CMMO ST-...-DION/DIOP I/O CMMO-ST-C5-1-DIOP CMMO-ST-C5-1-DION 8039014 1506b [8039020]
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
CMMO ST-...-DION/DIOP CMMO ST-...-DION/DIOP... 7... 7 1... 9 1.1... 9 1.1.1... 9 1.1.2... 10 1.2... 11 1.2.1... 11 1.2.2... 11 1.2.3... 11 1.2.4... 11 1.2.5... 12 1.2.6 Safe Torque Off... 12 2... 13 2.1... 13 2.2... 14 2.2.1... 14 2.2.2... 15 2.2.3... 16 2.2.4... 17 2.2.5... 18 2.3... 20 2.3.1 FCT (Festo Configuration Tool)... 20 2.3.2... 22 2.3.3... 23 2.4... 24 2.4.1... 24 2.4.2 I/O ( )... 26 2.4.3 ( )... 27 2.4.4 Time-Out... 28 2.5... 29 2.5.1... 30 2.5.2... 33 2.5.3... 40 2.5.4... 42 2.5.5... 43 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 3
CMMO ST-...-DION/DIOP 2.5.6... 44 2.5.7... 46 2.5.8... 48 2.5.9... 51 2.6... 52 2.6.1... 52 2.6.2... 54 2.6.3... 56 2.7... 59 2.7.1... 59 2.7.2... 62 2.7.3... 63 3... 64 3.1... 64 3.2... 65 3.3... 66 4... 67 4.1 EMC... 67 4.2 FE... 67 4.3... 68 4.3.1 [X1] I/O... 70 4.3.2 [X1A]... 72 4.3.3 [X2]... 73 4.3.4 [X3] STO... 74 4.3.5 [X6]... 75 4.3.6 [X9]... 76 4.3.7 [X18]... 77 5... 78 5.1... 78 5.2... 79 5.3... 81 5.3.1... 82 5.3.2... 83 5.3.3... 84 5.3.4... 85 5.3.5... 86 5.3.6... 87 4 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
CMMO ST-...-DION/DIOP 5.4 FCT (Festo Configuration Tool)... 88 5.4.1 FCT... 88 5.4.2... 89 5.4.3 FCT... 89 5.4.4... 91 5.4.5... 92 5.4.6... 93 5.5 I/O ( )... 95 5.5.1 /... 95 5.5.2 (READY)... 98 5.5.3 (RESET)... 99 5.5.4 (CONTROL ENABLE)... 100 5.5.5 (REF)... 101 5.5.6 (RECORD)... 102 5.6 I/O ( )... 104 5.6.1 /... 105 5.6.2 (READY)... 109 5.6.3 / (MODE)... 110 5.6.4 (RESET)... 111 5.6.5 (CONTROL ENABLE)... 112 5.6.6 (REF)... 113 5.6.7 (TEACH)... 114 5.6.8 (RECORD)... 116 5.7... 119 5.7.1 FCT (Trace)... 119 5.7.2... 119 5.7.3... 119 5.7.4... 120 6... 121 6.1 7... 121 6.1.1... 121 6.1.2... 122 6.1.3... 122 6.2... 123 6.3... 124 6.3.1... 124 6.3.2... 125 6.4... 138 6.5... 139 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 5
CMMO ST-...-DION/DIOP 7... 140 7.1... 140 7.2... 140 7.3... 141 7.4... 141 A... 142 A.1... 142 A.1.1... 142 A.1.2... 143 A.1.3... 144 A.2... 145 A.2.1... 145 A.2.2 [X1] I/O... 145 A.2.3 [X1] - +24 V OUT [X1.24] GND [X1.25]... 145 A.2.4 [X9]... 146 A.2.5 [X18]... 146 B (CVE)... 147 B.1... 147 B.1.1... 147 B.1.2 CVE... 148 B.1.3... 154 B.2... 162 B.3 CVE... 163 6 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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-S1-... 2) 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
CMMO ST-...-DION/DIOP : CMMO-ST() Festo Optimised Motion Series (OMS) (Quick start guide) () www.festo.com/catalogue Festo (:EPCO) www.festo.com/sp CODESYS www.festo.com/sp, www.festo.com/sp : :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 1.2.1 CMMO-ST V 1.3.0 Tab. 2 FCT PlugIns, : MAC-ID Diagnosis (), FCT( Controller ( )),,: : :, FCT ( www.festo.com/sp) 8 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
1 1 1.1 1.1.1,,: :! (: ),,:,,:: Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 9
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
1 1.2 1.2.1 : : (: ) : STO : GDCP-CMMO-ST-EA-S1-1.2.2,, :, 1.2.3 : ( A), 1.2.4 : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 11
1 1.2.5 Safe Torque Off (STO) CE 2006/42/EC EN ISO 13849-1:2008 EN ISO 13849-2:2008 EN 1037:1995+A1:2008 2004/108/EC EN 61800-3:2004 EN 61326-1:2006 Tab. 1.1 ( ) Underwriters Laboratories Inc. (UL), : UL Listing Mark for Canada and the United States UL UL : www.festo.com/sp A.1 1.2.6 Safe Torque Off, [X3] (Safe Torque Off, STO) STO GDCP-CMMO-ST-EA-S1-... STO 12 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2 2.1 3 2 4 1 6 5 1 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
2 2.2 2.2.1 1 [X9] / 2 [X1] SPC/IPC I/O 3 7 4 [X18] (RJ-45) 5 [X1A] 6 [X3] STO 7 [X2] (RS422) 8 [X6] 9 (3x) aj ( ) aa 1 2 3 4 aa aj 5 6 7 8 9 Fig. 2.2 CMMO 14 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.2.2 Tab. 2.1 CMMO-ST-C5-1-DIOP 1512316 CD02 Rev 03 MAC-ID 00-0E-F0-40-C5-49 24 V DC 5.7 A 00000001 234567 () CMMO-ST-C5-1-DIOP ( Tab. 2.2) 1512316 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
2 2.2.3 1 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. 2.5 www.festo.com/catalogue,: : (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-...-.0-N-S1G25 NEBM-... I/O CDSM-S3-P/N, 16 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.2.4, 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
2, : FCTY / FCT /, CMMO-ST, 100,000 I/O,, FCT FCT [...] [Controller] [I/O Configuration] 2.2.5 : (),, Tab. 2.7 : 18 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2,,:,,: ( > ),, : (:) 1) (closed-loop operation) (open-loop operation),, : / 1), FCT Tab. 2.8 : Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 19
2 2.3 2.3.1 FCT (Festo Configuration Tool) Festo Configuration Tool (FCT) windows, (OMS) PC, ( ) ( ) FCT (), www.festo.com/sp, 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
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
2 2.3.2 Festo : Diagnosis () Parameters () /,, (OMS) PC, IP,: Internet Explorer ( 6) (OMS),, CMMO-ST www.festo.com/sp: 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. 2.10 22 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.3.3, FCT Web FCT FCT, Diagnosis () Parameters (),, Tab. 2.11 HTTPS,, (Cache) ( Microsoft Internet Explorer [Extras](), ) FCT ( 5.4.6) ( 5.3.6), FCT V1.1.2.4:, V1.1.2.4:,, : /,?, Festo Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 23
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. 2.12 2.4.1 DHCP DHCP, DHCP PC DHCP/IPv4 IP IP :192.168.178.1 (private IP) :255.255.255.0 : :80 FCT:7508 CVE:49700 Tab. 2.13 TCP/IPv4 () ( DHCP ): DHCP, DHPC IP, 5.7.4 24 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 - DHCP 1) PC ( - - ) PC () Windows : IP DNS DHCP PC (DHCP-Client) IP- IP :192.168.178.110 192.168.178.209 :255.255.255.0 1) Dynamic Host Configuration Protocol Tab. 2.14 () - - DHCP 1) IP-, IP- 1) Dynamic Host Configuration Protocol Tab. 2.15 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 25
2 2.4.2 I/O ( ) I/O 2 ( ), () FCT [...] [Application Data] Operation Modes I/O Festo OMS 5.5 5.6 I/O,,, 7 (7 ), (7 ) I/O 5 31 ( 0 = ) MOTION COMPLETE DIN8 2 : 0: 1:/ Tab. 2.16 I/O 26 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.4.3 ( ) (Device Control),,,I/O, 3 2 TCP/IP 1 HTTP TCP/IP FCT CVE HTTP Web Tab. 2.17 2 TCP/IP, 2,,, Tab. 2.18 HTTP TCP, HTTP Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 27
2 I/O, (Quick Stop) : FCT CVE Web (: FCT),I/O, ( #3) I/O,I/O Tab. 2.19 CVE ( #4),, FCT I/O 2.4.4 Time-Out FCT, FCT ( 0x32) 1 s,, Time-Out FCT,, 28 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.5, 2.5.2 :, 2.5.2 / Jog FCT I/O FCT I/O 1) 1) 2.5.3 2.5.4 () 2.5.5 3) ( ),, 2.5.6 2) 2.5.7 ( - - ), 3), 2.5.8, 2.5.9 (), 1) FCT/ 2) 3) ( ) Tab. 2.20 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 29
2 2.5.1 : (+) = ( ) =,:( / ), FCT [...] [Application Data][ Environment]:Inverse Rotation Polarity. :, = (+) = (-) : ( ) 3 2 1 (+) 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. 2.21 FCT [...] [Axis] [Measurements] 30 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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. 2.22 FCT [...] [Axis] [Measurements] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 31
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. 2.23 FCT [...] [Axis] [Measurements] SLN/SLP AZ SLN/SLP,, FCT [...] [Controller] [Error Management],,,,,,,, 32 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.5.2, (:), : :, FCT FCT Homing, I/O DIN8 (REF) DIN1 DIN5 (RECORD 0) + DIN6 (START) Tab. 2.24 /,,, () Tab. 2.25 FCT [...] [Axis] [Homing] Settings Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 33
2 : - Tab. 2.28 - Tab. 2.29 - Tab. 2.26 FCT [...] [] [], : 1), ( = 0 PZ) ( = 0 AZ PZ) 1) FCT [...] [Axis] [Homing] Settings Tab. 2.26 Motion Complete (MC=0),, (MC=1) FCT I/O FCT :Homing Diagnosis (), Parameters () :DOUT9 / : DOUT6 7 Tab. 2.27 34 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 -, : (Search Velocity) (Crawing Velocity) (Acceleration) (Drive Velocity) (Axis Zero Point) () / (Force Limit/ Torque Limit) (Message Delay) / ( ) (),, Time-out() Time-out, (0x22) Tab. 2.28 FCT [...] [Axis] [Homing] Method :,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 35
2 CiA 402 1) DDh -35 2) 3) 3)2) EEh Efh 17h 1Bh 07h 0Bh -18-17 23 27 7 11 ( ),,, 1) CANopen CiA 402 ) 2) : () 3) :( ) FCT [...] [Axis] Axis Options Tab. 2.29 FCT [Axis] [Homing] Method 1) : 1) Tab. 2.26 Tab. 2.30 36 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 ( ),, : ( ), / (: 3 mm) (: ) :,,: ( ) (:) (), 1. : ( ): :, 2. : 3. 1) : : 1) Tab. 2.26 Tab. 2.31 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 37
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. 2.26 Tab. 2.32 38 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 ( ) ( ) FCT [...] [Axis] Axis Options 1) 1. :, :( 0x22) 2. :, 3., : ( 0x23) 4. : 2) : : 1), 2 2) Tab. 2.26 Tab. 2.33 (),,, (OMS),, Festo Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 39
2 : FCT FCT Homing, 1 2 1 3 REF Fig. 2.3 2 3 2.5.3, FCT : (),,: = : = :, ( ),,( Tab. 2.34):,( +)( -),,(),, (+/-), - 40 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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. 2.34 FCT (Single step) FCT : FCT-PlugIn- Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 41
2 2.5.4,: 1) I/O FCT FCT FCT FCT FCT 1) Tab. 2.35,,, : 1. Tab. 2.35 2. ( : 2.5.3) 3., FCT, : 5.3.5 FCT FCT PlugIn I/O ( ) 7, TEACH/ ACK :,, FCT 5.6.7 42 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.5.5 (STOP) (PAUSE), 1) : : :, Motion complete, : : :, Motion complete : : Motion complete 1) FCT [...] [Axis] [Record Table] Tab. 2.36 Quick Stop, Quick-Stop,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 43
2 2.5.6,,,,,, :,, CONTROL ENABLE 0 1 CONTROL ENABLE 1 0 X6.5 (BR+/BR-) Tab. 2.37,, :, ( = 0),,,,,, Tab. 2.38 FCT [...] [Motor],Brake control 44 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 :!,: I/O [X1.9] DIN BRAKE CONTROL = 1 FCT(,: ) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 45
2 2.5.7,( - - ), 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. 2.40 46 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 (), = 0, > 0, Tab. 2.53, Tab. 2.41 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
2 2.5.8,, Tab. 2.42,:,,, ( 2.7.1,) (Velocity) (Acceleration) (Deceleration) 1) (Jerk for acceleration) (Jerk for deceleration) 1) () 0 0 1), FCT, Tab. 2.43 48 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 (), Motion Complete Quick-Stop, Motion Complete ( Fig. 2.6 Fig. 2.7) :, :, Tab. 2.44 Motion Complete ; ; Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 49
2 s v t t (Motion complete) t Fig. 2.6 () t s v t t (Motion complete) () t t Fig. 2.7 50 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.5.9,, ( ), Tab. 2.45, /; (Force) (Velocity) (%,) Tab. 2.46 (),,, Motion Complete, Quick-Stop, Motion Complete,,, Tab. 2.47 Motion Complete, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 51
2 2.6 2.6.1 CMMO-ST ( ) FCT ( / ), PLC (), 7 31 PA, PRN, PRA PA, PRN, PRA (PA) (PRN) (PRA) (VSL) (V) (FSL) (F) Tab. 2.48 ( ) VSL,V FSL, F I/O I/O, : : START PC TCP/IP ( B.1, ) FCT,, () 52 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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) 2.5.7 2.5.8 2.5.9,,, (: FCT),, ( Tab. 2.50, ), ( Tab. 2.51, ) ( 2.7.2) Tab. 2.49 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 53
2 2.6.2,, 1) (Ignore) (Delay) (Interrupt) Motion Complete () (Motion Complete ), 1), FCT [...] [Controller] [Record Table] Basic Data Tab. 2.50 : ( B) ( A) A t A B t Motion Complete t Fig. 2.8 54 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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. 2.10 t Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 55
2 2.6.3,,,: : (Condition) (Start Delay) MC (MC visible) (Final Velocity) (Following Set) Tab. 2.51 () Tab. 2.52 Motion Complete,,,: : (Condition) Motion Complete...,... Motion Complete......... /... Tab. 2.52 56 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 () = 0, 0() :,, :,, : () : () Tab. 2.53 ( Motion Complete ) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 57
2 : 0() A A, B, v B A A s B t A t Motion Complete (MC ) t t Fig. 2.11 v 0 58 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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. 2.54 Motion Complete Motion Complete ( ), Motion Complete () v t1 3 2 1 t Motion Complete t1: Motion Complete 1 2 Fig. 2.12 Motion Complete 3 Motion Complete t Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 59
2,,: ( Fig. 2.13, 1 ), () ( ), 1 s 2 3 t1 2F h () t1: 1 3 2 Fig. 2.13 : FCT, (2F h ) ( FCT-), 60 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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. 2.14 0, FCT, (37 h ) ( FCT-) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 61
2 2.7.2,() : ( 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. 2.55 _ _ _ _ 1) _ _ 1) Tab. 2.56,,(),,, -100 % + 100 %, 62 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
2 2.7.3, () ( 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. 2.57 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 63
3 3, :! 3.1 Fig. 3.1 B1 B2 H1 H2 H3 H4 L1 L2 L3 [mm] 39 20 118.7 113 103.1 90 115 108.8 96 Tab. 3.1 64 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
3 3.2 1. ( IEC/EN 60715:TH 35 7.5 TH 35 15) 2. : Fig. 3.2 1 :( 5 mm) 3. 4., 5. 5 mm 1 Fig. 3.2 L1 H1 [mm] 41 61.35 Tab. 3.2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 65
3 3.3 :, 3 Fig. 3.3 2 3 x M4 / : 3 x M4, 2 2 Fig. 3.3 4 4 x M4 / 5 4 3 2 1 6 1 2 3 (3x) Fig. 3.3 4 5 (2x) 6 (2x) 66 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
4 4, :, 4.1 EMC EMC : ( ) 4.2 : 25 cm 90 ( 30 m) : 4.2 FE ( Fig. 4.1, 8) :, : 2.5 4 mm², FE mm 6.3 x 0.8 Tab. 4.1 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 67
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) 1 2 3 4 5 6 7 8 Fig. 4.1 68 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
4 () ( NEKM-C-10) [mm] [mm 2 ] [mm] [X1A] 3 2.5 0.081 0.518 7 8 CAGE-AWG20-28 [X2] 8 2.5 0.081 0.518 7 8 CAGE-AWG20-28 [X3] 5 2.5 0.081 0.518 7 8 CAGE-AWG20-28 [X6] 6 3.5 0.081 1.31 8 9 CAGE-AWG16-28 [X9] 5 3.5 0.081 1.31 8 9 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) www.festo.com/catalogue 2) 3) ANSI/TIA/EIA-568-B.1 Tab. 4.3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 69
4 4.3.1 [X1] I/O I/O (PLC/IPC) : CMMO-...-DIOP = PNP( Fig. 4.2) CMMO-...-DION = NPN( Fig. 4.3) / ( ) 5.5 5.6 14 25 1 X1 13 1 2 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 (DIN) (DOUT) LOGIC Out GND 01 02 11 01 02 03 04 05 06 07 08 09 10 11 +24 V 0 V Tab. 4.4 [X1] / 24 (+24 V Out) (I max. = 100 ma) 70 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
4 PLC X1: PNP 1 DIN1 2 DIN2 10 DIN10 11 DIN11 12 DOUT1 13 DOUT2 21 DOUT10 22 DOUT11 GND 24 25 24V 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 24 25 24V OUT GND Fig. 4.3 NPN(CMMO-...DION) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 71
4 4.3.2 [X1A] Festo ( www.festo.com/catalogue) 1 3 X1A 1 +24 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
4 4.3.3 [X2] [X2] RS422 AB- Festo, / ( www.festo.com/catalogue) 1 8 X2 1 8 1) 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
4 4.3.4 [X3] STO, FCT I/O [X3] STO1/STO2 STO STO, X3 1 2 3!, STO GDCP-CMMO-ST-EA-S1 STO ( Safe Torque Off ) STO 1 5 1 +24 V DC 1) LOGIC OUT [X9] 100 ma X3 2 STO 1 STO 3 STO 2 1 5 4 1 5 2 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
4 4.3.5 [X6] Festo, / ( www.festo.com/catalogue) 1 A 1 6 X6 2 A/ 3 B 4 B/ 1 6 5 BR + +24 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
4 4.3.6 [X9], IEC 60204 1 PELV (Protective Extra-Low Voltage, PELV) IEC 60204-1 PELV IEC 60204-1, [X9] 1 2 1 1 X9 5 5 1! 2! 3 +24 V DC () 4 0 V, STO I/O 5 +24 V DC () Tab. 4.9 [X9](NEKM-C-10) 76 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
4 4.3.7 [X18] :,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001, : : ( A.2.5) 1 TD+ + 1 2 TD 3 RD+ + X18 4 5 8 6 RD + 7 8 Tab. 4.10 [X18]( RJ45) Crossover (Auto-MDI/MDI-X) PC, Patch Crossover [X18] Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 77
5 5 5.1,,, FCT I/O, STO1/STO2 STO STO, X3 1 2 3!, STO GDCP-CMMO-ST-EA-S1 STO ( Safe Torque Off ) STO STO : STO ( GDCP-CMMO-ST-EA-S1), 1. 2. ( 4) 3., FE 4. PC ( 5.2 ) 1 : ( 5.3)- - FCT ( 5.4 ) (): 78 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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
5 : PC TCP/IPv4 ( Windows ): IP DNS Windows FCT ( FCT [Component] [FCT Interface] <Scan...>) 80 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.3,, :, Festo (*fpf) (OMS),, FCT (: ) FCT, : 7 ( ) *.fpf Parameters ()( 5.3.1) I/O () Festo OMS STO [X3] STO1 STO2 : 1. 5.3.3 2. 5.3.4 3. 5.3.5 4. 5.3.6 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 81
5 5.3.1 : PC ( 5.2) PC (Internet Explorer >6; Firefox >3; JavaScript ) : Fig. 5.2 1. 2. IP : :192.168.178.1 : 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
5 5.3.2 (Device control) Device Control /,, I/O (DIN CONTROL ENABLE) Fig. 5.3 Parameters - Device Control() Parameters, Control : Device Control,, *.pdf (/Parameter Sets/) www.festo.com/sp Fig. 5.4 Parameters - Control Enable( ) Control Enable Parameters, Control : Device Control Control Enable Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 83
5 5.3.3 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 www.festo.com/sp,cmmo-st (*.fpf), : 1., Control : Device Control 2. <Browse> 3. <Download parameter set to CMMO> 2 3 84 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.3.4,,,,,( ) FCT ( Tab. 2.25), : 2.5.1 2.5.2 : : : 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
5 5.3.5 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 % 5. 1. <Download>(<Teach Pos>) 2. <Move to Pos.> <Stop> 3. 4. : Parameters, Control : Control Enable 5. <Store>() 86 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.3.6 : 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>. 1.1.2.4, <Apply> 2.3.3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 87
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 : 1. 5.4.2 2. 5.4.4 3. 5.4.5 4. 5.4.6 5.4.1 FCT PlugIn () PlugIn 1. 2. CD Festo Configuration Tool Auto-Run: Auto-Run: Setup.exe 3. Setup.exe (FCT-Assistent) 88 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.4.2 1. 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, 5.4.3 2 3 5.4.3 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
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
5 5.4.4,,,,, FCT [...] [Axis] [Homing] :,,, FCT ( Tab. 2.25)., : 2.5.1 2.5.2 : 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
5 5.4.5 ( ) 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] : 4. 1. FCT 2. <Download> 3. : ( FCT Manual Move Optimise ) 4. : ( FCT Optimise ) (), <Accept>, 92 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.4.6 : 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
5, FCT : 1. FCT ( ) 2. FCT [Component] [Online] [Password]) : :16 :a Z, A Z, 0 9!"#$%&'()*+,./:;<=>?@[\]^_{ }~ 3. <Accept>,. V1.1.2.4: FCT <Store> 2.3.3 94 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.5 I/O ( ),: 7 (DIN1 7) 7 (DOUT1 7) DIN8/DOUT9 :, (:) : :Motion Complete : I/O /, 5.5.1 / DIN 1 7 RECORD 1 7 (START/STOP) X1.1 7 8 REF X1.8 9 BRAKE CONTROL X1.9 10 CONTROL ENABLE X1.10 11 RESET X1.11 DOUT 1 7 RECORD 1 7 (REACHED) X1.12 18 8 X1.19 9 REFERENCED X1.20 10 READY X1.21 11 TORQUE LIMIT REACHED X1.22 Tab. 5.4 :/ ( tmax = 1 ms), Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 95
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
5 DOUT1 7 RECORD 1 7 (REACHED) =1, (Motion complete),, DOUT8 =1 DIN1 7 1 7,,, 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
5 5.5.2 (READY), 1 s (t1) [X3] STO1/STO2 = 1,, ( 5.5.3) 1 2 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
5 5.5.3 (RESET), (READY=0) ( 6.3.2) RESET,, :,( : ) (RESET 0 1), (CONTROL ENABLE 0 1) (READY=1) 1 2 3 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
5 5.5.4 (CONTROL ENABLE) CONTROL ENABLE,,, CONTROL ENABLE 0 1, READY = 1,, : CONTROL ENABLE 1 0 Quick-Stop READY=0,,, BRAKE CONTROL 1 2.5.6 1 2 3 4 CONTROL ENABLE DIN10 READY DOUT10 t1 t2 t3 t4 : t1: t2: t3: t4: 1 2 Fig. 5.7 :/ 3 4 100 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.5.5 (REF) REF 0 1 RECORD 1 7, REF, REFERENCED =1 (Motion complete), REFERENCED REF, REFERENCED 1 2 3 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 2.5.2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 101
5 5.5.6 (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
5 1 2 3 4 5 READY DOUT10 REFERENCED DOUT9 DIN1:RECORD 1 (START/STOP) DIN2:RECORD 2 (START/STOP) DOUT1:RECORD 1 (REACHED) 1 1 2 1 3 2 Fig. 5.9 DOUT2:RECORD 2 (REACHED) :: 4 2 1 1 : 5 1 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 103
5 5.6 I/O ( ) DIN1 DIN5 32 0 ; 1 31 MOTION COMPLETE DIN8 (Modus 0) (Modus 1) Tab. 5.11 DIN 5 4 3 2 1 DIN 3 2 1 Bit 2 4 2 3 2 2 2 1 2 0 Bit 2 2 2 1 2 0 0 1 0 1) 0 0 0 0 0 1 0 0 0 0 1 1 0 0 1 2 0 0 0 1 0 2 0 1 0 3 0 0 0 1 1 3 0 1 1 4 0 0 1 0 0 4 1 0 0 5 0 0 1 0 1 5 1 0 1 6 0 0 1 1 0 6 1 1 0 7 0 0 1 1 1 7 1 1 1.................. 31 1 1 1 1 1 1) (Homing) Tab. 5.8 : : : 2 (Mode 1) I/O (Mode 1) (Motion Complete) : : : 104 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.6.1 / 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 X1.9 10 ENABLE X1.10 11 RESET X1.11 DOUT MODE 0() MODE 1(/) 1 MOTION COMPLETE X1.12 2 START ACK# TEACH ACK# X1.13 3 PAUSED/STOPPED# STOPPED# X1.14 4 MOVING X1.15 5 ERROR# X1.16 6 7 FCT [...] [Controller] [I/O Configuration] Digital X1.17 18 Outputs 8 X1.19 9 REFERENCED X1.20 10 READY X1.21 11 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. 5.10 1 /, 0, Tab. 5.9 # Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 105
5 / DIN 0: 1: 1 RECORD, RECORD X1.1 2 Bit 0 4 Tab. 5.8 Bit 0 2 Tab. 5.8 0 1 7 X1.2 3 X1.3 4 1 31 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. 5.11 : X1.6 X1.7 X1.8 X1.9 X1.10 X1.11 106 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 DOUT 0: 1: 1 MOTION MOTION X1.12 COMPLETE COMPLETE 2 START ACK TEACH ACK X1.13 3 PAUSED/ STOPPED X1.14 STOPPED 4 MOVING X1.15 5 ERROR X1.16 6 FCT [...] [Controller] [I/O Configuration] Digital Outputs X1.17 7 X1.18 8, X1.19 9 REFERENCED X1.20 10 READY X1.21 11 TORQUE LIMIT REACHED X1.22 Tab. 5.12 : (TORQUE LIMIT REACHED) FCT, DOUT X1.11,,() Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 107
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. 5.13 108 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.6.2 (READY), 1 s (t1) [X3] STO1/STO2 = 1,, ( 5.6.4) 1 2 3 ERROR DOUT5 t1 PAUSE/STOP DIN7 PAUSED/STOPPED DOUT10 CONTROL ENABLE DIN10 READY DOUT10 t2 t3 t1 1s : t2: t3: 1 2 Fig. 5.10 : 3 (t2) :,, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 109
5 5.6.3 / (MODE) DIN MODE I/O (READY=1), Quick- Stop DIN8 [X1.8] MODE 0 0: 1 1:/ Tab. 5.14 I/O, t 5 ms READY DOUT10 MODE DIN8 1 0 t t t 5 ms Fig. 5.11 :/ (MODE) 110 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.6.4 (RESET), (ERROR=1, READY=0) ( 6.3.2) RESET,, :, ( : ) (RESET 0 1), (CONTROL ENABLE 0 1) (READY=1) 1 2 3 ERROR DOUT5 RESET DIN11 t1 CONTROL ENABLE DIN10 READY DOUT10 t1 2 ms 1 2 Fig. 5.12 : 3 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 111
5 5.6.5 (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 1 2.5.6 1 2 3 4 PAUSE/STOP DIN7 CONTROL ENABLE DIN10 READY DOUT10 t1 t2 t3 t4 : t1: t2: t3: t4: 1 2 Fig. 5.13 :/ 3 4 112 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.6.6 (REF), RECORD 0 START 0 1, REFERENCED, REFERENCED READY DOUT10 1 2 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. 5.14 ( 0): X1A.2 - (/) FCT [...] [Axis] Axis Options 2.5.2 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 113
5 5.6.7 (TEACH) I/O 7 TEACH TEACH,, TEACH 1 2 3 4 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. 5.15 ( 1): 3 4 114 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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
5 5.6.8 (RECORD) : (DOUT REFERENCED = 1) MODE = 0 / : RECORD BIT 0... 4 :, START START ACK : PAUSE/STOP, (Pause) MOTION COMPLETE, START : MOTION COMPLETE / (Motion complete):, MOTION COMPLETE ( :), 116 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 :/ 1 2 3 4 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. 5.16 (Mode 0): :,/ Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 117
5 1 2 3 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. 5.17 (Modus 0): =, 118 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
5 5.7 5.7.1 FCT (Trace) FCT,: FCT- 5.7.2 FCT, FCT ( FCT [Component] [Firmware Download]) 5.7.3 FCT Festo ( www.festo.com/sp) : PlugIn FCT :, :,,,, :, FCT (Backup- Datei), FCT Backup-Datei (Download) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 119
5 5.7.4 :,,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443 ISO/IEC 27001, FCT IP- IP, PC IP DHCP/IPv4 DHCP- IP DHCP-, Tab. 5.15 TCP/IPv4-, IP- IP- PC IP-, IP- (Power OFF, ON) 120 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
6 6 6.1 7 6.1.1 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. 6.1 7 7,,, ( 6.2) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 121
6 6.1.2, 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
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
6 6.3 6.3.1 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
6 A (),,,,, 6.3.2 : 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
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
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
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
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
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
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
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
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
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
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
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
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
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 192.168.178.1;:255.255.255.0) PC, PC [ IP ] IP (:IP 192.168.178.109;:255.255.255.0;: ( )) PC Windows(:Windows 7) 1. [] [()] [] [ ] 2. ipconfig ipconfig /all 3. Ping, 1. [] [()] [] [ ] 2. :ping 192.168.178.1( IP ) 138 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
6 6.5 () FCT Tab. 6.7 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 139
7 7 :,,:: 7.1, : 7.2, 140 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
7 7.3,, FCT (), FCT (Download) ( 3) : 1. 2. 3. 7.4 RoHS Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 141
A A STO [X3] CMMO-ST STO- /, Festo www.festo.com/sp / 10 m : Festo A.1 A.1.1 1) I/O I/O ( ) 7 ( * * ) Fig. 3.1 [kg] 0.29 1) : (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
A A.1.2 [ C] 0 +50 [ C] 25 +75 [ C], +85 0x33 [ C]. -15 0x33 [ C], +95 0x15 [ C]. -25 0x16 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 SG2 2 8 2 8 ±3.5 ±3.5 8 27 8 27 10 10 27 58 27 60 ±0.15 ±0.35 58 160 60 160 20 50 160 200 160 200 10 10 [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ±300 11 11 5 5 [m/s 2 ] [ms] ±150 6 1000 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 143
A A.1.3 CE ( www.festo.com) 2006/42/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
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 61131-2:2008-04, 1 [m] 30 ( 0 V) [V DC] 24 [V DC] 29 [ma] 2 () [ms] 1 [ms] 2() [ma] 100 ( ) A.2.3 [X1] - +24 V OUT [X1.24] GND [X1.25] [V DC] 24 [X9] [ma] 100 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 145
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]. 19.0 1) ( 3) [V DC] 24 ± 15 % 2) [A] 0.3 ( 0x1A) [V DC], 31.0 ( 0x1B) [V DC]. 19.0 1) 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
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 49700 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 147
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 UINT32 4 32 bit unsigned integer 0 4294967295 0x03 UINT16 2 16 bit unsigned integer 0 65535 0x04 UINT08 1 8 bit unsigned integer 0 255 0x05 0x06 SINT32 4 32 bit signed integer 2147483648 2147483647 0x07 SINT16 2 16 bit signed integer 32768 32767 0x08 SINT08 1 8 bit signed integer 128 127 Tab. B.1 148 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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
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
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
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
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, 2.3.3 Tab. B.6 (Acknowledge) Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 153
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 #121 154 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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 3 6 17 E switched on 10 19 9 8 4 5 F operation enabled 18 16 11 12 G quick stop active power enabled Fig. B.1 CMMO-ST Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 155
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.7 156 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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
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) = 1 158 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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 5 0 6 CW.PSOn Power stage on after reset ( ) 7 CW.FR Error reset() 8 CW.STP STOP 9 31 0 Tab. B.9 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 159
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 0 3 5 6 (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.10 160 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
B (CVE) : Operation enabled : ; STO ( CVE #358 255) CMMO-ST I/O Switch on disabled ; 0x00800440 1. CVE #3 2, CVE 2. 0x00000006, Ready to switch on, 0x00000421 3. 0x00000007, Switched on, 0x00040423 4. 0x0000000F, Operation enabled, 0x00060427 : : Operation enabled FCT 1. CVE #120 6, 2. 0x0000001F,, 0x00068427 3. 0x0000000F, : : Operation enabled ( :SW.AR = 1) 1. CVE #120 1, 2. CVE #31, 3. 0x0000001F,, 0x00048127, 0x00068427 4. 0x0000000F, Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 161
B (CVE) B.2 CMMO (EINC) (: ), (SINC) (SINC) (EINC) : SINC,, SINC, #218 #217 : FCT,,: FCT, #218 #217 : #218 = 1, : #217 = 6, :10 6 1 mm = 1000 SINC 162 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
B (CVE) B.3 CVE # 1 2 3 4 31 57 58 59 60 61 62 63 70 72 96 () 97 98 99 120 121 141 191 194 213 217 218 295 358 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 163
B (CVE) R W1 Control disabled, ( ) W2 Control enabled, ( ) W3 Tab. B.11 #1 UINT32 R/-/-/-/- B.1.3 :0 4294967295 :0 #2 UINT32 R/W1/W2/-/- B.1.3 :0 4294967295 :0 #3 UINT08 R/W1/W2/W3/-, : 0x00 I/O 0x01 FCT (Festo Configuration Tool) 0x02 CVE( ) 0x03 #4, :0 255 164 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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 : 2147483648 2147483647 :0 #58 SINT32 R/-/-/-/- :ma : 2147483648 2147483647 :1 #59 SINT16 R/-/-/-/- ( ) : : 32768 32767 :0 #60 SINT32 R/-/-/-/- :SINC : 2147483648 2147483647 :0 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 165
B (CVE) #61 SINT32 R/-/-/-/- :SINC/s : 2147483648 2147483647 :0 #62 SINT32 R/-/-/-/- :ma : 2147483648 2147483647 :0 #63 SINT16 R/-/-/-/- () : : 32768 32767 #70 SINT32 R/-/-/-/- :SINC/s² : 2147483648 2147483647 :0 #72 SINT32 R/-/-/-/- :SINC/s² : 2147483648 2147483647 :0 #96 SINT32 R/-/-/-/- = :SINC : 2147483648 2147483647 166 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
B (CVE) #97 SINT32 R/-/-/-/- ( ) = - :SINC/s : 2147483648 2147483647 #98 SINT32 R/-/-/-/- ( ) = - :ma : 2147483648 2147483647 #99 SINT16 R/-/-/-/- ( ) = - : : : 32768 32767 #120 SINT08 R/W1/W2/-/- : 0: 1: 3: 4: / 6: 3: 4: :0, 1, 3, 4, 6, 3, 4 :0 #121 SINT08 R/-/-/-/- : #120 : 128 127 :0 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b 167
B (CVE) #141 UINT08 R/-/-/-/- #31 :0 255 :0 #191 UINT16 R/-/-/-/- 0xFFFF :0 65535 :65535 #194 UINT08 R/-/-/-/- 0x00 0x01, 0x02 0xFF :0 255 #213 UINT16 R/-/-/-/- 0xFFFF :0 65535 :65535 #217 SINT08 R/W1/-/-/- B.2 :10 x :< 0 :0 168 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
B (CVE) #218 UINT08 R/W1/-/-/- B.2 0: 1: 2:/Inch 3: 4: :0 4 :0 #295 SINT32 R/-/-/-/- : : : = 0, : = ( 1) * :,, 2 31 1 :,, 2 31 & : ( ),, :SINC : 2147483648 2147483647 :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
B (CVE) 170 Festo GDCP-CMMO-ST-EA-SY-ZH 1506b
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