DIN11 (RESET) :, : [] [] [ ] FCT, (A G) ( Tab. 6.6) Tab. 6.5 O B C D E F G, Quick-Stop,,, Motion complete; Quick-Stop,,, Motion Complete, Tab. 6.6 () Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 125
126 6 01h (Software error) Festo :, :A 02h (Default parameter file invalid) :F/-/- : :F/-/- :,, :, :A 05h (Zero angle determination) :F/-/- : ( /?) :? : : : : :, : : ( ) ( ) ( FCT ),, : :A 126 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
127 6 06h (Encoder) :, :A 09h (Offset determination for current measurement) :, :A 0Bh (Parameter file invalid) :F/-/- : :F/-/- : :F/-/- :,:,, : :A 0Ch (Firmware update execution error) :F/-/- : / PC,,, :, :A Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 127
128 6 0Dh (Overcurrent) :F/-/- :, FCT ( ) :, :-,, -,,: :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B C 11h (Softwarelimit positive) :F/-/- :,, : :A B C E F 128 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
129 6 12h (Softwarelimit negative) :F/-/- :,, : :A B C E F 13h (Positive direction locked) :F/-/- :,,, : :A B C E F 14h (Negative direction locked) :F/-/- :,,, : :A B C E F Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 129
130 6 15h (Output stage temperature exceeded),, : :A B C D 16h (Output stage temperature too low), : :A B C D 17h (Logic voltage exceeded), : :A B 18h (Logic voltage too low) :F/-/- : :F/-/- : :F/-/- : :F/-/- : /, :, :A 130 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
131 6 19h LM-CPU (Temperature LM-CPU) :F/-/- : CPU,, : :A B 1Ah (Intermediate circuit voltage exceeded), ; :? : : :A B 1Bh (Intermediate circuit voltage too low) :F/-/- : :F/W/- : :,,?, () : :A :, 22h (Homing) :F/-/- :,(?), : :B C E F Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 131
132 6 23h (No index pulse found) :F/-/- : :, :, :B C E F 24 h (Drive function is not supported in openloop operation) :F/W/- : : :E F :, 25h (Path calculation) :F/-/- : : : :A 27h (Save parameters) :F/-/- : :?, Festo : :G 132 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
133 6 28h (Homing required) :F/W/- : (: ),, : :B C D E F G :, 29h (Target position behind negative software limit), (/?) : :B C E F 2Ah (Target position behind positive software limit), (/?) : :B C E F 2Bh, (Firmware update, invalid firmware) :F/-/- : :F/-/- : :F/W/- : Festo : :A :, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 133
134 6 2Dh I²t (I²t warning motor) :-/W/I : I²t- : I²t 80 %, 2Eh (Index pulse too close on proximity sensor) :F/-/- : FCT : :B C E F 2Fh (Following error) :F/W/I :?? ( I²t?) : :B C E F :, 31h CVE- (CVE connection) :F/-/- : (CVE) :,,,? : :B C D E F G 32h FCT (FCT connection with master control) FCT, : :B C D E F G :F/-/- : 134 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
135 6 33h (Output stage temperature warning) :-/W/I :, :, 34h Safe Torque Off (STO) (Safe Torque Off (STO)) :F/W/I : Safe Torque Off STO : :0 : STO, 37h (Standstill monitoring) :-/W/I : :, 38h (Parameter file access) :F/-/- :, 3 s : :G 39h Trace (Trace warning) :, :-/W/- : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 135
136 6 3Ah (Homing timeout) :F/-/- : : :B C E F 3Bh (Homing method invalid) :F/-/- : : : :E F 3Ch (Two edges in one cycle) :F/-/- :, PLC, ( Homing), : :B C E F 3Dh (Start-up event) :-/-/I : 48, 3Eh (Diagnostic memory) :F/-/- :,, : :G 3Fh (Record invalid) :F/-/- : : :B C D E F G 136 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
137 6 40h (Last Teaching not successful) :-/W/I : : TEACH ( 1) ( 0), 41h (System reset) Festo : :A 43h FCT (FCT connection without master control) FCT,:, : FCT, 44h (Parameter file not compatible with firmware) :F/-/- : :-/W/I : :-/W/I :,, :, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 137
138 6 6.4, IP PC IP IP FCT : IP 1. FCT [Component] [FCT Interface] FCT Interface <Scan...> Festo Field Device Tool (Netzscan) 2. [] IP ( Tab. 5.15) PC IP Windows(:Windows 7) 1. [] [] [ Internet] [ ] [Local Area Connection] 2. [Local Area Connection] 3. [ 4 (IPv4)] 4., 4 (IPv4) PC IP 5. IP ( ) : IP IP DHCP ( Tab. 5.15), IP (IP ;: ) PC, PC [ IP ] IP (:IP ;: ;: ( )) PC Windows(:Windows 7) 1. [] [()] [] [ ] 2. ipconfig ipconfig /all 3. Ping, 1. [] [()] [] [ ] 2. :ping ( IP ) 138 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
139 6 6.5 () FCT Tab. 6.7 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 139
140 7 7 :,,:: 7.1, : 7.2, 140 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
141 7 7.3,, FCT (), FCT (Download) ( 3) : RoHS Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 141
142 A A STO [X3] CMMO-ST STO- /, Festo / 10 m : Festo A.1 A.1.1 1) I/O I/O ( ) 7 ( * * ) Fig. 3.1 [kg] ) : (CVE) TCP/IP Festo Configuration Tool (FCT) I/O :DIN1 DIN11, DOUT1 DOUT11 :DIN1 DIN11, DOUT1 DOUT11 CMMO-ST- DIOP: PNP CMMO-ST- DION: NPN I 2 t ( ) / RoHS 142 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
143 A A.1.2 [ C] [ C] [ C], +85 0x33 [ C] x33 [ C], +95 0x15 [ C] x16 IP40() (25 C ) [%] 0 90,( ) 2( EN 50178) () [m] 2000 ( IEC 60068) ( 2 6 ) ( 2-27 ) ( 2-27 ) 1) (SG) 1), :SG2; :SG1 :SG2; :SG1 :SG1 SG: [Hz] [m/s 2 ] [mm] SG1 SG2 SG1 SG2 SG1 SG ±3.5 ± ±0.15 ± [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ± [m/s 2 ] [ms] ± Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 143
144 A A.1.3 CE ( /42/EG 2004/108/EG 1) UL Listing Mark for Canada and the United States RCM (Regulatory Compliance Mark) 1),:, UL UL 144 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
145 A A.2 A.2.1 [V DC] 24 ±15 % [A] 5.7 [A] 9.4() PELV (Protected Extra-Low Voltage) EN60529 IP40( ) A.2.2 [X1] I/O EN : , 1 [m] 30 ( 0 V) [V DC] 24 [V DC] 29 [ma] 2 () [ms] 1 [ms] 2() [ma] 100 ( ) A.2.3 [X1] V OUT [X1.24] GND [X1.25] [V DC] 24 [X9] [ma] 100 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 145
146 A A.2.4 [X9] ( 5) [V DC] 24 ± 15 % [A] 5.7 [A] 9.4 [V DC] 28 ( 0x17) [V DC], 31.0 ( 0x18) [V DC] ) ( 3) [V DC] 24 ± 15 % 2) [A] 0.3 ( 0x1A) [V DC], 31.0 ( 0x1B) [V DC] ) FCT 2) A.2.2 A.2.5 [X18] IEEE802.3 (10BaseTx) 100 MBit/s RJ45, 8 TCP/IP, UDP, Cat 5 30 m 146 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
147 B (CVE) B (CVE) B.1 (CVE),CMMO-ST PC CMMO-ST CMMO-ST CMMO-ST FCT, CVE CVE CVE (Pause) CMMO-ST CVE PC TCP/IP CVE CVE CMMO-ST,:, CVE, STO B.1.1 CVE TCP (Transmission Control Protocol),PC, PC, CMMO-ST () TCP CMMO-ST, (Quick Stop) TCP FCT Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 147
148 B (CVE) B.1.2 CVE CMMO-ST CVE CVE B.3 CVE B.3 Tab. B.1 CVE, Tab. B.2 CMMO-ST CMMO-ST Tab. B.3 CVE, Tab. B.4 CMMO-ST CMMO-ST Tab. B.5 TCP, 0x00 0x01 0x02 UINT bit unsigned integer x03 UINT bit unsigned integer x04 UINT bit unsigned integer x05 0x06 SINT bit signed integer x07 SINT bit signed integer x08 SINT bit signed integer Tab. B Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
149 B (CVE) CVE 0x00 ID UINT08 0x10 = CVE 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 ID UINT32 ID ID, UINT32 4 0x09 Acknowledge UINT08 ( 0 ) 0x0A 0x0B 0x0C 0x0D UINT32 ( 0 ) 0x0E 0x0F UINT16 CVE 0x10 UINT08 0 0x11 UINT08 ( 0 ) Tab. B.2 CVE Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 149
150 B (CVE) CVE 0x00 ID UINT08 0x10 = CVE 0x01 0x02 0x03 0x04 ID UINT32 ID, 0x05 0x06 0x07 0x08 UINT32 CVE : = 4 Byte + UINT32 : = 4 Byte + 4 Byte = 8 Byte 0x09 Acknowledge UINT08 0 : Tab. B.6 0x0A 0x0B 0x0C 0x0D UINT32 0x0E 0x0F UINT16 CVE 0x10 UINT08 0 0x11 UINT08 CVE 0x12 1 CVE K Tab. B.3 CVE 150 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
151 B (CVE) CVE 0x00 ID UINT08 0x11 = CVE CMMO 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 ID UINT32 ID ID, UINT32 CVE : = 4 Byte + SINT08 : = 4 Byte + 1 Byte = 5 Byte 0x09 Acknowledge UINT08 ( 0 ) 0x0A 0x0B 0x0C 0x0D UINT32 ( 0 ) 0x0E 0x0F UINT16 CVE 0x10 UINT08 0 0x11 UINT08 CVE 0x12 1 CVE K Tab. B.4 CVE Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 151
152 B (CVE) CVE 0x00 ID UINT08 0x11 = CVE CMMO 0x01 ID UINT32 ID, 0x02 0x03 0x04 0x05 0x06 0x07 0x08 UINT32 4 0x09 Acknowledge UINT08 0 : Tab. B.6 0x0A 0x0B 0x0C 0x0D UINT32 0x0E 0x0F UINT16 CVE 0x10 UINT08 0 0x11 UINT08 CVE, Tab. B.5 CVE 152 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
153 B (CVE) (Acknowledge) Ack 0x00 0x01 ID 0x03 0xA0 CVE CVE CVE ( CVE ) 0xA2 0xA4 CVE 0xA5 CVE 0xA6 ( Operation Operation enabled enabled ),CVE 0xA7 CVE CVE CVE #3 0xA9 CVE, 0xAA CVE, 0xAB CVE, 0xAC CVE, 0xAD CVE, Tab. B.6 (Acknowledge) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 153
154 B (CVE) B.1.3 CMMO-ST, Fig. B.1 Tab. B.7 Tab. B.8 CANopen CiA402, (CVE #2, Tab. B.9) (CVE #1, Tab. B.10) Operation enabled CVE #120 CVE 6; CVE 1 CVE # Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
155 B (CVE) power disabled Error 13 A start H error reaction active 0 14 B not ready to switch on I error (1) 15 C switch on disabled (2) 7 D ready to switch on E switched on F operation enabled G quick stop active power enabled Fig. B.1 CMMO-ST Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 155
156 B (CVE) A (:) B B C D Not ready to switch on Switch on disabled Ready to switch on,cmmo-st, Switched On, () E Switched on F Operation enabled G H Quick Stop active Error reaction active Quick Stop (),, I ERROR Tab. B Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
157 B (CVE) 0 Start Not ready to switch on () 1 Not ready to switch on Switch on disabled 2 Switch on disabled Ready to switch on 3 Ready to switch on Switched on 4 Switched on Operation enabled 5 Operation enabled Switched on 6 Switched on Ready to switch on 7 Ready to switch on Switch on disabled 8 Operation enabled Ready to switch on 9 Operation enabled Switch on disabled Switch on disabled CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 0 CW.FR (Error Reset) = 0 CW.EO (Enable Operation) = 0 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 CW.FR (Error Reset) = 0 CW.EO (Enable Operation) = 1 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 CW.FR (Error Reset) = 0 CW.EO (Enable Operation) = 0 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW. SO (Switch on) = 0 CW.FR (Error Reset) = 0 CW.EV (Enable Voltage) = 0 : CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 0 CW.EV (Enable Voltage) = 1 CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 0 CW.FR (Error Reset) = 0 CW.EV (Enable Voltage) = 0 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 157
158 B (CVE) 10 Switched on Switch on disabled 11 Operation enabled Quick Stop active 12 Quick Stop active Switch on disabled 13 : Error reaction active () 14 Error reaction active Error 15 Error Switch on disabled 16 Quick Stop active Operation enabled 17 Ready to switch on Operation enabled CW.FR (Error Reset) = 0 CW.EV (Enable Voltage) = 0 : CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 0 CW.EV (Enable Voltage) = 1 CW.FR (Error Reset) = 0 CW.QS (Quick Stop) = 0 CW.EV (Enable Voltage) = 1 CW.FR (Error Reset) = 0 CW.EV (Enable Voltage) = 0 Error (: ) FR (Error Reset) CW.PSOn() = 0 Bit 1: CW.EO (Enable Operation) CW.QS (Quick Stop) CW.EV (Enable Voltage) CW.SO (Switch on) CW.FR (Error Reset) = 0 CW.EO (Enable Operation) = 1 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 CW.FR (Error Reset) = 0 CW.EO (Enable Operation) = 1 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
159 B (CVE) 18 Error Operation enabled 19 Error Switched on (: ) CW.FR (Error Reset) CW.PSOn() = 1 CW.EO (Enable Operation) = 1 CW.QS (Quick Stop) = 1 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 (: ) FR (Error Reset) CW.PSOn () = 1 CW.EO (Enable Operation) = 0 CW.EV (Enable Voltage) = 1 CW.SO (Switch on) = 1 Tab. B.8 (CVE #2) Bit 0 CW.SO Switch on 1 CW.EV Enable voltage 2 CW.QS Quick Stop() 3 CW.EO Enable operation 4 CW.ST START CW.PSOn Power stage on after reset ( ) 7 CW.FR Error reset() 8 CW.STP STOP Tab. B.9 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 159
160 B (CVE) (CVE #1) Bit 0 SW.RTSO Ready to switch on CW.SO 1 SW.SO Switched on 2 SW.OE Operation enabled 3 SW.F Error 5 SW.QS /Quick Stop., 6 SW.SOD Switch on disabled Bit (x ) ( ) xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick Stop active xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault 7 SW.W Warning 8 SW.MOV Move 10 SW.TR Target reached/motion complete. (:) 12 SW.SACK Setpoint Acknowledge, CW.ST = 1 CW.ST = 0 SW.TR = 1, 15 SW.AR Referenced 30 SW.DPB Direction positive blocked 31 SW.DNB Direction negative blocked Tab. B Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
161 B (CVE) : Operation enabled : ; STO ( CVE # ) CMMO-ST I/O Switch on disabled ; 0x CVE #3 2, CVE 2. 0x , Ready to switch on, 0x x , Switched on, 0x x F, Operation enabled, 0x : : Operation enabled FCT 1. CVE #120 6, 2. 0x F,, 0x x F, : : Operation enabled ( :SW.AR = 1) 1. CVE #120 1, 2. CVE #31, 3. 0x F,, 0x , 0x x F, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 161
162 B (CVE) B.2 CMMO (EINC) (: ), (SINC) (SINC) (EINC) : SINC,, SINC, #218 #217 : FCT,,: FCT, #218 #217 : #218 = 1, : #217 = 6, : mm = 1000 SINC 162 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
163 B (CVE) B.3 CVE # () Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 163
164 B (CVE) R W1 Control disabled, ( ) W2 Control enabled, ( ) W3 Tab. B.11 #1 UINT32 R/-/-/-/- B.1.3 : :0 #2 UINT32 R/W1/W2/-/- B.1.3 : :0 #3 UINT08 R/W1/W2/W3/-, : 0x00 I/O 0x01 FCT (Festo Configuration Tool) 0x02 CVE( ) 0x03 #4, : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
165 B (CVE) #4 UINT08 R/W1/W2/-/- 0x00 0x01, :0 1 :0 #31 UINT08 R/W1/W2/-/-, : #141 1 xx :1 31 #57 SINT32 R/-/-/-/- :SINC/s : :0 #58 SINT32 R/-/-/-/- :ma : :1 #59 SINT16 R/-/-/-/- ( ) : : :0 #60 SINT32 R/-/-/-/- :SINC : :0 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 165
166 B (CVE) #61 SINT32 R/-/-/-/- :SINC/s : :0 #62 SINT32 R/-/-/-/- :ma : :0 #63 SINT16 R/-/-/-/- () : : #70 SINT32 R/-/-/-/- :SINC/s² : :0 #72 SINT32 R/-/-/-/- :SINC/s² : :0 #96 SINT32 R/-/-/-/- = :SINC : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
167 B (CVE) #97 SINT32 R/-/-/-/- ( ) = - :SINC/s : #98 SINT32 R/-/-/-/- ( ) = - :ma : #99 SINT16 R/-/-/-/- ( ) = - : : : #120 SINT08 R/W1/W2/-/- : 0: 1: 3: 4: / 6: 3: 4: :0, 1, 3, 4, 6, 3, 4 :0 #121 SINT08 R/-/-/-/- : #120 : :0 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 167
168 B (CVE) #141 UINT08 R/-/-/-/- #31 :0 255 :0 #191 UINT16 R/-/-/-/- 0xFFFF : :65535 #194 UINT08 R/-/-/-/- 0x00 0x01, 0x02 0xFF :0 255 #213 UINT16 R/-/-/-/- 0xFFFF : :65535 #217 SINT08 R/W1/-/-/- B.2 :10 x :< 0 :0 168 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
169 B (CVE) #218 UINT08 R/W1/-/-/- B.2 0: 1: 2:/Inch 3: 4: :0 4 :0 #295 SINT32 R/-/-/-/- : : : = 0, : = ( 1) * :,, :,, 2 31 & : ( ),, :SINC : :0 #358 UINT08 R/-/-/-/- (:STO) Bit 0:STO Bit 1 7: Bit 1, Operation enabled : :0 255 :254 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 169
170 B (CVE) 170 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
171
172 Copyright: Festo AG & Co. KG Postfach Esslingen Phone: Fax: Internet: : de
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