CMMO-ST-C5-1-LKP IO-Link I-Port Modbus TCP 8071685 2017-05b [8071691]
CMMO-ST-C5-1-LKP GDCP-CMMO-ST-LK-SY-ZH Adobe Reader, Firefox, Internet Explorer, IO-Link, Microsoft, MODBUS, Windows. : : : 1. : <xxx> [xxx] [xxx] FCT [ ] [xxx] FCT [xxx] FCT-PlugIn FCT 2 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
CMMO-ST-C5-1-LKP CMMO-ST-C5-1-LKP... 7... 8... 8 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... 21 2.3.3... 23 2.4... 24 2.4.1... 24 2.4.2 Festo Handling and Positioning Profile (FHPP)... 25 2.4.3 IO-Link/I-Port... 26 2.4.4 Modbus TCP... 27 2.4.5 /... 28 2.4.6... 31 2.4.7... 32 2.4.8 ( )... 32 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 3
CMMO-ST-C5-1-LKP 2.5... 34 2.5.1... 35 2.5.2... 38 2.5.3... 45 2.5.4... 47 2.5.5... 48 2.5.6... 49 2.5.7... 52 2.5.8... 54 2.5.9... 57 2.6... 59 2.7... 59 2.7.1... 59 2.7.2... 61 2.7.3... 63 2.8... 66 2.8.1 (Motion Complete)... 66 2.8.2... 67 2.8.3... 68 2.8.4... 69 2.8.5... 70 3... 71 3.1... 71 3.2... 72 3.3... 73 4... 74 4.1 EMC... 74 4.2 FE... 74 4.3... 75 4.3.1 [X1] IO-Link/I-Port /... 76 4.3.2 [X1A]... 78 4.3.3 [X2]... 79 4.3.4 [X3] STO... 80 4.3.5 [X6]... 81 4.3.6 [X9]... 82 4.3.7 [X18]... 83 4 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
CMMO-ST-C5-1-LKP 5... 84 5.1... 84 5.2... 85 5.3... 87 5.3.1... 88 5.3.2... 90 5.3.3... 91 5.3.4... 92 5.3.5... 93 5.3.6... 93 5.4 FCT (Festo Configuration Tool)... 95 5.4.1 FCT... 96 5.4.2... 96 5.4.3 FCT... 97 5.4.4... 98 5.4.5 ()... 99 5.4.6... 100 5.5... 102 5.5.1 FCT... 102 5.5.2... 102 5.5.3... 102 6... 103 6.1... 103 6.1.1 7... 103 6.1.2 Link/Activity LED... 104 6.2... 105 6.2.1... 105 6.2.2... 106 6.2.3... 107 6.3... 108 6.3.1... 108 6.3.2... 109 6.4... 124 6.5... 125 7... 126 7.1... 126 7.2... 126 7.3... 127 7.4... 127 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 5
CMMO-ST-C5-1-LKP A... 128 A.1... 129 A.1.1... 129 A.1.2... 130 A.1.3... 131 A.2... 131 A.2.1... 131 A.2.2 [X1.1] 24-V... 131 A.2.3 [X1.3 6] /... 132 A.2.4 [X1.9 11] IO-Link/I-Port... 132 A.2.5 [X9]... 133 A.2.6 [X18]... 133 6 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
CMMO-ST-C5-1-LKP (GDCP-CMMO-ST-LK-SY-...) CMMO-ST-C5-1-LKP : CMMO-ST-LK... 1) GDCP-CMMO-ST-LK-SY-... GDCP-CMMO-ST-LK-C-HP-... GDCP-CMMO-ST-LK-S1-... FCT CMMO-ST_UL 1), / Festo Configuration Tool (FCT) FHPP (Festo Handling and Positioning Profile) : IO-Link I-Port Modbus TCP STO ( Safe Torque Off ) Festo Configuration Tool (FCT), : Festo Optimised Motion Series (OMS) Underwriters Laboratories Inc. (UL) 1) Tab. 1 : CMMO-ST-Quickguide-...: CMMO-ST Webserver Festo Optimised Motion Series (OMS) () www.festo.com/catalogue Festo (:EPCO) www.festo.com/sp :Festo Optimised Motion Series (OMS) www.festo.com/sp (CODESYS,...) www.festo.com/sp, www.festo.com/sp Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 7
CMMO-ST-C5-1-LKP : : V 1.4.x FCT-PlugIn: CMMO-ST V 1.4.x? FCT? V 1.4.x 1) CMMO-ST-C5-1-LKP IO-Link I Port Modbus CMMO-ST V 1.4.0 1) 1) CMMO-ST-C5-1-DION/DIOP Tab. 2 FCT, : Webserver MAC-ID, FCT( ),,: : :, FCT ( www.festo.com/sp), Festo 8 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
1 1 1.1 1.1.1,,: :! (: ),,:,,:: Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 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-LK-SY-ZH 2017-05b
1 1.2 1.2.1 : : (: ) : STO : GDCP-CMMO-ST-LK-S1-1.2.2,, :, 1.2.3 : ( A), 1.2.4 : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 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-LK-S1-... STO 12 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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) :CECC 4 24 V PELV 5 (: EPCO) 6 ( CMMO-ST_UL) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 13
2 2.2 2.2.1 1 [X9] / 2 [X1] PLC/IPC IO-Link/I-Port : / 3 7 4 [X18] (RJ-45) TCP/IP Modbus TCP 5 Link/Activity LED C/Q 6 [X1A] 7 [X3] STO (Safe Torque Off) 8 [X2] (RS422) 9 [X6] aj FE (3x) aa ( ) ab 1 2 3 4 5 ab aa Fig. 2.2 6 7 8 9 aj 14 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.2.2 CMMO-ST-C5-1-LKP 1512320 CD02 Rev 03 MAC-ID 00-0E-F0-40-C5-49 24 V DC 5.7 A 00000001 234567 Tab. 2.1 () CMMO-ST-C5-1-LKP ( Tab. 2.2) 1512320 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 ST C5 5.7 A 1 24 V DC / LK P IO-Link (LK), I/O, PNP (P) Tab. 2.2 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-LK-SY-ZH 2017-05b 15
2 2.2.3 1 CMMO-ST-C5-1-LKP 1 : CMMO-ST + (OMS) 1 NEKM-C-14 6, [X1] [X1A] STO [X3] [X2] [X6] [X9] 1 ( ) Tab. 2.5 www.festo.com/catalogue, NEBM-... 16 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.2.4, (RS422 ), STO (Safe Torque Off) 1) 24 V DC 24 V DC 5.7 A 64 (: ) TCP/IP :FCT, IO-Link/I-Port Modbus TCP Festo Handling and Positioning Profile (FHPP) I/O (1 /3 ) 7 FCT 1),: Tab. 2.6 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 17
2, : FCTY / FCT /, 100,000 2.2.5 : () 2.5.6,, Tab. 2.7 : 18 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2,,:,, : ( > ),, : (:) 1) (closed-loop operation) (open-loop operation),, : 1), FCT Tab. 2.8 : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 19
2 2.3 2.3.1 FCT (Festo Configuration Tool) Festo Configuration Tool (FCT) windows, (OMS) FCT www.festo.com/sp,cmmo-st FCT,,FCT : Festo / PC, ( ) ( ) FCT : (Framework) Framework (PlugIns) Framework PlugIn FCT,FCT PDF (Framework): FCT: [] [FCT ]([Help] [Contents FCT general]) PDF:(FCT )\Help\FCT_de.pdf PlugIn : FCT: [] [ PlugIns ] [Festo] [PlugIn ] ([Help] [Contents of installed plug-ins][festo][plugin name] PDF:(FCT )\\Festo\()\V \Help\CMMO-ST_...pdf, FCT PDF Adobe Reader 20 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 FCT / ( ) 64 : FHPP /, FCT I/O (),: / Tab. 2.9 Festo Configuration Tool (FCT), Plugin CMMO-ST 2.3.2 CMMO-ST Optimised Motion Series (OMS) FCT,: Optimised Motion Series Festo,: EPCO OMS : ID OMS-ID www.festo.com/sp PC, IP,,:Internet Explorer( 5.3.1) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 21
2 Info,: IP MAC () () Status :, : (:Motion Complete Homing valid) I/O Control :IO Link I Port Modbus Interface FHPP Profile (FHPP FHPP + FPC ) Network IP Parameter / Direct Mode FHPP Test Mode Password Diagnosis Support Festo, : Tab. 2.10 22 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.3.3, FCT FCT FCT,, Tab. 2.11 HTTPS,, (Cache)( Microsoft Internet Explorer [] ) FCT ( 5.4.6) ( 5.3.6), FCT /,?, Festo Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 23
2 2.4 2.4.1 [X18] FCT, [X1] [X18] FHPP 2.4.2 FCT FHPP : ( ) ( ) : () : Tab. 2.12 [X1] IO-Link/I-Port [X18] IO-Link I-Port I/O IEC 61131-9 / DIN ENABLE DOUT READY 2 (FCT ) IEC 61158 Modbus TCP Tab. 2.13 24 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.4.2 Festo Handling and Positioning Profile (FHPP) Festo Handling and Positioning Profile (FHPP) FHPP : Siemens Rockwell Codesys FHPP() FHPP()+ FPC1) FHPP 8 Byte ( I/O ) 8 Byte 1) Festo Parameter Channel Tab. 2.14 I/O I/O ( /) FCT/ FPC (: ) Tab. 2.15FHPP FHPP GDCP-CMMO-ST-LK-C-HP-... Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 25
2 2.4.3 IO-Link/I-Port IO Link I-Port RTE IO-Link I/O (IEC 61131-9), 3 IO Link 1.1 [IOL] IO Link : (FHPP Process Data) Telegramme Parameter Manager - Event Dispatcher FHPP (FPC / ) / IO Link 230.4 (COM3) Tab. 2.16IO-Link/I-Port FHPP /FHPP + FPC I-Port I-Port Festo Festo I-Port, (IODD) IO-Link/I-Port GDCP-CMMO-ST-LK-C-HP-... 26 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.4.4 Modbus TCP Modbus TCP, I/O Modbus Modbus (PC ) Modbus (CMMO-ST) TCP,, (Modbus ): Modbus Read Holding Registers 0x03 Read Exception Status 0x07 Write Multiple Registers (0x10 Read/Write Multiple Registers Read Device Identification 0x17 0x2B Tab. 2.17Modbus TCP (Time-out) FHPP/FHPP + FPC 502(),TCP/IP FCT, Time Out = 0: Time Out 0:() Time Out Tab. 2.18Modbus TCP Modbus GDCP-CMMO-ST-LK-C-HP-... Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 27
2 2.4.5 /, / : DIN/DOUT DOUT DOUT2 X1.3 DOUT1 FCT [...] [Controller] [I/O Configuration] Digital Outputs X1.4 READY X1.5 DIN ENABLE DIN +, ( Tab. 2.20) X1.6 Tab. 2.19/ ( 2.4.8), ENABLE 1) DIN + ( 2.4.8) DIN ENABLE, DIN ENABLE : FCT, DIN ENABLE, FHPP,, 1) FCT [Controller] Tab. 2.20, (Quick Stop) v=0, (DOUT READY = 0), : 2.5.6 28 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2, [X3.2/3] STO1 STO2 (24 V) DIN +,[X1.6] ENABLE (FHPP FCT ), READY 1 2 3 4 5 V =0 DIN ENABLE Quick Stop DOUT READY t1 t2 : t1: t2: + Quick-Stop 1 2 Fig. 2.3 (: + DIN) 3 4 5, (t1) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 29
2 (DOUT1, DOUT2) DOUT1/DOUT2 : FCT [...] [Controller] [I/O Configuration] Digital Outputs DOUT High 1 Low 0 (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete ( ) Motion Complete ( ), 1, 1, 1, 1 /, 1, 1 1), 1, 1, 1 1), 0, 1 1) I²t I²t 1) 2.8 Tab. 2.21 30 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.4.6 [X18] TCP : FCT Modbus TCP FHPP TCP/IP,, DHCP (DHCP = Dynamic Host Configuration Protocoll) DHCP DHCP PC( ) TCP/IPv4 IP IP DHCP 192.168.178.1( IP) :255.255.255.0 :80 FCT:7508 Modbus:502 Tab. 2.22 TCP/IPv4 () PC () Windows : IP DNS DHCP PC (DHCP-Client) IP- IP :192.168.178.110 192.168.178.209 :255.255.255.0 ( DHCP ): DHCP, DHPC IP, 2.4.7 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 31
2 2.4.7 :,,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443 ISO/IEC 27001, FCT IP IP, PC IP DHCP/IPv4 IP ---- IP DHCP- IP DHCP-, IP ( ) IP- PC IP-, IP- (Power OFF, ON) Tab. 2.23 TCP/IPv4 2.4.8 ( ) (Device Control), ( ), Tab. 2.24 32 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2, FCT 1 TCP HTTP 3,:... FHPP 1 FCT 1 1 Tab. 2.25,,, (Quick Stop) :, FCT FCT, ( FHPP SCON.LOCK), (FHPP) (FHPP) ( FCT ), (FHPP) Tab. 2.26 FHPP,FCT CCON.LOCK, FHPP: GDCP-CMMO-ST-LK-C-HP-... Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 33
2 2.5, 2.5.2 2.5.3 1) 2.5.4 () 2.5.5 (), (), 2.5.6 ( - - 2.5.7 ), 2), 2.5.8 2), (), 2.5.9 1) 2) ( ) Tab. 2.27 34 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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. 2.28 FCT [...] [Axis] [Measurements] Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 35
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. 2.29 FCT [...] [Axis] [Measurements] 36 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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. 2.30 SLN/SLP AZ SLN/SLP,,( 11h,12h) FCT [...] [Controller] [Error Management],,,,,, 29h 2Ah,, Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 37
2 2.5.2, (:), : :, : - Tab. 2.32 - Tab. 2.33 - Tab. 2.31 FHPP FCT [...] [Axis] [Homing] Method, : 1), ( = 0 PZ) ( = 0 AZ PZ) 1) Tab. 2.31 Motion Complete (MC=0),, (MC=1) 38 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 -, : (Search Velocity) (Crawling Velocity) (Acceleration) (Drive Velocity) (Axis Zero Point) () / (Force Limit/Torque Limit) (Message Delay) / ( ) (),, Time-out() Time-out, (0x22) Tab. 2.32 FCT [...] [Axis] [Homing] Method :,, Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 39
2 CiA 402 1) DDh -35 22 h 34 21 h 33 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. 2.33 FCT [Axis] [Homing] Method 1) : 1) Tab. 2.31 Tab. 2.34 40 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 1. 2. : :( 22 h ;34) :( 21 h ;33) Tab. 2.35 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 41
2 ( ) : (),, : ( ), / (: 3mm) (: ) :,,: ( ) (:) (), 1. : ( ): :, 2. : 3. 1) : : 1) Tab. 2.31 Tab. 2.36 42 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 ( ) ( ) FCT [...] [Axis] Axis Options,,, 1) 1. : (Time-out) 2), 0x22 2. :, 3) : : Timeout Timeout 0x22 0x22 1. :, : 0x22 2. :, 3) : : 1), 2 2) FCT [...] [Axis] [Homing] Settings:Timeout 3) Tab. 2.31 Tab. 2.37 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 43
2 ( ) ( ) FCT [...] [Axis] Axis Options 1) 1. :, :( 0x22) 2. :, 3., : ( 0x23) 4. : 2) : : 1), 2 2) Tab. 2.31 Tab. 2.38 (),,, (OMS),, Festo 44 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 : FCT FCT Homing, 1 2 3 1 REF 2 3 Fig. 2.4 2.5.3, FCT : (),,: = : = :,, (Crawling Velocity) (Slow Moving Time) (Maximum Velocity) (Acceleration) (Maximum Following Error) (Message Delay), Tab. 2.39 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 45
2,,( Tab. 2.39):,( +)( -),,(),, (+/-), - t1 (+ -) t v (Motion Complete) a t t t t1: Fig. 2.5 FCT (Single step) FCT : FCT-PluIn 46 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.5.4,: ( ),,, : 1. 2. (: 2.5.3) 3., FCT, : FCT FCT Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 47
2 2.5.5 (Quick Stop) :Quick-Stop : Quick-Stop ( ) CCON.STOP Quick-Stop, Motion Complete, :, :, : FCT CPOS.HALT, :, :, Motion complete,( ) : : Motion Complete Motion Complete Tab. 2.40 48 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.5.6,,,,,, X6 ( 4.3.5):,,,, :, ( = 0),,,, Tab. 2.41 FCT [...] [Motor], Brake control Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 49
2 0 1 1 0 :,,, (READY=1) :, (Quick Stop) v = 0,, (DOUT READY = 0), Tab. 2.42 1 2 3 4 5 V =0 DOUT READY t3 t1 t4 t2 : t1: (t1 t3) t2: (t2 t4) t3: t4: 1 ( Tab. 2.20) 2 Fig. 2.6 3 (} ) 4 5 50 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2, FHPP FCT FCT: Operate, Device Control:<Brake> : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 51
2 2.5.7,( - - ), Tab. 2.43,,,() (: ),,,:,, ( 2.8.2,) (Position) ( Tab. 2.43) (Velocity) (Acceleration) 1) (Deceleration) (Jerk for acceleration) 1) (Jerk for deceleration) 2) ( = 0) 0 0 1), FCT, 2) Tab. 2.44 52 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 (), = 0, > 0, Tab. 2.58, Motion Complete :, : Tab. 2.45 a t v t s t (Motion Complete) t Fig. 2.7 : 0 mm/s, Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 53
2 2.5.8,, Tab. 2.46,:,,, ( 2.8.2,) (Velocity) (Acceleration) (Deceleration) 1) (Jerk for acceleration) (Jerk for deceleration) 1) () 0 0 1), FCT, Tab. 2.47 (), Tab. 2.48( ) Motion Complete, Motion Complete 54 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 ( Fig. 2.8), ( Fig. 2.9) Tab. 2.49( ) Quick-Stop, Motion Complete :, : Motion Complete ; ; s t v ( ) t (Motion Complete) () Fig. 2.8 () t t Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 55
2 s v t ( ) (Motion Complete) () t t t s v t ( ) t (Motion Complete) () Fig. 2.9 () t t 56 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.5.9,, ( ), Tab. 2.50, /; (Force) (Velocity) (%,) Tab. 2.51 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 57
2 (),,, Motion Complete,, Motion Complete Quick-Stop, Motion Complete,,, Tab. 2.52 Motion Complete,, Motion Complete 58 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.6 FHPP I/O (I/O messaging), ( ) (: ) FCT, (: ), FHPP: GDCP-CMMO-ST-LK-CHP-... :, Direct Mode Test Mode, 2.7 2.7.1 CMMO-ST ( 64) FCT, PLC () FCT :,, (), (PA) (PRN) (PRA) (VSL) (V) (FSL) (F) Tab. 2.53( ) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 59
2 (Target) (Velocity) / (Acceleration/deceleration) (Extra load) (Torque feed forward) 2.5.7 2.5.8 2.5.9,,, / (Start condition),, ( Tab. 2.55,) (Condition) (Start delay) MC (MC visible) (Final velocity) (Following record) (Force comparator) (Position comparator) (Velocity comparator) (Time comparator) (Force limit/torque limit) (Stroke limit) (Max. following error) Tab. 2.54, 2.7.3 ( 2.8.4) 60 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.7.2,,, 1) (Ignore) (Delay) (Interrupt) Motion Complete, () (Motion Complete ), 1) FCT [...] [Controller] [Record Table] Basic Data Tab. 2.55 : ( B) ( A) A t O B t Fig. 2.10 B = t Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 61
2 : ( B C) ( A) ( C), C A t O B C t Fig. 2.11 B C = t : ( A)( B) B A t O B t Fig. 2.12 B = t 62 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.7.3,,, : : (Condition) (Start delay) MC (MC visible) (Final velocity) (Following record), Tab. 2.57, Motion Complete,, Tab. 2.56,: : (Condition)...,... Motion Complete......... /... Tab. 2.57 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 63
2 () = 0, 0() :,, :, : () : () Tab. 2.58( Motion Complete ) 64 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 : 0() A A, B, v B A A s B t A t (MC ) t t Fig. 2.13 v 0 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 65
2 2.8 (:), : (Motion Complete), Motion Complete : (), Tab. 2.59 : () Tab. 2.21 6.3.2 2.8.1 (Motion Complete) Motion Complete ( ), Motion Complete () v t1 3 2 1 t t1: Motion Complete 1 2 Fig. 2.14Motion Complete 3 Motion Complete t 66 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.8.2,,: ( Fig. 2.15,1 ), (= ) ( ), FCT, ( Fig. 2.15), s 2 1 3 t1 2F h () t1: 1 3 2 Fig. 2.15 :, Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 67
2 2.8.3, ( Fig. 2.16): ( Motion Complete ), 0, :,: FCT,( Fig. 2.16), 1 s t1 t2 t2 2 t t ( = 1, = 0) (37 h )() t t t1: Motion Complete t2: 1 2 Fig. 2.16 68 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
2 2.8.4,() : ( 2.8.4) ( Tab. 2.21),,,, : -50 mm(= ) š š -40 mm(= ) :, 1) (Min.) (Max.) 2) 1) FCT [...] [Controller] [Record Table] Record Messages 2) Tab. 2.60 1) 1) Tab. 2.61,,(),, (), Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 69
2 2.8.5 () ( 6.2) 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. 2.62 70 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
3 3, :! 3.1 Fig. 3.1 B1 B2 H1 H2 H3 H4 L1 L2 L3 [mm] 39 20 118.7 112.9 103.1 90 115 108 96 Tab. 3.1 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 71
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 72 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 73
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 74 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
4 4.3, ( 2.2.3),, ESD ESD (electrostatic discharge),, ESD (: ) : / IP 1 [X9] / 2 [X1] PLC/IPC IO-Link/I-Port :/ 3 [X18] (RJ-45) TCP/IP Modbus TCP 4 [X1A] 5 [X3] STO (Safe Torque Off) 6 [X2] (RS422) 7 [X6] 8 FE (3x) 1 2 3 4 5 6 7 8 Fig. 4.1 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 75
4 () ( NEKM-C-14) [mm] [mm 2 ] [mm] [X1] 11 2.5 0.081 0.518 7 8 CAGE-AWG20-28 [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] IO-Link/I-Port/ I/O 20 1) [X1A] 30 1) [X2] 10 1) [X3] STO 30 2) [X6] 10 1) [X9] 30 2) [X18] TCP/IP 30 3) Modbus TCP 30 1) www.festo.com/catalogue 2) 3) ANSI/TIA/EIA-568-B.1 Tab. 4.3 4.3.1 [X1] IO-Link/I-Port / IO-Link/I-Port () 3, IO Link A, / / 1 (+24 V Out) (I max. = 100 ma) IO Link/ I Port,CMMO ST IO Link 76 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
4 1 11 X1 1 11 / (DIN/DOUT) 1 +24 V (OUT) +24 V 1) : ENABLE 2 0 V (GND) 3 DOUT2 2, 4 DOUT1 1, 5 READY 6 ENABLE 2) 7, 3) 8 IO-Link/I-Port 9 L 0 (GND) 10 C/Q IO-Link/I-Port 11 L+ IO-Link/I-Port IC 24 ( X9 ) 1) ( 100 ma) 2) 2.4.5 3) 7 8 I-Port/IO-Link 4 5 Tab. 4.4 [X1] IO-Link/I-Port / PLC X1.6 X1.5 X1.4 X1.3 DIN ENABLE DOUT READY DOUT1 DOUT2 GND X1.2 X1.1 GND +24 V OUT Fig. 4.2 I/O (PNP) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 77
4 4.3.2 [X1A] Festo ( www.festo.com/catalogue) 1 3 1 +24 V LOGIC OUT X1A 2 SIGNAL REF PNP +24 V NO/NC 1) 1 3 3 0 V GND () 1) NO/NC = Normaly Opened/Normaly Closed Tab. 4.5 [X1A] 1 (+24 V Out) ( 100 ma) 78 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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-LK-SY-ZH 2017-05b 79
4 4.3.4 [X3] STO, FCT I/O [X3] STO1/STO2 STO STO, X3 1 2 3!, STO GDCP-CMMO-ST-LK-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) 80 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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 )1 Tab. 4.8 [X6] Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 81
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 1 X9 5 5 2! 3 +24 V DC () 4 0 V, STO I/O 5 +24 V DC () Tab. 4.9 [X9](NEKM-C-14) 82 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
4 4.3.7 [X18] :,: (IPS) LAN (VLAN) (VPN) (Port Security),:IEC 62443, ISO/IEC 27001, : : ( Tab. 4.3) 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-LK-SY-ZH 2017-05b 83
5 5 5.1,,, FCT I/O, STO1/STO2 STO STO, X3 1 2 3!, STO GDCP-CMMO-ST-LK-S1 STO ( Safe Torque Off ) STO STO : STO ( GDCP-CMMO-ST-LK-S1 ), 1. 2. ( 4) 3., FE 4. PC ( 5.2 ) 1 : ( 5.3)- - FCT ( 5.4 ) (): 84 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.2, DHCP (Dynamic Host Configuration Protocol) DHCP DHCP PC (DHCP ) DHCP! DHCP,, PC DHCP, DHCP, FCT IP ( 2.4.7) 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-LK-SY-ZH 2017-05b 85
5 Fig. 5.1 ( - - ) : PC TCP/IPv4 ( Windows ): IP DNS Windows FCT FCT [Component] [FCT Interface] <Scan...> 86 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.3,,, : (: ) FCT Optimised Motion Series (OMS) Festo (OMS) (*.fpf) www.festo.com/sp, FCT (: ) FCT, ( ) Festo, Direct Mode *.fpf CMMO-ST ( 5.3.1) [X3.2/3] STO1 STO2 (24 V) DIN +,[X1.6] ENABLE : 1. 5.3.3 2. 5.3.4 3. 5.3.5 4. 5.3.6 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 87
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...>), IP ;, 2.3.3,,, (= 0),, ;: FCT OMS 5.3.3 88 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5,: IP MAC () () 1) :, : (:Motion Complete Homing valid) I/O [X1A] Control :IO Link I Port Modbus Interface FHPP Profile Network Parameter Direct Mode Test Mode Password Diagnosis Support / FHPP FPC IP / FHPP Festo, : 1) Tab. 5.2 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 89
5 5.3.2 (Device Control) Device Control /,,, : Device Control Fig. 5.3 - Device Control() :, Device Control,, *.pdf www.festo.com/sp DIN +, [X1.6] DIN ENABLE =1 Fig. 5.4 - Control Enable( ) Control Enable, : 1. Device Control 2. Control Enable 90 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.3.3 Festo, OMS OMS-ID OMS-ID OMS-ID (OMS) OMS,:: FCT Festo, Festo Parameter Cloud PC : 1. 2. OMS-ID 3. :<Search> 4. :<Save> Festo Support Portal, PC www.festo.com/sp,cmmo-st (*.fpf), : 1. (Device Control) 2. <Browse> 3. <Download parameter set to CMMO> 2 3 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 91
5 5.3.4,,,, ( ) : 2.5.1 2.5.2 : : [X1A] : 1. (Device Control + Control Enable) 2. : <Start Homing>, (: Homing valid ) : 1. Direct Mode, : 10 % 2. <Download> 3. Test Mode Direct Mode Positioning, : 4. <Start Positioning Mode> 5. / : FCT : 6. 7. (: I/O ) 8., 92 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.3.5 ( 5.3.4) : 1. Direct Mode, 2. <Download> 3. : Test Mode 4. Direct Mode <Save> 5.3.6 FHPP: GDCP-CMMO-ST-LK-C-HP-... : Network 2.4.7: IP ( Obtain an IP address automatic) IP ( Use the following IP address) () :,, PC, 1. (Device Control) 2. <Upload parameter set to PC> 3. Windows *. fpf Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 93
5 PC : 1. (Device Control) 2. <Download parameter set to CMMO> Windows *. fpf 3. <Save> 4. : (Power on/off), FCT : 1. (Device Control) 2. ( Password ): :16 :a Z, A Z, 0 9!"#$%&'()*+,./:;<=>?@[\]^_{ }~ 3. <Apply> 94 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.4 FCT (Festo Configuration Tool) FCT,,FCT : Festo / FCT FCT : FCT : FCT PlugIn-Workflow : PlugIn CMMO-ST : : Festo OMS-ID(: ) [X3.2/3] STO1 STO2 (24 V) DIN +,[X1.6] ENABLE FCT : 1. 5.4.2 2. 5.4.4 3. 5.4.5 4. 5.4.6 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 95
5 5.4.1 FCT www.festo.com/sp,cmmo-st PlugIn 1. ( Tab. 2) 2. 3. Setup.exe (FCT-Assistent) 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 96 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 5.4.3 FCT 1. FCT [Component] [FCT Interface] FCT 2. PC ( 5.2) FCT : FCT [Component] [Online] [Login] <Offline/Online> FCT + + + Tab. 5.3 FCT / FCT 0x32 FCT (Time out) = 0, ;TCP/IP 1 s,, (Device control) FCT FCT,, FCT, 1. FCT [Component] [Online] [Login] 2. FCT Device Control : FCT 3. ( ) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 97
5 FCT,, DIN +, [X1.6] DIN ENABLE =1 Enable, FCT 1. FCT [Component] [Online] [Login] 2. FCT Device Control : FCT FCT Enable 5.4.4,,,,, FCT [...] [Axis] [Homing] :,, : 2.5.1 2.5.2 : FCT [...] [Axis] [Measurements] FCT [...] [Axis] [Homing] : : [X1A] FCT <Download> 98 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 : 1. FCT 2. : ( FCT Manual Move ) / : ( FCT [...] [Application Data] [Environment]) I/O (:) 3. ( FCT Homing ), : 1. <Single Step> <Jog> ( FCT Manual Move ) 2. / : FCT : 3. 4. (: I/O ) 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] Basic Data FCT [...] [Controller] [Record Table] Limits : 10 % 4. Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 99
5 1. FCT 2. <Download> 3. : ( FCT Manual Move Optimise ) 4. : ( FCT Optimise ) (), <Accept>, 5.4.6 FHPP: GDCP-CMMO- ST-LK-C-HP-... ; FCT [Controller][Network properties] 2.4.7 IP ( Obtain an IP address automatic) IP ( Use the following IP address) 1. FCT ( ) 2. <Store> () :,, PC, 1. 2. FCT [Component] [Online] [Backup Recovery...] 100 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
5 PC : 1. FCT [Component] [Online] Backup Recovery... Recover 2. : FCT [Component] [Online] Restart Controller ( Power on/off) : FCT PlugIn, FCT : 1. FCT 2. FCT [Component] [Online] [Password]) : :16 :a Z, A Z, 0 9!"#$%&'()*+,./:;<=>?@[\]^_{ }~ 3. <Accept>, 2.3.3 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 101
5 5.5 FHPP GDCP-CMMO-ST-LK-C-HP-... 5.5.1 FCT,FCT :,: (FHPP ) 30 :, (FCT Monitoring) 5.5.2 FCT FCT 5.5.3 FCT ( FCT [Component] [Firmware Download]) Festo ( www.festo.com/sp): FCT FCT :, :,,,, :, FCT (Backup ), FCT Backup (Download) 102 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 6 6.1 6.1.1 7 7 4, ( 6.3.2) / B L E 1 (), Festo Exxx 1) 2 6.2 6.3 Axxx 1) 3,, 6.2 6.3 HHHH STO Safe Torque Off P000 5 P070 P071 P1xx 2) P2xx 2) P3xx 2) 1) xxx =, 2) xx = Tab. 6.1 7 4 STO GDCP-CMMO-ST-LK-S1-7,, : ( 6.2.3) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 103
6,, ; : : Blinking decimal point (on/off) FCT : FCT [Component] [FCT Interface] FCT Interface <> Festo Field Device Tool (Netzscan) [] 6.1.2 Link/Activity LED LED C/Q IO-Link/I-Port : LED C/Q,, IO-Link/I-Port Tab. 6.2 IO-Link/I-Port 104 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 6.2 6.2.1 1) (Error) 1) (Warning) (Information), (DOUT READY 1 0),: ( Tab. 6.4),: (Reset), :, 1) FHPP FHPP: GDCP-CMMO-ST-LK-C-HP-... Tab. 6.3 (Free-weeling) Quick-Stop (QS deceleration) (Record deceleration) (Finish record) Tab. 6.4 () (Quick stop), (Motion Complete) FCT FCT [...] [Controller] [Error Management]: ( ) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 105
6, : (: ),,: A ():,,,,, 6.2.2, 6.3 7 FCT :, Error 7 FCT :, Warning Tab. 6.5 FHPP FHPP: GDCP-CMMO-ST-LK-C-HP-..., 6.2.3 106 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 6.2.3,, 200 : (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) Tab. 6.6 ( Tab. 6.3) (0x = hex-prefix) 6.3.2, HH.MM.SS:nnn (HH =,MM =,SS =,nnn = ) Festo FCT [...] [Controller] [Error Management], : FCT 1) 1) FHPP Diagnosis Diagnosis GDCP-CMMO-ST-LK-C-HP-... 1), Tab. 6.7 FCT FHPP 3Dh (Start-up event) Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 107
6 6.3 6.3.1, (Reset),:,: FCT FHPP Reset Error <Reset Error> FHPP: GDCP-CMMO-ST-LK-C-HP-... Tab. 6.8, : FCT FHPP (Softwarereset) : FCT FHPP [Component] [Online] [Restart Controller] FHPP: GDCP-CMMO-ST-LK-C-HP-... Tab. 6.9 (Software-Reset) 108 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 6.3.2... F/W/I = //( Tab. 6.3) ( F), : F/ / Tab. 6.10 FCT (/) : FCT FHPP : (A G) ( Tab. 6.11) A B C D E F G, Quick-Stop, -,, Motion complete, Quick-Stop, -,, Motion complete, Tab. 6.11() Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 109
6 01h (Software error) Festo :, :A 02h (Default parameter file invalid) :F/-/- : :F/-/- :,, :, :A 05h (Zero angle determination) :F/-/- :?,?: : : : :, : : ( ) ( ) ( FCT ),, : :A 110 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 06h (Encoder), ( ) :, :A 09h (Offset determination for current measurement) :, :A 0Ah (General error) :F/-/- : :F/-/- : :F/-/- :, Festo : :B 0Bh (Parameter file invalid) :F/-/- :,:,, : :A 0Ch (Firmware update execution error) :F/-/- : PC,, :, :A Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 111
6 0Dh (Overcurrent) :F/-/- :, FCT ( ) :, :-,,,,, :, :A 0Eh I²t (I²t malfunction motor) :F/-/- : I²t /, : :B C 11h (Softwarelimit positive) :F/-/- :, : :A B C E F 112 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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-LK-SY-ZH 2017-05b 113
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 114 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 19h LM-CPU (Real time error LM-CPU) :F/-/- : LM-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-LK-SY-ZH 2017-05b 115
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 : :F G 116 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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-LK-SY-ZH 2017-05b 117
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 :, 32h FCT, (FCT connection with master control) FCT, : :B C D E F G :F/-/- : 118 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 33h (Output stage temperature warning) :-/W/I :,, :, 34h (STO) (Safe Torque Off (STO)) :F/W/I : Safe Torque Off STO : :0 : STO, 37h (Standstill monitoring) :-/W/I : :, 38h (Parameter file access) :F/-/- :, 2 3 s : :F G 39h (Trace warning) :, :-/W/- : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 119
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/-/- :,, : :F G 120 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 3Fh (Record invalid) :F/-/- : : :B C D E F G 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 :,, :, 45h IO-Link (IO-Link system error) IO-Link FCT FHPP : :A B C D :F/-/- : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 121
6 46h IO-Link (IO-Link communication error) :F/-/- : IO-Link, IO-Link : :B C E F 47h Modbus, (Modbus connection with master control) Modbus, : :B C D E F G :, 48h Modbus, (Modbus connection without master control),:, :, 4Ch (Value is out of range), : :B C D E F G 4Dh (Bootloader memory error) :F/-/- : :-/W/I : :F/-/- : :F/-/- :, :, :A 122 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 4Eh 24 V (Overload 24V Outputs) 24 V STO : :A B 4Fh (System information) :F/-/- : :-/-/I : Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 123
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. 2.23) PC IP Windows(:Windows 7) 1. Windows [] [] [ Internet] [ ] [] 2. [Local Area Connection] 3. [Internetprotokoll Version 4] 4., Internetprotokoll Version 4 PC IP 5. IP ( ) : IP IP DHCP ( Tab. 2.23), 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 ) 124 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
6 6.5 () FCT Tab. 6.12 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 125
7 7 :,,:: 7.1, : 7.2 : 126 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
7 7.3,, FCT (Backup ), FCT (Download) ( 3) : 1. 2. 3. 7.4 RoHS Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 127
A A STO [X3] CMMO-ST STO- /, Festo www.festo.com/sp / 10 m : Festo 128 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
A A.1 A.1.1 / (DIN/DOUT) I/O DIN (1) DOUT (3) ( * * ) Fig. 3.1 [kg] 0.29 ( ) 7 LED C/Q(/), TCP/IP Festo Configuration Tool (FCT) IO-Link/I-Port :Modbus TCP FHPP PNP ENABLE( ) READY() DOUT1, DOUT2( ) RS422 I 2 t ( ) / RoHS Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 129
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 130 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
A A.1.3 CE ( www.festo.com) 2006/42/EG 2014/30/EU 1) UL Listing Mark for Canada and the United States RCM (Regulatory Compliance Mark) 1),:, UL UL A.2 A.2.1 [V DC] 24 ± 15 % [A] 5.7 [A] 9.4() PELV (Protected Extra-Low Voltage) EN60529 IP40( ) 4.3 A.2.2 [X1.1] 24-V PLC,: ENABLE [V] +24 V (OUT) [ma] 100 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 131
A A.2.3 [X1.3 6] / 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.2.4 [X1.9 11] IO-Link/I-Port IEC 61131-9 (IODD) FHPP (8 Byte I/O), ID 0x10000 FHPP + FPC (16 Byte I/O), ID 0x10001 V1.1 [m] 20 [ms] 1 COM3 1 [IOL] ID 0x10000 (FHPP),0x10001 (FHPP+FPC) 8 16 Byte IN/OUT FHPP FHPP+FPC 132 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
A A.2.5 [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.2.3 A.2.6 [X18] IEEE802.3 [MBit/s] 10 100 RJ45, 8 TCP/IP (UDP, HTTP), Modbus TCP, Cat 5 IP 192.168.178.1( IP) 255.255.255.0 TCP/IP TCP/IP [m] 30() 502 FCT 7508 80 Modbus TCP IEC 61158 Modbus TCP [m] 30 502 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b 133
A 134 Festo GDCP-CMMO-ST-LK-SY-ZH 2017-05b
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