CMMO-ST-LK-C-HP_BES_D_ z1_ a

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1 CMMO-ST-C5-1-LKP,: IO-Link I-Port Modbus TCP/IP FHPP a [ ]

2 CMMO-ST-C5-1-LKP GDCP-CMMO-ST-LK-C-HP -ZH IO-Link Modbus TIA-Portal : : : 1. / : <xxx> [xxx] [xxx] FCT [ ] [xxx] FCT [xxx] FCT-PlugIn FCT 2 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

3 CMMO-ST-C5-1-LKP CMMO-ST-C5-1-LKP CMMO-ST FHPP FHPP IO-Link IO-Link/I-Port I/O [X1] IO-Link FCT CMMO-ST IO-Link S CMMO-ST I-Port IO-Link/I-Port I/O [X1] I-Port FCT CMMO-ST I-Port Modbus TCP/IP Modbus-TCP [X18] Modbus-TCP FCT CMMO-ST Modbus IP Modbus Modbus Read Device Identification Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 3

4 CMMO-ST-C5-1-LKP 5 I/O (FHPP ) FHPP FHPP I/O FHPP I/O (Byte 1 8) () FHPP (PNU 402) Motion Complete Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

5 CMMO-ST-C5-1-LKP A A A.1.1 [EINC] A.1.2 [SINC] A B B.1 FHPP B B.3 FHPP B B B B B B B.3.7 : B.4 FHPP B B B B.4.4 MMI B B B.4.7 FHPP B B B B.4.11 / B B.4.13 FHPP B B B B B B B.4.20 : B.4.21 : B.4.22 : B.4.23 : B.4.24 : Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 5

6 CMMO-ST-C5-1-LKP B.4.25 : B.4.26 : B.4.27 : B.4.28 : C Festo Parameter Channel (FPC) C.1 I/O FPC C.2 EFPC C.2.1 EFPC C.2.2 FPCC FPCS,Request ID Response ID C.3 (PNU,) C.3.1 EFPC C C C C C.4.1 EFPC C.4.2 ID C C C C C D E Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

7 CMMO-ST-C5-1-LKP (GDCP-CMMO-ST-LK-C-HP-...) CMMO-ST-C5-1-LKP Festo Handling und Positioning Profile (FHPP) : GDCP-CMMO-ST-LK-SY-... Tab. 1 CMMO-ST-LK... GDCP-CMMO-ST-LK-SY-... GDCP-CMMO-ST-LK-C-HP-... GDCP-CMMO-ST-LK-S1-... FCT CMMO-ST_UL-... / Festo Configuration Tool (FCT), FHPP : IO-Link I-Port Modbus TCP STO ( Safe Torque Off ) Festo Configuration Tool (FCT), : Festo Optimised Motion Series (OMS) Underwriters Laboratories Inc. (UL) Tab. 1 : CMMO-ST-Quickguide-...: CMMO-ST Festo Optimised Motion Series (OMS) () Festo (:EPCO) :Festo Optimised Motion Series (OMS) (CODESYS,...) Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 7

8 CMMO-ST-C5-1-LKP : : V 1.4.x FCT-PlugIn: CMMO-ST V 1.4.x,: MAC-ID Info, FCT( ),,: : :, FCT Festo 8 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

9 1 CMMO-ST FHPP 1 CMMO-ST FHPP 1.1 FHPP Festo, : Festo Handling and Positioning Profile (FHPP) FHPP Festo, I/O... > n... Fig. 1.1 FHPP (FHPP ) 8 Byte (FPC) 8 Byte I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 9

10 1 CMMO-ST FHPP 1.2 CMMO-ST-C5-1-LKP Tab. 1.1 FHPP IO-Link [X1] IO-Link/I-Port I/O 2 I-Port [X1] IO-Link/I-Port I/O 3 Modbus TCP/IP [X18] 4 Tab. 1.1 FHPP [X1] IO-Link/I-Port I/O 2 [X18] Fig. 1.2 CMMO-ST-C5-1-LKP 3 Link/Activity-LED C/Q 10 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

11 2 IO-Link 2 IO-Link IO-Link () IO-Link I/O (IEC ), 3, IO-Link Interface Specification Version 1.1 [IOL], IO-Link LED C/Q IO-Link 2.1 IO-Link/I-Port I/O [X1] Pin 1 11 X V (OUT) +24 V 1),: 2 0 V (GND) 3 DOUT2 2, 4 DOUT1 1, 5 READY Ready 6 ENABLE 2) 7, 3) 8 9 L 0 V (GND) 10 C/Q IO-Link/I-Port 11 L+ IO-Link IC 24 V, X9 1), 100 ma 2) (FCT) ) Pin I-Port / IO-Link 4 5 Tab. 2.1 X1 I/O,IO-Link Pin Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 11

12 2 IO-Link 2.2 IO-Link IO-Link,: FCT CMMO-ST PC, GDCP-CMMO-ST-LK-SY FCT CMMO-ST 1. FCT CMMO-ST 2. (Application Data) (Control Interface): IO-Link 3. (Controller) : (Enabled by),: (Fieldbus) (Digital Input 'Enable' and Fieldbus) 4. (Fieldbus) (Device Profile): FHPP FHPP + FPC (Device Control) 7. (Store) FCT, : (Modbus IO-Link I-Port) (FHPP,FHPP + FPC), IO-Link : () 2. (Device Control) 3. Control Interface (Save) : IO-Link 4. FHPP Profile (Save) : FHPP Channel FHPP + FPC Channel IO-Link Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

13 2 IO-Link 2.3 IO-Link IO-Link, IO-Link IO-Link (CODESYS TIA-Portal STEP 7...) IODD : IODD Festo-CMMO-ST-C5-1-LKP_FHPP-xxxxxxxx-IODD1.1.xml Festo-CMMO-ST-C5-1-LKP_FHPP_and_FPC-xxxxxxxx-IODD1.1.xml (xxxxxxxx = ) FHPP (8 I/O Byte) FHPP + FPC (16 I/O Byte) Tab. 2.2 IODD IO-Link V1.1 : IO-Link 8 16 I/O Byte Event management IO-Link SIO mode KBaud IO-Link (2048 Byte ), EFPC C.4 IODD Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 13

14 2 IO-Link S CMMO-ST CMMO-ST IO-Link S IO-Link : TIA-Portal V13 S7 PCT V3.3 IO-Link 1.1 CMMO-ST IO-Link S TIA-Portal (S7 IO-Link S7 ) 4. CPU IP 5. PLC, IO-Link 6. IO-Link, PLC 2 Fig. 2.1 TIA-Portal S7 3 IO-Link IO-Link DeviceTool 9. PC 10. [] [ IODD], IODD 14 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

15 2 IO-Link ,IO-Link 1.1 Fig. 2.2 DeviceTool, IODD 11. IO-Link 1.1 Festo AG & Co. KG CMMO ( FHPP FPC), IODD DeviceTool, IO-Link : Festo FHPP_Positions_Library_TIA, (I_ADRESS, O_ADRESS) / Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 15

16 3 I-Port 3 I-Port Festo I-Port () LED C/Q I-Port 3.1 IO-Link/I-Port I/O [X1] Pin 1 11 X V (OUT) +24 V 1),: 2 0 V (GND) 3 DOUT2 2, 4 DOUT1 1, 5 READY Ready 6 ENABLE 2) 7, 3) 8 9 L 0 V (GND) 10 C/Q IO-Link/I-Port 11 L+ I-Port IC 24 V, X9 1), 100 ma 2) (FCT) ) Pin I-Port / IO-Link 4 5 Tab. 3.1 X1 I/O,IO-Link Pin Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

17 3 I-Port 3.2 I-Port I-Port,: FCT CMMO-ST PC, GDCP-CMMO-ST-LK-SY FCT CMMO-ST 1. FCT CMMO-ST 2. (Application Data) (Control Interface): I-Port 3. (Controller) : (Enabled by),: (Fieldbus) (Digital Input 'Enable' and Fieldbus) 4. (Fieldbus) (Device Profile): FHPP FHPP + FPC (Device Control) 7. (Store) FCT, : (Modbus IO-Link I-Port) (FHPP,FHPP + FPC), I-Port : () 2. (Device Control) 3. Control Interface (Save) : I-Port 4. FHPP Profile (Save) : FHPP Channel FHPP + FPC Channel I-Port 3.3 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 17

18 3 I-Port 3.3 I-Port I-Port : I-Port I-Port CPX-CTEL 4 x I-Port, 32 Byte I 32 Byte O CTEU-PB 2 x I-Port, 16 Byte I 16 Byte O CTEU-EC 2 x I-Port, 16 Byte I 16 Byte O CTEU-CO (2 x I-Port, 16 Byte I 16 Byte O) Tab. 3.2 I-Port I-Port I-Port (2x16 1x16 2x8 4x8) CPX-CTEL Tool change mode, CPX-CTEL GSD I-Port ESI I-Port GSD ESI I-Port 18 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

19 4 Modbus TCP/IP 4 Modbus TCP/IP Modbus TCP/IP Modbus TCP/IP IEC Modbus TCP/IP 502 (FCT ) Modbus TCP/IP TCP, FCT Data Encoding Modbus TCP/IP Big Endian most significant byte (2 Byte) (Modbus: ), 2 Byte (Function-Codes):0x03, 0x10, 0x Festo Modbus Modbus Tab. 4.1 () : Modbus CMMO, Function-Code Transaction Identifier Protocol Identifier Message Length Unit Identifier Modbus TCP Client Modbus TCP Client Byte Byte = n + 2, n Byte (Unit identifier (: 0) Slave-ID) 8 1 Function-Code n Tab. 4.1 Modbus Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 19

20 4 Modbus TCP/IP 4.1 Modbus-TCP [X18] [X18] RJ45 Modbus 2 TCP ( FCT,) Modbus-TCP, IP, FCT Tab. 4.2 [X18] Pin 1 + ( TX+ ) 3 2 ( TX ) (RX+) (RX ) STP,Cat.5 20 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

21 4 Modbus TCP/IP 4.2 Modbus-TCP Modbus, TCP-Port : FCT CMMO-ST PC, GDCP-CMMO-ST-LK-SY FCT CMMO-ST 1. FCT CMMO-ST 2. (Application Data) (Control Interface): Modbus/TCP 3. (Controller) : (Enabled by),: (Fieldbus) (Digital Input 'Enable' and Fieldbus) 4. (Fieldbus), (Operation Parameters) : (Device Profile): FHPP FHPP + FPC TCP-Port( TCP-Port 502) (Timeout)(:100 ms, ) (Device Control) 7. (Store) 8. Controller, (Network Settings) (Setup network settings): DHCP (DHCP server active,) IP (Obtain an IP adress automatically) IP ( IP ) FCT, : (Modbus IO-Link I-Port) ( TCP-Port), Modbus 4.3 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 21

22 4 Modbus TCP/IP : 2. (Device Control) 3. Control Interface (Save) : MODBUS 4. FHPP Profile (Save) : FHPP Channel FHPP + FPC Channel 5. Network (Save) : DHCP server active Obtain an IP adress automatically Use the following IP adress ( IP ) Modbus Modbus IP Modbus-TCP, IP FCT IP Modbus (Modbus ): Read Holding Registers (0x03) Read Exception Status (0x07) Write Multiple Registers (0x10) Read/Write Multiple Registers (0x17) Read Device Identification (0x2B) 0,Byte Big endian Tab. 4.3 Modbus 22 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

23 4 Modbus TCP/IP Modbus Read/write multiple registers Read/write multiple registers request (0x17) Bytes Byte Function code 1 0x17 8 Start address read 2 0x0000 9, 10 Quantity of 2 0x0004: FHPP 11, 12 registers read 0x0008: FHPP + FPC Start address write 2 0x , 14 Quantity of 2 0x0004: FHPP 15, 16 registers write 0x0008: FHPP + FPC Byte count write 1 0x08: FHPP 0x10: FHPP + FPC Registers values write 8, 16 FHPP O FHPP + FPC O Read/write multiple registers response (0x17) Bytes Byte Function code 1 0x17 8 Byte count 1 0x08: FHPP 0x10: FHPP + FPC 9 Register value 8, 16 FHPP I FHPP + FPC I Read/write multiple registers exception (0x97) Bytes Byte Error code 1 0x97 8 Exception code 1 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure 9 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 23

24 4 Modbus TCP/IP Modbus Read holding registers Read holding registers request (0x03) Bytes Byte Function code 1 0x03 8 Start address 2 0x0000 9, 10 Quantity of 2 0x0004: FHPP 11, 12 registers 0x0008: FHPP + FPC Read holding registers response (0x03) Bytes Byte Function code 1 0x03 8 Byte count 1 0x08: FHPP 0x10: FHPP + FPC 9 Register value 8, 16 FHPP I/O FPC Read holding registers exception (0x83) Bytes Byte Error code 1 0x83 8 Exception code 1 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure 9 24 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

25 4 Modbus TCP/IP Modbus Write multiple registers Write multiple registers request (0x10) Bytes Byte Function code 1 0x10 8 Start address 2 0x0000 9, 10 Quantity of 2 0x0004: FHPP 11, 12 registers 0x0008: FHPP + FPC Byte count 1 0x08: FHPP 0x10: FHPP + FPC Register value 8, 16 FHPP O FHPP FHPP + FPC O Write multiple registers respone (0x10) Bytes Byte Function code 1 0x10 8 Start address 2 0x0000 9, 10 Quantity of registers 2 0x0004: FHPP 0x0008: FHPP + FPC 11, 12 Write multiple registers exception (0x90) Bytes Byte Error code 1 0x90 8 Exception code 1 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure 9 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 25

26 4 Modbus TCP/IP Modbus Read exception status Read exception status request (0x07) Bytes Byte Function code 1 0x07 8 Read exception status response (0x07) Bytes Byte Function code 1 0x07 8 Output data 1 0x xFF: Exception status() 0x00: 9 Read exception status exception (0x87) Bytes Byte Error code 1 0x87 8 Exception code 1 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure 9 26 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

27 4 Modbus TCP/IP Modbus Read device identification Read device identification request (0x2B) Bytes Byte Function code 1 0x2B 8 MEI type 1 0x0E 9 Read device ID code 1 0x01: basic device 10 identification 0x02: regular device identification Object ID 1 0x00: (first object to be 11 transferred) Read device identification response (0x2B) Bytes Byte Function code 1 0x2B 8 MEI Type 1 0x0E 9 Read device ID code 1 Same as request field 10 Conformity level 1 0x01: basic device 11 identification 0x02: regular device identification More follows 1 0x00: no more objects 12 Next object ID 1 0x00 13 No of objects 1 Number of objects in this 14 message Object ,Tab Object n 1 Read device identification exception (0xAB) Bytes Byte Error code 1 0xAB 8 Exception code 1 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure 9 Tab. 4.3 Modbus Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 27

28 4 Modbus TCP/IP Modbus Read Device Identification Object ID Object Name Basic 0x00 VendorName R 0x01 ProductCode R 0x02 MajorMinorRevision R Regular 0x00 VendorName R 0x01 ProductCode R 0x02 MajorMinorRevision R 0x03 VendorURL R 0x04 ProductName R 0x06 UserApplicationName R Tab. 4.4 Modbus Read Device Identification TCP/IP (Node Guard, Timeout) TCP/IP Node Guarding Node Guard Timeout Modbus Client Client, Timeout MODBUS TCP/IP ms ms, 100 ms 0 47h 48h D 28 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

29 5 I/O 5 I/O 5.1 (FHPP ) FHPP I/O, I/O I/O ( ) (: ) Tab. 5.1 CMMO-ST FHPP FHPP CCON( ) FHPP SCON 5.2,Fig ,,,,, 5.1.3,, Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 29

30 5 I/O 5.2 FHPP T7* S1 S5 T7* T1 T8 T11 S2 T9 S6 T5 T2 T10 T6 S3 T4 T3 SA5 TA9 TA10 SA1 TA7 TA8 SA4 SA6 TA11 TA12 TA2 TA1 TA6 TA5 SA2 TA4 TA3 S4 SA3 Fig. 5.1 (CCON, SCON,...), Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

31 5 I/O T3 S4,, SAx, TAx Fig. 5.1 SAx ( Fig. 5.2) T4 T6 T7* SAx, TAx T6 S1 S2 S3 T5 T4 T1 T2 T3 T9 S5 S5 S6 T7* T8 T10 T11 S4 Fig. 5.2 T7 ( ) ( * ),T7 S5 + S6, ( PNU 128), ENABLE [X1.6] GDCP-CMMO-ST-SY-... T 1) T1 T2 T3 T4 1) :P = (),N = (),x =, CCON.ENABLE = 1 CCON = xxx0.xxx1 CCON.STOP = 1 CCON.ENABLE = 1 CCON = xxx0.xx11 CCON.STOP = 0 CCON = xxx0.xx01 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 31

32 5 I/O T 1) T5 T6 T7* T8, T9 T10 :T10, CCON.ENABLE = 0 CCON = xxx0.xxx0 CCON.ENABLE = 0 CCON = xxx0.xxx0 CCON.RESET = 0 } 1 CCON.ENABLE = 0 CCON = xxx0.pxx0 CCON.RESET = 0 } 1 CCON.ENABLE = 0 CCON = xxx0.pxx1 T11 CCON.RESET = 0 } 1 CCON = xxx0.pxxx 1) :P = (),N = (),x = Tab : T4 T6 T7*! T 1) TA1 CPOS.START = 0 } 1 CPOS.HALT = 1 CPOS = 0xx0.00P1 TA2 = 1, TA3 = 0 CPOS.HALT = 1 } 0 CPOS = 0xxx.xxxN 1) :P = (),N = (),x = 32 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

33 5 I/O T 1) TA4 CPOS.HALT = 1 CPOS.START = 0 } 1 CPOS.CLEAR = 0 CPOS = 00xx.xxP1 TA5 TA6 TA7,:,:, : CPOS = 0xxx.xxx1 CPOS.START = 0 } 1 CPOS.HALT = 1 CPOS = 0xx0.00P1 CPOS.START = 0 } 1 CPOS.HALT = 1 CPOS = 0xxx.xxP1 CPOS.CLEAR = 0 } 1 CPOS = 0Pxx.xxxx CPOS.START = 0 } 1 CPOS.HALT = 1 CPOS = 0xx0.0Px1 TA8 TA9 1) :P = (),N = (),x = : CPOS.HALT = 1 } 0 CPOS = 0xxx.xxxN CPOS.JOGP = 0 } 1 CPOS.HALT = 1 CPOS = 0xx0.Pxx1 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 33

34 5 I/O T 1) TA10 TA11 TA12 CPOS.JOGP = 1 } 0 CPOS = 0xxx.Nxx1 CPOS.HALT = 1 } 0 CPOS = 0xxx.xxxN CPOS.JOGN = 0 } 1 CPOS.HALT = 1 CPOS = 0xxP.0xx1 CPOS.JOGN = 1 } 0 CPOS = 0xxN.xxx1 CPOS.HALT = 1 } 0 CPOS = 0xxx.xxxN 1) :P = (),N = (),x = Tab. 5.3 FHPP TA2: TA5: Tab. 5.4 FHPP 34 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

35 5 I/O : 1:,Tab :,Tab :,Tab :,Tab :,Tab :,Tab : ( PNU 128), ENABLE [X1.6] GDCP-CMMO-ST-SY-... 1: () 1) () 1) 1.1 CCON = x00 b SCON = b CPOS = b SPOS = b 1.2 FCT () 1.3, CCON.LOCK = 1 SCON.FCT/MMI = 0 } CCON = x00 b } SCON = b } CPOS = b } SPOS = b CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.STOP = 1 SCON.OPEN = 1 CCON.OPM1 = 0 SCON.OPM1 = 0 CCON.OPM2 = 0 SCON.OPM2 = 0 CPOS.HALT = 1 SPOS.HALT = 1 } CCON = x11 b } SCON = b } CPOS = b } SPOS = b 1) :P = (),N = (),x = Tab. 5.5 : 1.1 } FCT CCON.LOCK = 1 FCT } } : 4,Tab. 5.8 CCON.ENABLE. } 3,Tab. 5.7 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 35

36 5 I/O 2: () 1) () 1) 2.1 CCON = x00 b SCON = b CPOS = b SPOS = b 2.2 FCT () CCON.LOCK = 1 SCON.FCT/MMI = 0 2.3, CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.STOP = 1 SCON.OPEN = 1 CCON.OPM1 = 1 SCON.OPM1 = 1 CCON.OPM2 = 0 SCON.OPM2 = 0 CPOS.HALT = 1 SPOS.HALT = 1 1) :P = (),N = (),x = Tab. 5.6 : 2.1 } FCT CCON.LOCK = 1 FCT } } : 4,Tab. 5.8 CCON.ENABLE. } 3,Tab. 5.7,, 3: () 1) () 1) 3.1 CCON = xxx0.xxxx b SCON = xxxx.1xxx b CPOS = 0xxx.xxxx b SPOS = xxxx.x0xx b 3.1 CCON = xxx0.xxxx b SCON = xxxx.x1xx b CPOS = 0xxx.xxxx b SPOS = xxxx.x0xx b 3.3 CCON.RESET 1) :P = (),N = (),x = Tab. 5.7 CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.RESET = P SCON.FAULT = 0 SCON.WARN = 0 SPOS.ACK = 0 SPOS.MC = 1 36 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

37 5 I/O : 3.1 SCON.FAULT } 3.2 SCON.WARN } 3.3 CCON.RESET } SCON.FAULT SCON.WARN, } SPOS.MC,} 4:( S4) () 1) () 1) 4.1 CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.STOP = 1 SCON.OPEN = 1 CPOS.HALT = 1 SPOS.HALT = 1 CPOS.HOM = P SPOS.ACK = 1 SPOS.MC = CPOS.HOM = 1 SPOS.MOV = SPOS.MC = 1 SPOS.REF = 1 1) :P = (),N = (),x = Tab. 5.8 : 4.1 CPOS.HOM() CPOS.HOM, SPOS.ACK() 4.2 SPOS.MOV 4.3, SPOS.MC (Motion Complete) SPOS.REF Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 37

38 5 I/O 5:( S4) () 1) () 1) ( 3) 5.2 CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.STOP = 1 SCON.OPEN = 1 CPOS.HALT = 1 SPOS.HALT = 1 CPOS.START = P SPOS.ACK = 1 SPOS.MC = CPOS.START = 1 SPOS.MOV = CPOS.START = 0 SPOS.ACK = 0 SPOS.MC = 1 SPOS.MOV = 0 1) :P = (),N = (),x = Tab. 5.9 : ( ), 5.1 : Byte 3 0 = = 5.2 CPOS.START() CPOS.START, SPOS.ACK() 5.3 SPOS.MOV 5.4, SPOS.MC 38 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

39 5 I/O 6:( S4) () 1) () 1) 6.1 (Byte 4) (Byte 5...8) (%) (%) [SINC] [SINC] 6.2 CCON.ENABLE = 1 SCON.ENABLED = 1 CCON.STOP = 1 SCON.OPEN = 1 CPOS.HALT = 1 SPOS.HALT = 1 CDIR.ABS = S SDIR.ABS = S CPOS.START = P SPOS.ACK = 1 SPOS.MC = CPOS.START = 1 SPOS.MOV = CPOS.START = 0 SPOS.ACK = 0 SPOS.MC = 1 SPOS.MOV = 0 1) :P = (),N = (),x =,S= :0 = ;1 = Tab : ( ), 6.1 [SINC] Byte [ %] Byte 4 (0 = ;255 =, 100 %) 6.2 CPOS.START CPOS.START, SPOS.ACK 6.3 SPOS.MOV 6.4, SPOS.MC Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 39

40 5 I/O 5.3 I/O FHPP 8 FHPP FHPP FHPP FPC FHPP : (8 ): (8 Bytes), FPC C (Intel/Motorola) : Modbus big endian ( ) 40 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

41 5 I/O FHPP I/O (Byte 1 8) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 CCON CPOS SCON SPOS RSB Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 CCON CPOS CDIR 1 2 SCON SPOS SDIR 1 2 : I/O (Byte 9 16), EFPC ( C.1): EFPC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 FPCC C.2.2 FPCS Tab. 5.11EFPC Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 41

42 5 I/O 5.4 () () CCON () CPOS () CDIR ( ) B7 OPM2 B6 OPM1 FHPP B7 B6 CLEAR B7 B6 B5 LOCK FCT B5 TEACH B5 XLIM B4 B3 RESET B4 JOGN B4 B3 JOGP B3 B2 BRAKE B2 HOM B2 COM2 B1 STOP B1 START B1 COM1 (...) B0 ENABLE B0 HALT B0 ABS / Tab () SCON () SPOS () SDIR ( ) B7 OPM2 B6 OPM1 FHPP B7 REF B7 B6 STILL B6 B5 FCT/MMI FCT B5 FOLERR B5 XLIM B4 VLOAD B4 MOV B4 VLIM B3 FAULT B2 WARN B1 OPEN B3 TEACH B3 B2 MC B1 ACK B2 COM2 B1 COM1 ( ) B0 ENABLED B0 HALT B0 ABS / Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

43 5 I/O CCON FHPP 1 (CCON) Bit ZH EN B0 ENABLE B1 STOP B2 BRAKE B3 RESET B4 B5 LOCK B6 OPM1 B7 OPM2 Enable Drive = 1: ( ) = 0: ( ) (Quick Stop) Stop = 1: = 0: STOP ( + ) Quick Stop, Open Brake = 1: = 0: :,, Reset Fault, 0 FCT Lock FCT Access Select Operating Mode () = 1: (FCT) (HMI control)( ) = 0: (FCT) (HMI control)() FHPP Bit 7 Bit Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 43

44 5 I/O,CPOS FHPP 2 (CPOS) Bit ZH EN B0 HALT B1 START B2 HOM B3 JOGP B4 JOGN B5 TEACH B6 CLEAR B7 = 1: = 0: () ( ), CPOS.START CPOS.CLEAR Start Positioning Task Start Homing Jog positive, Jog negative, Teach actual Value Clear Remaining Position, 0, PNU520 (, ), PNU 400:1, Byte 3 6.4, Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

45 5 I/O CDIR 3 (CDIR) Bit ZH EN B0 ABS B1 COM1 B2 COM2 B3 B4 B5 XLIM B6 B7 / Absolute/ Relative = 1:, = 0: (COM1/2 = 00) PNU 524 Control Mode Bit 2 Bit ( ) () 3 1 1, 0, 0 stroke (X-) LIMit inactive = 1: = 0: (COM1/2 = 01 10), 0, 0 Tab ( 1) Bit ZH EN B0 7 Velocity [ %] PNU 540 / Velocity [ %] PNU 540 Velocity ramp [ %] PNU 560 Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 45

46 5 I/O 5 8( 2) Bit ZH EN B0 31,32 Bit Position [SINC] A.2 /,32 Bit Torque [ %] PNU 555,32 Bit Velocity [SINC/s] A.2 Tab ( 1) Bit ZH EN B0 7 Record number Tab () Bit ZH EN B0 31 (= 0) Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

47 5 I/O (SCON) Bit ZH EN B0 Drive = 1: ( ) ENABLED Enabled = 0:, B1 OPEN B2 WARN B3 FAULT B4 VLOAD B5 FCT/MMI B6 OPM1 B7 OPM2 Operation Enabled = 1:, = 0: Warning = 1: = 0: Fault = 1: = 0: FCT/MMI Tab Load Voltage is Applied Software Access by FCT/MMI Display Operating Mode = 1: = 0: ( PNU 125, B.4.4) = 1: = 0: FHPP Bit 7 Bit Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 47

48 5 I/O 2 (SPOS) Bit ZH EN B0 HALT B1 ACK B2 MC B3 TEACH B4 MOV B5 FOLERR B6 STILL B7 REF = 1:, = 0: / Acknowledge Start Motion Complete Acknowledge Teach/ Sampling Axis is Moving FOLowing ERRor Standstill Control Axis Referenced = 1: ( ) = 0: ( ) = 1:, = 0: : MC ( ) = 1:, = 0: = 1: >= = 0: < = 1: = 0: = 1: MC = 0: MC = 1:, = 0: Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

49 5 I/O SDIR 3 (SDIR) Bit ZH EN B0 ABS B1 COM1 B2 COM2 B3 B4 VLIM B5 XLIM B6 B7 / Absolute/ Relative = 1:, PNU 524 = 0: Control Mode Bit 2 Bit 1 Feedback /() () = 0 velocity (V-) LIMit reached stroke (X-) LIMit reached = 0 = 0 = 1: = 0: = 1: = 0: Tab ( 1) Bit ZH EN B0 7 Velocity [ %] PNU 540 /, PNU 523:7 Velocity [ %] PNU 540 Torque [ %] PNU 555,= 0 Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 49

50 5 I/O 5 8( 2) Bit ZH EN B0 31, 32 Bit Position [SINC] A.2 /, PNU 523:8 Position [SINC] A.2 Torque [ %] PNU 555 Velocity [SINC/s] Tab () Bit ZH EN B0 7 Record number Tab (RSB) Bit ZH EN B0 RC1 B1 RCC B2 B3 B4 VLIM B5 XLIM B6 B7 1 1st Record Chaining Done Record Chaining Complete,= 0 = 0 velocity (V-) LIMit reached stroke (X-) LIMit reached = 0 = 0 = 1: = 0: MC = 1: = 0: = 1: = 0: = 1: = 0: Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

51 5 I/O 5 8() Bit ZH EN B0 31 Position [SINC] A.2,32 Bit Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 51

52 6 FHPP 6 FHPP 6.1, GDCP-CMMO-ST-LK-SY CMMO-ST Power ON( ) 6.2.1,,, : : = 0 3. : I/O 140 (FHPP) (FHPP) PNU / CPOS.HOM = : ( : 0 =, CPOS.START ) SPOS.ACK = : SPOS.REF = / Tab. 6.1 I/O 52 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

53 6 FHPP CANopen CiA 402,,, //, (Closed Loop),, (Closed Loop), (Open Loop), (Open Loop), Tab. 6.2, GDCP-CMMO-ST-LK-SY-... Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 53

54 6 FHPP 6.3 : (: ) () 1., () 2. ( 1 ), ( ) 3. 0, 4. :,, = 0 v PNU PNU PNU t CPOS.JOGP CPOS.JOGN a+ / PNU a Fig. 6.1 ( ) t t 54 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

55 6 FHPP I/O B.4.10 (FHPP) (FHPP) PNU / () CPOS.JOGP = :( ) CPOS.JOGN = :( ) SPOS.MOV = 1: SPOS.MC = 0:() / Tab. 6.3 I/O 6.4, 0x40 :,,, 1. (, ) 2. PNU 400() 3(), (PNU 520) = 1() 1) PNU 404 = 2 PNU 1010 = 3 PNU 500 = 4 PNU = 5 PNU = 6 1) PNU 430 = 7 1) PNU 431 1) PNU 400.1, 3 Tab. 6.4 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 55

56 6 FHPP 3. CPOS/SPOS : CPOS.TEACH SPOS.TEACH : 2 : 3 : 4 : Fig , PNU 127:2 1 I/O B.4.8 B.4.10 (FHPP) (FHPP) PNU ( ) 1010 CPOS.TEACH = N(,): SPOS.TEACH = N(,): / Tab. 6.5 I/O 56 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

57 6 FHPP 6.5 :,, () 1., 2. CPOS.START, 3. SPOS.ACK, CPOS.START, 4., SPOS.MC : 6.5.3: /,,, 0x25 () Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 57

58 6 FHPP I/O B.4.8 (FHPP) (FHPP) PNU ,Tab CPOS.START = : SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / Tab. 6.6 I/O 58 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

59 6 FHPP Fig. 6.3 Fig. 6.4 Fig. 6.5 / 1 0 N - 1 N N + 1 CCON.STOP 1 0 CPOS.START SPOS.ACK SPOS.MC 1 0 SPOS.MOV N - 1 N N : = 0 2 N 3, 0 Fig. 6.3 / 4 5, 6, Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 59

60 6 FHPP 1 0 N - 1 N N + 1 CPOS.HALT CPOS.START SPOS.HALT 1 0 SPOS.ACK 1 0 SPOS.MC 1 0 SPOS.MOV N - 1 N 1, N, Fig N, 60 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

61 6 FHPP 1 0 N - 1 N N + 1 CPOS.HALT CPOS.START 1 0 CPOS.CLEAR SPOS.HALT 1 0 SPOS.ACK 1 0 SPOS.MC 1 0 SPOS.MOV N - 1 N N Fig. 6.5 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 61

62 6 FHPP (PNU) PNU :/ : MC (MC) , 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

63 6 FHPP (PNU 402) CPOS.START,,:,, PNU 416, 2 (PNU 402) Bit : Tab. 6.9 Bit 7 Tab. 6.8 (Bit ) 0 1 MC PNU 426 (Delay),, MC 20 PosK, 21 VK, 22 FK, 23 TK, Tab. 6.9 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 63

64 6 FHPP 6.6 (), I/O : (:),, I/O PNU FHPP B.4.13 B.4.15 FHPP B.4.18 (FHPP) (FHPP) FHPP / 523 FHPP 524 1) () 549 () CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab I/O 64 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

65 6 FHPP I/O PNU FHPP B.4.13 B.4.15 B.4.16 FHPP B.4.18 FHPP / 523 FHPP 524 1) B (FHPP) CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 (FHPP) SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 65

66 6 FHPP I/O PNU FHPP B.4.13 B.4.15 B.4.17 FHPP B.4.18 (FHPP) (FHPP) FHPP / 523 FHPP ) () 566 () 568 () CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab I/O 66 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

67 6 FHPP (/,...) 2. (CPOS.START) 3. PNU 583 : ():, : (MC) : 4., MC (SPOS.MC) CPOS.START 1 0 SPOS.ACK 1 0 SPOS.MC 1 0 Fig. 6.6 Fig. 6.3 Fig. 6.4 Fig. 6.5 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 67

68 6 FHPP Bit CDIR.COM1/2, Bit CDIR.ABS : Byte 4 1 [ %] PNU [SINC],32 A [ %] PNU [SINC],32 A.2 Tab. 6.13,( ), Bit SDIR.COM1/2, (MC) () Bit CDIR.COM1/2,, CDIR.ABS : Byte 4 1 [ %] PNU [SINC/s] A.2 4 1,= [SINC/s] Tab. 6.14, ( ) 2, Bit SDIR.COM1/2,SPOS.MC () 68 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

69 6 FHPP /() Bit CDIR.COM1/2,/, : Byte 4 1 [ %] PNU [ %] PNU 555, PNU [ %] PNU 540 [ %] PNU 555() [SINC] A.2() [ %] PNU 555 Tab. 6.15, ( ) 2, Bit SDIR.COM1/2,SPOS.MC () /Done = Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 69

70 6 FHPP ( ),, ( ) v t t t1: t Fig. 6.7 I/O PNU (/ 552 B.4.16 ) B.4.17 ( ) B.4.22 (FHPP) Tab I/O (/ ) (/ ) (, ) SPOS.MC = 1: Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

71 6 FHPP 6.7.2,,: ( Fig. 6.8, 1 ), () ( ), 1 s 2 3 t1 2F h t1: PNU Fig. 6.8 :, FCT, (2F h ) ( FCT ), Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 71

72 6 FHPP I/O PNU B.4.8 ( 424 ) B.4.15 ( ) 549 B.4.17 B.4.22 (FHPP) Tab I/O ( ) ( ) SPOS.FOLERR = 1: , ( Fig. 6.9) ( ), 0,,:,: FCT,, 72 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

73 6 FHPP 1 s t1 t2 t2 2 t t ( = 1, = 0) t () t t1: t2: 1 PNU Fig. 6.9 I/O PNU ( () 1022 ) B.4.22 () 1023 B.4.24 () 1042 ( ) 1043 (FHPP) SPOS.STILL = 1: Tab I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 73

74 6 FHPP 6.7.4,() : ( 6.5.3) (,GDCP-CMMO-ST-LK-SY-...) PNU 312,,, :,, : -50 mm(= )š š -40 mm(= ),, (),, 1) PNU 555, , 1) Tab Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

75 6 FHPP PNU FHPP B B.4.9 B.4.18, , , , , , , , , , , Tab I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 75

76 FHHP (Error) (Warning) (Information) Tab. 7.1, (DOUT READY 1 0),: ( Tab. 7.2) : (Reset), :, Bit SCON.FAULT Bit SCON.WARN, (Free-wheeling) Quick-Stop (QS deceleration) (Command deceleration) (Finish command) (Quick stop) 1) 1), () 1) 1) PNU 234 B.4.5 FCT Tab. 7.2 (), B.4.5,PNU : ( ) 76 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

77 , FCT :, Error 7 FCT :, Warning Tab. 7.3 FHPP PNU Tab. 7.4,, FCT Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 77

78 ,, 200 : PNU (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) 1) 200 Tab (0x = hex-prefix) ) 202 HH.MM.SS:nnn (HH =,MM =,SS =,nnn = ) 203 Festo 1) FHPP Tab. 7.5, 7.2.2, FHPP PNU 1) uint8 uint16 uint32 uint ) B.4.5 Tab. 7.6 PNU , FCT FHPP (PNU 204.3) 3Dh (Start-up event) 78 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

79 7 7.2 D 7.2.1, (Reset),:,: FCT FHPP < > <Reset Error> CCON.RESET Tab. 7.7,,: FCT FHPP () : FCT [] [Online] [ ] FHPP PNU 127:3 16 Tab. 7.8 () Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 79

80 PNU 1) 2)... F/W/I = // ( Tab. 7.1) ( F), : F/ / 238/246 FCT (/) : 2) : FCT FHPP : (),: (A G) ( Tab. 7.10) 1) ( )/ 2) FHPP Tab. 7.9 () 238/246 2) 234/242 A, B Quick-Stop, C, D,; E Quick-Stop, F, G,, Tab. 7.10() 80 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

81 A A A.1 A.1.1 [EINC] [EINC] (: ) A.1.2 [SINC], [SINC] SINC,, (SINC), ( PNU 600 PNU 601) : (Factor Group) PNU (Position Notation Index) 600 Var int8 rw2 (Position Dimension Index) 601 Var uint8 rw2 Tab. A.1 FCT,,: FCT,( PNU 600 PNU 601) : PNU 600 = -7 PNU 601 = (0x01) : 1 SINC: 1 * 10-7 m = 0.1μm 10,000 SINC: 10,000 * 10-7 m = 1 mm Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 81

82 A A.2 [SINC] [EINC], PNU (Polarity) 1000 Var int8 rw2 (Encoder Resolution) 1001 Array uint32 ro (Gear Ratio) 1002 Array uint32 rw2 (Feed Constant) 1003 Array uint32 rw2 (Axis Parameter) 1005 Array uint32 rw2 Tab. A.2 82 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

83 B B B.1 FHPP PNU ,: / , : ,: : 1 Tab. B.1 FHPP ,: Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 83

84 B B.2 Festo Configuration Tool (FCT) Bit CCON.LOCK( FCT ) Bit SCON.FCT/MMI(FCT ) FCT :CCON.LOCK CCON.LOCK, FCT CCON.LOCK,FCT,,, : Bit CCON.LOCK 1, 0 FCT :SCON.FCT/MMI Bit, FCT, 84 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

85 B B.3 FHPP (Tab. B.2 Tab. B.8) FHPP B.4.2 B.4.28 : CANopen CiA 402,, (: FCT ) : B.3.1 / PNU B.4.2, 97 (Manufacturer Hardware Version) (Manufacturer Firmware Version) FHPP (Version FHPP) (Required Software Version) B.4.3, 98 (Controller Type) (Manufacturer Device Name) (User Device Name) (Drive Manufacturer Name) HTTP (HTTP Drive Catalog Address) Festo (Festo Order Number) MMI B.4.4, 100 (Controllogic) (Data Memory Control) (Control Enable Signals) Tab. B uint uint uint uint uint char char char char char uint uint uint8 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 85

86 B B.3.2 / PNU B.4.5, 102 (Diagnostics Event) (Diagnostics Number) (Time Stamp) (Additional Information) (Diagnostics Memory Parameter) (Device Fault) (Actual Malfunction Messages) (Actual Warning Messages) (Actual Acknowledged Malfunction) 1 (Permissible Error Reaction 1) 1 (Permissible Malfunction Handling 1) 1 (Error Reaction 1) 1 (Malfunction Handling 1) (Safety State) Tab. B uint uint uint uint , 4 uint uint uint uint uint uint uint uint uint uint8 86 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

87 B B.3.3 / PNU B.4.6, 110 (Position Values) (Force Values) (Local Digital Inputs) (Local Digital Outputs) (Velocity Values) (Status Comparator Outputs) FHPP B.4.7, 112 FHPP (FHPP State Information) FHPP (FHPP Control Information) Tab. B int int uint uint int uint , 2 uint32/ int , 2 uint32/ int32 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 87

88 B B.3.4 / PNU B.4.8, 113 (Record State) 1 (Record Control Byte 1) 2 (Record Control Byte 2) (Setpoint Value) (Velocity) (Acceleration) (Deceleration) (Jerk Acceleration) (Load) (Record Following Position) (Jerk Deceleration) (Torque Limitation) 3 (Record Control Byte 3) (Final Velocity) (Max. Deviation) MC (MC During Record Continuation) (Start Delay) (Stroke Limit) (Torque feed forward control factor) 400 1, 2 uint uint uint int int int int uint uint uint uint int uint int int uint uint int uint16 88 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

89 B / B.4.9, 122, (Position Comparator, Min.), (Position Comparator, Max.), (Position Comparator, Window Time), (Velocity Comparator, Min.), (Velocity Comparator, Max.), (Velocity Comparator, Window Time), (Force Comparator, Min.), (Force Comparator, Max.), (Force Comparator, Window Time), (Time Comparator, Min.), (Time Comparator, Max.) (Setpoint Value Velocity) (Setpoint Value Force) Tab. B.5 PNU int int uint int int uint int int uint uint uint int int16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 89

90 B B.3.5 / PNU B.4.10, 125 (Project Zero Point) (Software Position Limits) (Max. Velocity) (Max. Acceleration) / B.4.11, 126 (Stroke Limitation) (Max. Force) B.4.12, 127 (Teach Target) FHPP B.4.13, 128 FHPP / (FHPP Setpoint and actual values) FHPP (FHPP Direct Mode Settings) B.4.14, (Velocity Slow Phase 1) 2 (Velocity Fast Phase 2) / (Acceleration/Deceleration) 1 (Time Phase 1) (Following Error Window) (Following Error Timeout) int , 2 int int int int int uint uint uint int int int uint int uint16 90 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

91 B / B.4.15, 131 (Base Value Velocity) (Acceleration) (Deceleration) (Jerk Acceleration) (Mass) (Jerk Deceleration) (Final Velocity) (Following Error Window) B.4.16, 132 (Force Target Window) (Base Value Force) B.4.17, 133 (Base Value Acceleration) (Velocity Target Window) (Stroke Limitation) (Velocity Difference Error Window) PNU int int int uint uint uint int int int uint int int int int32 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 91

92 B / B.4.18, 134 (Torque Limitation) (Start Delay) (Start Condition), (Position Comparator, Min.), (Position Comparator, Max.), (Position Comparator, Window Time), (Velocity Comparator, Min.), (Velocity Comparator, Max.), (Velocity Comparator, Window Time), (Force Comparator, Min.), (Force Comparator, Max.), (Force Comparator, Windowime), (Time Comparator, Min.), (Time Comparator, Max.) Tab. B.6 PNU int uint uint int int uint int int uint int int uint uint uint32 B.3.6 / PNU B.4.19, 137 (Position Notation Index) (Position Dimension Index) Tab. B int uint8 92 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

93 B B.3.7 : 1 / PNU B.4.20, 138 (Polarity) (Encoder Resolution) (Gear Ratio) (Feed Constant) (Axis Parameter) B.4.21, 140 (Offset Axis Zero Point) (Homing Method) (Velocities) / (Acceleration/Deceleration) (Max. Torque) (Block Detection Velocity Limit) (Block Detection Window Time) int , 2 uint , 2 uint , 2 uint , 3 uint int int int int int int uint16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 93

94 B / B.4.22, 142 (Position Target Window) (Position Window Time) (Position Control Parameter Set) I 2 t (I 2 t Parameter) I 2 t (I 2 t Limits) I 2 t (Actual I 2 t Value) Quick-Stop (Quick Stop Deceleration) B.4.23, 145 (Motor Type) (Max. Current) (Motor Rated Current) (Motor Rated Torque) B.4.24, 146 (Setpoint Position) (Position Actual Value) (Standstill Position Window) (Standstill Window Timeout) B.4.25, 147 (Following Error Timeout) B.4.26, 147 (Actual Current ) PNU int uint uint , 2 uint , 2 uint uint int uint int int int int int int uint uint int32 94 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

95 B / B.4.27, 147 CPU (Actual Temperature CPU) CPU / (Min./Max. Temperature CPU) (Actual Temperature Output Stage) / (Min./Max. Temperature Output Stage) B.4.28, 148 / (Tool Load/Ground Mass) (Actual Intermediate Circuit Voltage) (Actual Control Section Voltage) (Actual Phase Current) (Torque Feed Forward Control) Tab. B.8 : 1 PNU int , 2 int int , 2 int uint uint uint int uint16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 95

96 B B.4 FHPP B PNU (Encoder Resolution) 3 1, 2 4 :Array 5 :uint32 6 FW 7 :ro aj (Encoder Increments) aa,:0x000007d0 (2000) 9 2 aj (Motor Revolutions) aa :0x (1) 1 (PNU) 2 3 (1:,) 4 (Class): Var: Array: Struct: 5 (Data type): (8, 16, 32 Bit) uint8:0 255 uint16:0 65,535 uint32:0 4,294,967,295 (8, 16, 32 Bit) int8: int16: 32,768 32,767 int32: 2,147,483,648 2,147,483,647 (8 Bit) char:0 255 (ASCII) Fig. B.1 6 ( = ) 7 ( / ): ro: wo: rw1: rw2: 8 9 aj aa 96 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

97 B B.4.2 PNU 100 (Manufacturer Hardware Version) 1 :Array :uint16 FW :ro () (Byte 2/Byte 1) Byte 1 (LSB) 2 (MSB) Tab. B.9 PNU 100 PNU 101 (Manufacturer Firmware Version) 1 4 :Array :uint16 FW :ro 4 (: ) 1 (Major Version Number) 1 2 (Minor Version Number) 2 3 (Revision Number) 3 4 (Build Number) 4 Tab. B.10 PNU 101 PNU 102 FHPP (Version FHPP) 1 :Var :uint16 FW :ro FHPP FHPP 4 (: xxyy ) (16 Bit, BCD) xx yy Tab. B.11 PNU 102 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 97

98 B PNU 104 (Required Software Version) 1 :Var :uint16 FW :ro FCT Festo Configuration Tool (FCT) 4 (: xxyy ) (16 Bit, BCD) xx yy Tab. B.12 PNU 104 B.4.3 PNU 115 (Controller Type) 1 5 :Array :uint8 FW :ro 1 0x02 (2) (Motor Technology) (-ST) 2 (Nominal Current Class) 0x02 (2) 5 A (-C5) 3 (Voltage Class) 0x01 (1) 24 V (-1) 4 (Field Bus Interface) 0x09 (9) IO-Link 5 / (Digital In/Outputs) 0x01 (1) PNP (-P) Tab. B.13 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

99 B PNU 120 (Manufacturer Device Name) 1 30 :Array :char FW :ro (ASCII, 7 bit) :CMMO-ST-C5-1-LKP (00 h = \0 ) Tab. B.14 PNU 120 PNU 121 (User Device Name) 1 30 :Array :char FW :rw1 (ASCII, 7 bit) (00 h = \0 ) Tab. B.15 PNU 121 PNU 122 (Drive Manufacturer Name) 1 30 :Array :char FW :ro (ASCII, 7 bit) : Festo AG & Co. KG (00 h = \0 ) Tab. B.16 PNU 122 PNU 123 HTTP (HTTP Drive Catalog Address) 1 30 :Array :char FW :ro (ASCII, 7 bit) : (00 h = \0 ) Tab. B.17 PNU 123 PNU 124 Festo (Festo Order Number) 1 30 :Array :char FW :ro Festo / (ASCII, 7 bit) (00h= \0 ) Tab. B.18 PNU 124 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 99

100 B B.4.4 MMI PNU 125 (Control logic) 1 :Var :uint8 FW :rw1 () : Festo Configuration Tool (FCT): :IO-Link I-Port Modbus, : STO (STO1/STO2) [X3.2/3] = 24 V, () PNU 128 CCON.LOCK = 1 SCON.FCT/MMI 0x00 (0) Festo Configuration Tool (FCT) 1 0x01 (1) Power ON( ) (FCT) 0 SCON.FCT/MMI 0x01 (1) FCT 17 0 Tab. B.19 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

101 B PNU 127 (Data Memory Control) 1 4 :Struct :uint8 FW :rw2 (EEPROM), 1 EEPROM (Delete EEPROM) Power OFF( ) (FCT), EEPROM 0x10 (16) EEPROM, Boot (Power ON (FCT) ), 2 (Save Data), EEPROM 0x01 (1) EEPROM 3 (Reset Device), EEPROM ( EEPROM, Power OFF/ON ) 0x10 (16) () 4 (Load Parameter Data), ( ) 0x10 (16) Tab. B.20 PNU 127 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 101

102 B PNU 128 (Controller Enable Signals) 1 :Var :uint8 FW :rw2, :, 0 Communication Control Enable 1 + Communication Control Enable Communication Control Enable:: CCON.ENABLE, FCT Tab. B.21 PNU 128 B PNU 200 (Diagnostics Event) :Array :uint8 FW :ro 0x00 (0) () 0x01 (1) 0x04 (4) () 0x05 (5) 0x07 (7) 0x09 (9) 1 1 (Event 1) / 2 2 (Event 2) (Event 3 200) Tab. B.22 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

103 B PNU 201 (Diagnostics Number) :Array :uint16 FW :ro, 0xFFFF 1 1 (Event 1) / 2 2 (Event 2) (Event 3 200) Tab. B.23 PNU 201 PNU 202 (Time Stamp) :Array :uint32 FW :ro Power ON [ms] hh.mm.ss:nnn(hh =,mm =,ss =,nnn = ), 0xFFFFFFFF 0, ( 0x3d) 1 1 (Event 1) / 2 2 (Event 2) (Event 3 200) Tab. B.24 PNU 202 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 103

104 B PNU 203 (Additional Information) :Array :uint32 FW :ro FCT 1 1 (Event 1) / 2 2 (Event 2) (Event 3 200) Tab. B.25 PNU 203 PNU 204 (Diagnostics Memory Parameter) 3, 4 :Struct :uint8 FW :ro, wo 3 (Delete Memory) :wo 1 4 (Number of Entries) :ro Tab. B.26 PNU 204 PNU 205 (Device Fault) 1 :Var :uint16 FW :ro, 0xFFFF (65535) Tab. B.27 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

105 B PNU 220 (Actual Malfunction Messages) 1 32 :Array :uint32 FW :ro,, PNU Bit, (0th Entry) 2 1 (1st Entry) (31th Entry) Tab. B.28 PNU 220 PNU 221 (Actual Warning Messages) 1 32 :Array :uint32 FW :ro,, PNU, (0th Entry) 2 1 (1st Entry) (31th Entry) Tab. B.29 PNU 221 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 105

106 B PNU 230 (Actual Acknowledged Malfunction) 1 :Var :uint8 FW :ro 0x00 (0) 0x01 (1), 0x02 (2) 0xFF (255) Tab. B.30 PNU 230 PNU (Permissible Error Reaction 1) :Array :uint16 FW :ro : 0x (0xFFFF) : 0x0001 (1) A: 0x0002 (2) B: Quick-Stop () 0x0004 (4) C:() 0x0008 (8) D: : 0x0010 (16) E: Quick-Stop () 0x0020 (32) F:() 0x0040 (64) G: 1 0 (Malfunction Number 0) (Malfunction Number 1) (Malfunction Number 2 254) Tab. B.31 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

107 B PNU (Permissible Malfunction Handling 1) :Array :uint16 FW :ro , PNU (0xFFFF) Bit (Malfunction Number 0) (Malfunction Number 1) (Malfunction Number 2 254) Tab. B.32 PNU 238 PNU (Error Reaction 1) :Array :uint16 FW :rw PNU (Malfunction Number 0) (Malfunction Number 1) (Malfunction Number 2 254) Tab. B.33 PNU 242 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 107

108 B PNU (Malfunction Handling 1) :Array :uint16 FW :rw PNU 238 Bit W: 1 F: 6 0 (Bit 5) 1 I: (Malfunction Number 0) (Malfunction Number 1) (Malfunction Number 2 254) Tab. B.34 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

109 B PNU 280 (Safety State) 1 :Var :uint8 FW :ro : Bit 0 0 STO = 0 V 1 STO = 24 V 1 1) 1 = 1 + 1) 0 ENABLE( )[X1.6] = 0 V 1 ENABLE( )[X1.6] = 24 V 2 7 (= 1) Bit = 1, 1) PNU 128 FCT Tab. B.35 PNU 280 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 109

110 B B.4.6 PNU 300 (Position Values) 1 3 :Array :int32 FW :ro [SINC] 1 (Actual Position) 2 (Actual Setpoint Position) 3 (Actual Following Error) Tab. B.36 PNU 300 PNU 301 (Force Values) 1 3 :Array :int16 FW :ro [,PNU 555] 1 (Actual Value) 2 (Actual Setpoint Value) 3 (Actual Control Deviation) Tab. B.37 PNU 301 PNU 303 (Local Digital Inputs) 1 :Var : uint32 FW :ro Bit ENABLE( )[X1.6] Tab. B.38 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

111 B PNU 304 (Local Digital Outputs) 1 :Var :uint32 FW :ro Bit DOUT1( 1, )[X1.4] 6 DOUT2( 2, )[X1.3] 7, 8 9 READY()[X1.5] Tab. B.39 PNU 304 PNU 310 (Velocity Values) 1 3 :Array :int32 FW :ro 1 (Actual Velocity) 2 (Actual Nominal Velocity) 3 (Actual Control Deviation) Tab. B.40 PNU 310 PNU 312 (Status Comparator Outputs) 1 :Var :uint8 FW :ro 1,( ) Bit Tab. B.41 PNU 312 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 111

112 B B.4.7 FHPP PNU 320 FHPP (FHPP State Information) 1, 2 :Struct : uint32/int32 FW :ro () 1 FHPP 1 4 (FHPP State Byte 1 4) :uint32 Byte 1 4(:SCON, SPOS,...) 2 FHPP 5 8 (FHPP State Byte 5 8) :int32 Byte 5 8( 2) Tab. B.42 PNU 320 PNU 321 FHPP (FHPP Control Information) 1, 2 :Struct : uint32/int32 FW :ro () 1 FHPP 1 4 (FHPP Control Byte 1 4) :uint32 Byte 1 4(:CCON, CPOS,...) 2 FHPP 5 8 (FHPP Control Byte 5 8) :int32 Byte 5 8( 2) Tab. B.43 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

113 B B.4.8 FHPP PNU PNU 400 PNU 401 RCB1( 1) uint RCB2( 2) uint int int int int uint uint uint uint int RCB3( 3) uint int int MC uint uint int uint , int , int , uint , int , int , uint , int , int , uint , uint , uint int int Tab. B.44 FHPP Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 113

114 B PNU 400 (Record State) 1, 2 :Struct :uint8 FW :rw1, ro 1 (Demand Record Number) :rw1,, PNU (Actual Record Number) :ro (!),, I/O Tab. B.45 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

115 B PNU (Record Control Byte 1) 1 64 :Array :uint8 FW :rw1 1 (RCB1) ( ), Bit ABS 0 ( (COM1/2 = 00) ) COM1/2 1, Bit2 Bit / 1 0 / REL 4 ( (COM1/2 = 00) ) 0,/ 1,/ XLIM 5 (/ /(COM1/2 = 01 10) ) 0 1 FAST 6 / (Record 1 64) Tab. B.46 PNU 401 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 115

116 B PNU (Record Control Byte 2) 1 64 :Array :uint8 FW :rw1 2 (RCB2) Bit MC () (= 0!) (Record 1 64) Tab. B.47 PNU 402 PNU 404 (Setpoint Value) 1 64 :Array :int32 FW :rw (Record 1 64) 1 64 Tab. B.48 PNU 404 PNU 406 (Velocity) 1 64 :Array :int32 FW :rw1 [SINC/s] : : : (Record 1 64) 1 64 Tab. B.49 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

117 B PNU 407 (Acceleration) 1 64 :Array :int32 FW :rw1 [SINC/s 2 ] (Record 1 64) 1 64 Tab. B.50 PNU 407 PNU 408 (Deceleration) 1 64 :Array :int32 FW :rw1 [SINC/s 2 ] (Record 1 64) 1 64 Tab. B.51 PNU 408 PNU 409 (Jerk Acceleration) 1 64 :Array :uint32 FW :rw1 [(SINC/s 3 )/10] (Record 1 64) 1 64 Tab. B.52 PNU 409 PNU 410 (Mass) 1 64 :Array :uint32 FW :rw1, :[g] :[kgm 2 * 10-7 ] (Record 1 64) 1 64 Tab. B.53 PNU 410 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 117

118 B PNU 416 (Record Following Position) 1 64 :Array :uint8 FW :rw (Record 1 64) 1 64 Tab. B.54 PNU 416 PNU 417 (Jerk Deceleration) 1 64 :Array :uint3 2 FW :rw1 [(SINC/s 3 )/10] 0 : (Record 1 64) 1 64 Tab. B.55 PNU 417 PNU 418 (Torque Limitation) 1 64 :Array :int16 FW :rw1 [,PNU 555] 0 = (0 A) 1000 =,PNU (Record 1 64) 1 64 Tab. B.56 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

119 B PNU (Record Control Byte 3) 1 64 :Array :uint8 FW :rw1 3 (RCB3) ( ) Bit 0, 1 Bit 1 Bit : 0 1 : 1 0 : () (Record 1 64) Tab. B.57 PNU 421 PNU 423 (Final Velocity) 1 64 :Array :int32 FW :rw1 [SINC/s] : : : (Record 1 64) 1 64 Tab. B.58 PNU 423 PNU 424 (Max. Deviation) 1 64 :Array :int32 FW :rw1 : [SINC] : [SINC/s] : (Record 1 64) 1 64 Tab. B.59 PNU 424 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 119

120 B PNU 425 MC (MC During Record Continuation) 1 64 :Array :uint8 FW :rw1 (MC) 0 (MC) 1 (MC) (Record 1 64) 1 64 MC Tab. B.60 PNU 425 PNU 426 (Start Delay) 1 64 :Array :uint32 FW :rw1 [ms], (Record 1 64) 1 64 Tab. B.61 PNU 426 PNU 427 (Stroke Limit) 1 64 :Array :int32 FW :rw1 ()[SINC], :/,, Quick Stop, Bit RCB1.B5 (PNU 401) (Record 1 64) 1 64 Tab. B.62 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

121 B PNU 428 (Torque Feed Forward Control Factor) 1 64 :Array :uint16 FW :rw1 [ ] 0 = 1000 = PNU (Record 1 64) 1 64 Tab. B.63 PNU 428 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 121

122 B B.4.9 PNU 430, (Position Comparator, Min.) 1 64 :Array :int32 FW :rw1 [SINC] (Record 1 64) 1 64, Tab. B.64 PNU 430 PNU 431, (Position Comparator, Max.) 1 64 :Array :int32 FW :rw1 [SINC] (Record 1 64) 1 64, Tab. B.65 PNU 431 PNU 432, (Position Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] (Record 1 64) 1 64, Tab. B.66 PNU 432 PNU 433, (Velocity Comparator, Min.) 1 64 :Array :int32 FW :rw1 [SINC/s] (Record 1 64) 1 64, Tab. B.67 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

123 B PNU 434, (Velocity Comparator, Max.) 1 64 :Array :int32 FW :rw1 [SINC/s] (Record 1 64) 1 64, Tab. B.68 PNU 434 PNU 435, (Velocity Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] (Record 1 64) 1 64, Tab. B.69 PNU 435 PNU 436, (Force Comparator, Min.) 1 64 :Array :int16 FW :rw1 [,PNU 555] (Record 1 64) 1 64, Tab. B.70 PNU 436 PNU 437, (Force Comparator, Max.) 1 64 :Array :int16 FW :rw1 [,PNU 555] (Record 1 64) 1 64, Tab. B.71 PNU 437 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 123

124 B PNU 438, (Force Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] (Record 1 64) 1 64, Tab. B.72 PNU 438 PNU 439, (Time Comparator, Min.) 1 64 :Array :uint32 FW :rw1 [ms] (Record 1 64) 1 64, Tab. B.73 PNU 439 PNU 440, (Time Comparator, Max.) 1 64 :Array :uint32 FW :rw1 [ms] (Record 1 64) 1 64, Tab. B.74 PNU 440 PNU 441 (Setpoint Value Velocity) 1 64 :Array :int32 FW :rw (Record 1 64) 1 64 Tab. B.75 PNU Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a

125 B PNU 442 (Setpoint Value Force) 1 64 :Array :int16 FW :rw1 [,PNU 555] (Record 1 64) 1 64 Tab. B.76 PNU 442 B.4.10 PNU 500 (Project Zero Point) 1 :Var :int32 FW :rw1 PNU 404 [SINC] Tab. B.77 PNU 500 PNU 501 (Software Position Limits) 1, 2 :Array :int32 FW :rw2 [SINC] (), = 0, 1 (Lower Limit) 2 (Upper Limit) Tab. B.78 PNU 501 PNU 502 (Max. Velocity) 1 :Var :int32 FW :rw2 [SINC/s] Tab. B.79 PNU 502 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 125

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