CMMO-ST-C5-1-LKP,: IO-Link I-Port Modbus TCP/IP FHPP 8043637 1507a [8043633]
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
CMMO-ST-C5-1-LKP CMMO-ST-C5-1-LKP... 7... 8... 8 1 CMMO-ST FHPP... 9 1.1 FHPP... 9 1.2... 10 2 IO-Link... 11 2.1 IO-Link/I-Port I/O [X1]... 11 2.2 IO-Link... 12 2.2.1 FCT CMMO-ST... 12 2.2.2... 12 2.3 IO-Link... 13 2.3.1 S7 1200 CMMO-ST... 14 3 I-Port... 16 3.1 IO-Link/I-Port I/O [X1]... 16 3.2 I-Port... 17 3.2.1 FCT CMMO-ST... 17 3.2.2... 17 3.3 I-Port... 18 4 Modbus TCP/IP... 19 4.1 Modbus-TCP [X18]... 20 4.1.1... 20 4.2 Modbus-TCP... 21 4.2.1 FCT CMMO-ST... 21 4.2.2... 22 4.3 Modbus... 22 4.3.1 IP... 22 4.3.2 Modbus... 22 4.3.3 Modbus Read Device Identification... 28 4.3.4... 28 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 3
CMMO-ST-C5-1-LKP 5 I/O... 29 5.1 (FHPP )... 29 5.1.1 FHPP... 29 5.1.2... 29 5.1.3... 29 5.2 FHPP... 30 5.2.1... 31 5.2.2... 32 5.2.3... 35 5.3 I/O... 40 5.3.1... 40 5.3.2 FHPP I/O (Byte 1 8)... 41 5.4 ()... 42 5.4.1... 43 5.4.2... 47 6 FHPP... 52 6.1... 52 6.2... 52 6.2.1... 52 6.2.2... 53 6.3... 54 6.4... 55 6.5... 57 6.5.1... 59 6.5.2... 62 6.5.3 (PNU 402)... 63 6.6... 64 6.6.1... 67 6.7... 70 6.7.1 Motion Complete... 70 6.7.2... 71 6.7.3... 72 6.7.4... 74 7... 76 7.1... 76 7.1.1... 76 7.1.2... 77 7.1.3... 78 7.2... 79 7.2.1... 79 7.2.2... 80 4 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
CMMO-ST-C5-1-LKP A... 81 A.1... 81 A.1.1 [EINC]... 81 A.1.2 [SINC]... 81 A.2... 82 B... 83 B.1 FHPP... 83 B.2... 84 B.3 FHPP... 85 B.3.1... 85 B.3.2... 86 B.3.3... 87 B.3.4... 88 B.3.5... 90 B.3.6... 92 B.3.7 : 1... 93 B.4 FHPP... 96 B.4.1... 96 B.4.2... 97 B.4.3... 98 B.4.4 MMI... 100 B.4.5... 102 B.4.6... 110 B.4.7 FHPP... 112 B.4.8... 113 B.4.9... 122 B.4.10... 125 B.4.11 /... 126 B.4.12... 127 B.4.13 FHPP... 128 B.4.14... 130 B.4.15... 131 B.4.16... 132 B.4.17... 133 B.4.18... 134 B.4.19... 137 B.4.20 : 1... 138 B.4.21 : 1... 140 B.4.22 : 1... 142 B.4.23 : 1... 145 B.4.24 : 1... 146 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 5
CMMO-ST-C5-1-LKP B.4.25 : 1... 147 B.4.26 : 1... 147 B.4.27 : 1... 147 B.4.28 : 1... 148 C Festo Parameter Channel (FPC)... 150 C.1 I/O FPC... 150 C.2 EFPC... 150 C.2.1 EFPC... 150 C.2.2 FPCC FPCS,Request ID Response ID... 151 C.3 (PNU,)... 152 C.3.1 EFPC... 152 C.3.2... 152 C.3.3... 152 C.3.4... 153 C.4... 154 C.4.1 EFPC... 154 C.4.2 ID... 154 C.4.3... 155 C.4.4... 156 C.4.5... 156 C.4.6... 157 C.4.7... 162 D... 164 E... 178... 180 6 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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) () www.festo.com/catalogue Festo (:EPCO) www.festo.com/sp :Festo Optimised Motion Series (OMS) (CODESYS,...) www.festo.com/sp, www.festo.com/sp Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 7
CMMO-ST-C5-1-LKP : : V 1.4.x FCT-PlugIn: CMMO-ST V 1.4.x,: MAC-ID Info, FCT( ),,: : :, FCT www.festo.com/sp, Festo 8 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
1 CMMO-ST FHPP 1 CMMO-ST FHPP 1.1 FHPP Festo, : Festo Handling and Positioning Profile (FHPP) FHPP Festo, I/O... > 1 2 3... n... Fig. 1.1 FHPP (FHPP ) 8 Byte (FPC) 8 Byte I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 9
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 1 2 3 1 [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
2 IO-Link 2 IO-Link IO-Link () IO-Link I/O (IEC 61131-9), 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 X1 1 11 1 +24 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) 2.2.1 3) Pin I-Port / IO-Link 4 5 Tab. 2.1 X1 I/O,IO-Link Pin 9... 11 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 11
2 IO-Link 2.2 IO-Link IO-Link,: FCT CMMO-ST 2.2.1 2.2.2 PC, GDCP-CMMO-ST-LK-SY-... 2.2.1 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 5. 6. (Device Control) 7. (Store) FCT, : (Modbus IO-Link I-Port) (FHPP,FHPP + FPC), IO-Link 2.3 2.2.2 1. : http://192.168.178.1/ () 2. (Device Control) 3. Control Interface (Save) : IO-Link 4. FHPP Profile (Save) : FHPP Channel FHPP + FPC Channel IO-Link 2.3 12 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 230.4 KBaud IO-Link (2048 Byte ), EFPC C.4 IODD www.festo.com/sp Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 13
2 IO-Link 2.3.1 S7 1200 CMMO-ST CMMO-ST IO-Link S7 1200 IO-Link : TIA-Portal V13 S7 PCT V3.3 IO-Link 1.1 CMMO-ST IO-Link S7 1200 1. TIA-Portal 2. 3. (S7 IO-Link S7 ) 4. CPU IP 5. PLC, IO-Link 6. IO-Link, 1 2 3 1 PLC 2 Fig. 2.1 TIA-Portal S7 3 IO-Link 7. 8. IO-Link DeviceTool 9. PC 10. [] [ IODD], IODD 14 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
2 IO-Link 1 2 1 2,IO-Link 1.1 Fig. 2.2 DeviceTool, IODD 11. IO-Link 1.1 Festo AG & Co. KG CMMO ( FHPP FPC), IODD 12. 13. DeviceTool, IO-Link : Festo FHPP_Positions_Library_TIA, (I_ADRESS, O_ADRESS) / Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 15
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 X1 1 11 1 +24 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) 3.2.1 3) Pin I-Port / IO-Link 4 5 Tab. 3.1 X1 I/O,IO-Link Pin 9... 11 16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
3 I-Port 3.2 I-Port I-Port,: FCT CMMO-ST 3.2.1 3.2.2 PC, GDCP-CMMO-ST-LK-SY-... 3.2.1 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 5. 6. (Device Control) 7. (Store) FCT, : (Modbus IO-Link I-Port) (FHPP,FHPP + FPC), I-Port 3.3 3.2.2 1. : http://192.168.178.1/ () 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
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 www.festo.com/sp 18 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
4 Modbus TCP/IP 4 Modbus TCP/IP Modbus TCP/IP Modbus TCP/IP IEC 61158 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, 0x17 4.3.2 Festo Modbus Modbus Tab. 4.1 () : Modbus CMMO, Function-Code Transaction Identifier Protocol Identifier Message Length Unit Identifier Modbus TCP Client www.festo.com/sp, Modbus TCP Client Byte Byte 1 2 2 3 2 0 4 5 2 = n + 2, n Byte 9 6 7 1 (Unit identifier (: 0) Slave-ID) 8 1 Function-Code 4.3.2 9... n 4.3.2 Tab. 4.1 Modbus Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 19
4 Modbus TCP/IP 4.1 Modbus-TCP [X18] [X18] RJ45 Modbus 2 TCP ( FCT,) Modbus-TCP, IP, FCT 4.1.1 Tab. 4.2 [X18] Pin 1 + ( TX+ ) 3 2 ( TX ) 3 3 + (RX+) 2 4 1 5 1 6 (RX ) 2 7 4 8 4 STP,Cat.5 20 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
4 Modbus TCP/IP 4.2 Modbus-TCP Modbus, TCP-Port : FCT CMMO-ST 4.2.1 4.2.2 PC, GDCP-CMMO-ST-LK-SY-... 4.2.1 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, ) 4.3.4 5. 6. (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
4 Modbus TCP/IP 4.2.2 1. : http://192.168.178.1/ 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 4.3 4.3 Modbus 4.3.1 IP Modbus-TCP, IP FCT IP 4.3.2 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
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 0x0000 13, 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 17 18... 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 10... 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
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 10... 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
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 13 14... 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
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 0x01... 0xFF: 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
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 1 1 4.3.3,Tab. 4.4 15......... 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
4 Modbus TCP/IP 4.3.3 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 4.3.4 TCP/IP (Node Guard, Timeout) TCP/IP Node Guarding Node Guard Timeout Modbus Client Client, Timeout MODBUS TCP/IP 0 5000 ms 4.2 0 100 ms, 100 ms 0 47h 48h D 28 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
5 I/O 5 I/O 5.1 (FHPP ) FHPP I/O, I/O I/O ( ) (: ) Tab. 5.1 CMMO-ST FHPP 5.1.1 FHPP CCON( ) FHPP SCON 5.2,Fig. 5.1 5.1.2,,,,, 5.1.3,, Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 29
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,...), 5.3 30 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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, 5.2.1 ( 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
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. 5.2 5.2.2 : 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
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
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
5 I/O 5.2.3 : 1:,Tab. 5.5 2:,Tab. 5.6 3:,Tab. 5.7 4:,Tab. 5.8 5:,Tab. 5.9 6:,Tab. 5.10 5.2 : ( PNU 128), ENABLE [X1.6] GDCP-CMMO-ST-SY-... 1: () 1) () 1) 1.1 CCON = 0000.0x00 b SCON = 0001.0000 b CPOS = 0000.0000 b SPOS = 0000.0100 b 1.2 FCT () 1.3, CCON.LOCK = 1 SCON.FCT/MMI = 0 } CCON = 0010.0x00 b } SCON = 0001.0000 b } CPOS = 0000.0000 b } SPOS = 0000.0100 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 = 0010.0x11 b } SCON = 0001.0011 b } CPOS = 0000.0001 b } SPOS = 0000.0101 b 1) :P = (),N = (),x = Tab. 5.5 : 1.1 } 1.2 1.3 1.2 FCT CCON.LOCK = 1 FCT } 1.3 1.3 } : 4,Tab. 5.8 CCON.ENABLE. } 3,Tab. 5.7 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 35
5 I/O 2: () 1) () 1) 2.1 CCON = 0000.0x00 b SCON = 0001.0000 b CPOS = 0000.0000 b SPOS = 0000.0100 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 } 2.2 2.3 2.2 FCT CCON.LOCK = 1 FCT } 2.3 2.3 } : 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
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 = 0 4.2 CPOS.HOM = 1 SPOS.MOV = 1 4.3 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
5 I/O 5:( S4) () 1) () 1) 5.1 1... 64 1... 64 ( 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 = 0 5.3 CPOS.START = 1 SPOS.MOV = 1 1... 64 1... 64 5.4 CPOS.START = 0 SPOS.ACK = 0 SPOS.MC = 1 SPOS.MOV = 0 1) :P = (),N = (),x = Tab. 5.9 : ( 5.1... 5.4 ), 5.1 : Byte 3 0 = 1... 64 = 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
5 I/O 6:( S4) () 1) () 1) 6.1 (Byte 4) (Byte 5...8) 0... 100 (%) 0... 100 (%) [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 = 0 6.3 CPOS.START = 1 SPOS.MOV = 1 6.4 CPOS.START = 0 SPOS.ACK = 0 SPOS.MC = 1 SPOS.MOV = 0 1) :P = (),N = (),x =,S= :0 = ;1 = Tab. 5.10 : ( 6.1... 6.4 ), 6.1 [SINC] Byte 5... 8 [ %] 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
5 I/O 5.3 I/O 5.3.1 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
5 I/O 5.3.2 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
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. 5.12 () 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. 5.13 42 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
5 I/O 5.4.1 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 6 0 0 0 1 0 1 2 1 0 3 1 1 Tab. 5.14 1 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 43
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. 5.15 2 44 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 1 0 0 0 1 0 1 ( ) 2 1 0 () 3 1 1, 0, 0 stroke (X-) LIMit inactive = 1: = 0: (COM1/2 = 01 10), 0, 0 Tab. 5.16 3 4( 1) Bit ZH EN B0 7 Velocity [ %] PNU 540 / Velocity [ %] PNU 540 Velocity ramp [ %] PNU 560 Tab. 5.17 4 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 45
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. 5.18 5 8 3( 1) Bit ZH EN B0 7 Record number Tab. 5.19 3 4 8() Bit ZH EN B0 31 (= 0) Tab. 5.20 4 8 46 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
5 I/O 5.4.2 1 (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. 5.21 1 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 6 0 0 0 1 0 1 2 1 0 3 1 1 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 47
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. 5.22 2 48 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 0 0 1 0 1 /() 2 1 0 () 3 1 1 = 0 velocity (V-) LIMit reached stroke (X-) LIMit reached = 0 = 0 = 1: = 0: = 1: = 0: Tab. 5.23 3 4( 1) Bit ZH EN B0 7 Velocity [ %] PNU 540 /, PNU 523:7 Velocity [ %] PNU 540 Torque [ %] PNU 555,= 0 Tab. 5.24 4 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 49
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. 5.25 5 8 3() Bit ZH EN B0 7 Record number Tab. 5.26 3 4 (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. 5.27 4 50 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
5 I/O 5 8() Bit ZH EN B0 31 Position [SINC] A.2,32 Bit Tab. 5.28 5 8 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 51
6 FHPP 6 FHPP 6.1, GDCP-CMMO-ST-LK-SY-... 6.2 CMMO-ST Power ON( ) 6.2.1,,, : 1. 2. : = 0 3. : I/O 140 (FHPP) (FHPP) PNU 1010 1011 1012 / 1013 1015 1016 1017 CPOS.HOM = : ( : 0 =, CPOS.START ) SPOS.ACK = : SPOS.REF = / Tab. 6.1 I/O 52 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 6.2.2 CANopen CiA 402,,, //, (Closed Loop),, (Closed Loop), (Open Loop), (Open Loop), -35-17 -18-35 -17-18 27 23 11 + 7 + -35-35 27 23 Tab. 6.2, GDCP-CMMO-ST-LK-SY-... Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 53
6 FHPP 6.3 : (: ) () 1., () 2. ( 1 ), ( ) 3. 0, 4. :,, = 0 v PNU 531.1 PNU 530.1 PNU 534.1 t CPOS.JOGP CPOS.JOGN a+ / PNU 532.1 a Fig. 6.1 ( ) t t 54 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP I/O B.4.10 (FHPP) (FHPP) PNU 1 530 2 531 / 532 1 534 () 538 539 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 501.1 = 5 PNU 501.2 = 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
6 FHPP 3. CPOS/SPOS : CPOS.TEACH SPOS.TEACH 1 0 1 0 1 : 2 : 3 : 4 : Fig. 6.2 1 2 3 4, PNU 127:2 1 I/O B.4.8 B.4.10 (FHPP) (FHPP) PNU 520 400 500 501 ( ) 1010 CPOS.TEACH = N(,): SPOS.TEACH = N(,): / Tab. 6.5 I/O 56 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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
6 FHPP I/O B.4.8 (FHPP) (FHPP) PNU 400 6.5.2,Tab. 6.7 401... 442 3 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
6 FHPP 6.5.1 Fig. 6.3 Fig. 6.4 Fig. 6.5 / 1 0 N - 1 N N + 1 CCON.STOP 1 0 CPOS.START 1 0 3 5 6 SPOS.ACK 1 0 1 2 4 SPOS.MC 1 0 SPOS.MOV 1 0 1 0 N - 1 N N + 1 1 : = 0 2 N 3, 0 Fig. 6.3 / 4 5, 6, Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 59
6 FHPP 1 0 N - 1 N N + 1 CPOS.HALT 1 0 1 CPOS.START 1 0 2 SPOS.HALT 1 0 SPOS.ACK 1 0 SPOS.MC 1 0 SPOS.MOV 1 0 1 0 N - 1 N 1, N, Fig. 6.4 2 N, 60 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 1 0 N - 1 N N + 1 CPOS.HALT 1 0 1 CPOS.START 1 0 CPOS.CLEAR 1 0 2 SPOS.HALT 1 0 SPOS.ACK 1 0 SPOS.MC 1 0 SPOS.MOV 1 0 1 0 N - 1 N N + 1 1 2 Fig. 6.5 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 61
6 FHPP 6.5.2 (PNU) PNU 401 1 :/ 402 2 : 404 406 407 408 409 410 416 417 418 421 3 423 424 425 MC (MC) 426 427 428 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441 442 Tab. 6.7 62 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 6.5.3 (PNU 402) CPOS.START,,:,, PNU 416, 2 (PNU 402) Bit 0... 6 0... 128: Tab. 6.9 Bit 7 Tab. 6.8 (Bit 0... 6) 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
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) 540 541 542 543 544 547 548 () 549 () 581 582 583 CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab. 6.10 I/O 64 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP I/O PNU FHPP B.4.13 B.4.15 B.4.16 FHPP B.4.18 FHPP / 523 FHPP 524 1) 540 544 552 555 582 583 B.4.23 1036 (FHPP) CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 (FHPP) SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab. 6.11 I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 65
6 FHPP I/O PNU FHPP B.4.13 B.4.15 B.4.17 FHPP B.4.18 (FHPP) (FHPP) FHPP / 523 FHPP 524 543 544 547 1) 560 561 () 566 () 568 () 581 582 583 CPOS.START = : CDIR.ABS = / CDIR.COM1/2 = 5.3 SPOS.MC = 0: SPOS.ACK = : SPOS.MOV = 1: / 1),, Tab. 6.12 I/O 66 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 6.6.1 1. (/,...) 2. (CPOS.START) 3. PNU 583 : ():, : (MC) : 4., MC (SPOS.MC) 1 0 1 2 3.... 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
6 FHPP Bit CDIR.COM1/2, Bit CDIR.ABS : Byte 4 1 [ %] PNU 540 5 8 2 [SINC],32 A.2 4 1 [ %] PNU 540 5 8 2 [SINC],32 A.2 Tab. 6.13,( ), Bit SDIR.COM1/2, (MC) () Bit CDIR.COM1/2,, CDIR.ABS : Byte 4 1 [ %] PNU 560 5 8 2 [SINC/s] A.2 4 1,= 0 5 8 2 [SINC/s] Tab. 6.14, ( ) 2, Bit SDIR.COM1/2,SPOS.MC () 68 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP /() Bit CDIR.COM1/2,/, : Byte 4 1 [ %] PNU 540 5 8 2 [ %] PNU 555, PNU 523 4 1 [ %] PNU 540 [ %] PNU 555() 5 8 2 [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
6 FHPP 6.7 6.7.1 ( ),, ( ) v t1 3 2 1 t t1: t 1 2 3 Fig. 6.7 I/O PNU (/ 552 B.4.16 ) B.4.17 ( ) B.4.22 (FHPP) Tab. 6.16 I/O (/ ) (/ ) (, ) SPOS.MC = 1: 561 1022 1023 70 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 6.7.2,,: ( Fig. 6.8, 1 ), () ( ), 1 s 2 3 t1 2F h t1: 1 3 2 PNU 424 549 568 Fig. 6.8 :, FCT, (2F h ) ( FCT ), Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 71
6 FHPP I/O PNU B.4.8 ( 424 ) B.4.15 ( ) 549 B.4.17 B.4.22 (FHPP) Tab. 6.17 I/O ( ) ( ) SPOS.FOLERR = 1: 568 1045 6.7.3, ( Fig. 6.9) ( ), 0,,:,: FCT,, 72 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP 1 s t1 t2 t2 2 t t ( = 1, = 0) t () t t1: t2: 1 PNU 1022 2 Fig. 6.9 I/O PNU ( () 1022 ) B.4.22 () 1023 B.4.24 () 1042 ( ) 1043 (FHPP) SPOS.STILL = 1: Tab. 6.18 I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 73
6 FHPP 6.7.4,() : ( 6.5.3) (,GDCP-CMMO-ST-LK-SY-...) PNU 312,,, :,, : -50 mm(= )š š -40 mm(= ),, (),, 1) PNU 555, -1000 +1000, 1) Tab. 6.19 74 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
6 FHPP PNU FHPP B.4.6 312 B.4.9 B.4.18, 430 585, 431 586, 432 587, 433 588, 434 589, 435 590, 436 591, 437 592, 438 593, 439 594, 440 595 Tab. 6.20 I/O Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 75
7 7 7.1 7.1.1 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 242 246: ( ) 76 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
7 7.1.2, 7.2 7 FCT :, Error 7 FCT :, Warning Tab. 7.3 FHPP PNU 205 220 221 230 Tab. 7.4,, FCT 7.1.3 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 77
7 7.1.3,, 200 : PNU (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info) 1) 200 Tab. 7.1 201 (0x = hex-prefix) 7.2.2 1) 202 HH.MM.SS:nnn (HH =,MM =,SS =,nnn = ) 203 Festo 1) FHPP Tab. 7.5, 7.2.2, FHPP PNU 1) 200 201 202 203 uint8 uint16 uint32 uint32 1 2 2...... 200 200 1) B.4.5 Tab. 7.6 PNU 200... 203, FCT FHPP (PNU 204.3) 3Dh (Start-up event) 78 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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
7 7.2.2 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
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
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
B B B.1 FHPP PNU 100 199,: 85 200 299 / 300 399, : 400 499 500 599,: 600 699 92 : 1 Tab. B.1 FHPP 1000 1099,: 86 87 88 90 93 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 83
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
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.2 100 1 uint16 101 1 4 uint16 102 1 uint16 104 1 uint16 115 1 5 uint8 120 1 30 char 121 1 30 char 122 1 30 char 123 1 30 char 124 1 30 char 125 1 uint8 127 1 4 uint8 128 1 uint8 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 85
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.3 200 1 200 uint8 201 1 200 uint16 202 1 200 uint32 203 1 200 uint32 204 3, 4 uint8 205 1 uint16 220 1 32 uint32 221 1 32 uint32 230 1 uint8 234 1 255 uint16 238 1 255 uint16 242 1 255 uint16 246 1 255 uint16 280 1 uint8 86 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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.4 300 1 3 int32 301 1 3 int16 303 1 uint32 304 1 uint32 310 1 3 int32 312 1 uint8 320 1, 2 uint32/ int32 321 1, 2 uint32/ int32 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 87
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 uint8 401 1 64 uint8 402 1 64 uint8 404 1 64 int32 406 1 64 int32 407 1 64 int32 408 1 64 int32 409 1 64 uint32 410 1 64 uint32 416 1 64 uint8 417 1 64 uint32 418 1 64 int16 421 1 64 uint8 423 1 64 int32 424 1 64 int32 425 1 64 uint8 426 1 64 uint32 427 1 64 int32 428 1 64 uint16 88 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 430 1 64 int32 431 1 64 int32 432 1 64 uint16 433 1 64 int32 434 1 64 int32 435 1 64 uint16 436 1 64 int16 437 1 64 int16 438 1 64 uint16 439 1 64 uint32 440 1 64 uint32 441 1 64 int32 442 1 64 int16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 89
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, 130 1 (Velocity Slow Phase 1) 2 (Velocity Fast Phase 2) / (Acceleration/Deceleration) 1 (Time Phase 1) (Following Error Window) (Following Error Timeout) 500 1 int32 501 1, 2 int32 502 1 int32 503 1 int32 510 1 int32 512 1 int32 520 1 uint8 523 1... 12 uint32 524 1 uint8 530 1 int32 531 1 int32 532 1 int32 534 1 uint16 538 1 int32 539 1 uint16 90 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 540 1 int32 541 1 int32 542 1 int32 543 1 uint32 544 1 uint32 547 1 uint32 548 1 int32 549 1 int32 552 1 int16 555 1 uint32 560 1 int32 561 1 int32 566 1 int32 568 1 int32 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 91
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 581 1 int16 582 1 uint32 583 1 uint8 585 1 int32 586 1 int32 587 1 uint16 588 1 int32 589 1 int32 590 1 uint16 591 1 int16 592 1 int16 593 1 uint16 594 1 uint32 595 1 uint32 B.3.6 / PNU B.4.19, 137 (Position Notation Index) (Position Dimension Index) Tab. B.7 600 1 int8 601 1 uint8 92 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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) 1000 1 int8 1001 1, 2 uint32 1002 1, 2 uint32 1003 1, 2 uint32 1005 2, 3 uint32 1010 1 int32 1011 1 int8 1012 1 3 int32 1013 1 int32 1015 1 int16 1016 1 int32 1017 1 uint16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 93
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 1022 1 int32 1023 1 uint16 1024 1 7 uint32 1025 1, 2 uint32 1026 1, 2 uint16 1027 1 uint16 1029 1 int32 1030 1 uint16 1034 1 int32 1035 1 int32 1036 1 int32 1040 1 int32 1041 1 int32 1042 1 int32 1043 1 uint16 1045 1 uint16 1059 1 int32 94 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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 1063 1 int8 1065 1, 2 int8 1066 1 int8 1068 1, 2 int8 1071 1 uint32 1073 1 uint32 1074 1 uint32 1075 1 3 int32 1080 1 uint16 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 95
B B.4 FHPP B.4.1 1 PNU 1001 2 (Encoder Resolution) 3 1, 2 4 :Array 5 :uint32 6 FW 7 :ro 8... 9 1 aj (Encoder Increments) aa,:0x000007d0 (2000) 9 2 aj (Motor Revolutions) aa :0x00000001 (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: 128 127 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
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 (: 1.2.3.4 ) 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
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 115 98 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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) : http://www.festo.com (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
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 125 100 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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
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.4.5 7.1.3 PNU 200 (Diagnostics Event) 1 200 :Array :uint8 FW :ro 0x00 (0) () 0x01 (1) 0x04 (4) () 0x05 (5) 0x07 (7) 0x09 (9) 1 1 (Event 1) / 2 2 (Event 2) 2 3 200 3 200 (Event 3 200) 3 200 Tab. B.22 PNU 200 102 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 201 (Diagnostics Number) 1 200 :Array :uint16 FW :ro, 0xFFFF 1 1 (Event 1) / 2 2 (Event 2) 2 3 200 3 200 (Event 3 200) 3 200 Tab. B.23 PNU 201 PNU 202 (Time Stamp) 1 200 :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) 2 3 200 3 200 (Event 3 200) 3 200 Tab. B.24 PNU 202 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 103
B PNU 203 (Additional Information) 1 200 :Array :uint32 FW :ro FCT 1 1 (Event 1) / 2 2 (Event 2) 2 3 200 3 200 (Event 3 200) 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 0 200 Tab. B.26 PNU 204 PNU 205 (Device Fault) 1 :Var :uint16 FW :ro, 0xFFFF (65535) Tab. B.27 PNU 205 104 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 220 (Actual Malfunction Messages) 1 32 :Array :uint32 FW :ro,, PNU Bit, 1 0 31 0 (0th Entry) 2 1 (1st Entry) 32 63... 4 31 (31th Entry) 992 1023 Tab. B.28 PNU 220 PNU 221 (Actual Warning Messages) 1 32 :Array :uint32 FW :ro,, PNU, 1 0 31 0 (0th Entry) 2 1 (1st Entry) 32 63... 32 31 (31th Entry) 992 1023 Tab. B.29 PNU 221 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 105
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 234 1 (Permissible Error Reaction 1) 1 255 :Array :uint16 FW :ro 0.254 : 0x0037 1 2 4 16 32 65535 (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) 0 2 1 (Malfunction Number 1) 1 3 255 2 254 (Malfunction Number 2 254) 2 254 Tab. B.31 PNU 234 106 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 238 1 (Permissible Malfunction Handling 1) 1 255 :Array :uint16 FW :ro 0.254 1, PNU 246 65535 (0xFFFF) Bit 0 4 5 0 1 6 0 1 7 0 1 8 15 1 0 (Malfunction Number 0) 0 2 1 (Malfunction Number 1) 1 3 255 2 254 (Malfunction Number 2 254) 2 254 Tab. B.32 PNU 238 PNU 242 1 (Error Reaction 1) 1 255 :Array :uint16 FW :rw2 0.254 PNU 234 1 0 (Malfunction Number 0) 0 2 1 (Malfunction Number 1) 1 3 255 2 254 (Malfunction Number 2 254) 2 254 Tab. B.33 PNU 242 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 107
B PNU 246 1 (Malfunction Handling 1) 1 255 :Array :uint16 FW :rw2 0.254 PNU 238 Bit 0 4 5 0 W: 1 F: 6 0 (Bit 5) 1 I: 7 0 1 8 15 1 0 (Malfunction Number 0) 0 2 1 (Malfunction Number 1) 1 3 255 2 254 (Malfunction Number 2 254) 2 254 Tab. B.34 PNU 246 108 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
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
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 0... 8 9 ENABLE( )[X1.6] 10... 32 Tab. B.38 PNU 303 110 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 304 (Local Digital Outputs) 1 :Var :uint32 FW :ro Bit 0... 4 5 DOUT1( 1, )[X1.4] 6 DOUT2( 2, )[X1.3] 7, 8 9 READY()[X1.5] 10... 31 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 0 1 2 3 4... 7 Tab. B.41 PNU 312 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 111
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 321 112 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B B.4.8 FHPP PNU 401 427 PNU 400 PNU 401 RCB1( 1) uint8 1 64 402 RCB2( 2) uint8 1 64 404 int32 1 64 406 int32 1 64 407 int32 1 64 408 int32 1 64 409 uint32 1 64 410 uint32 1 64 416 uint8 1 64 417 uint32 1 64 418 int16 1 64 421 RCB3( 3) uint8 1 64 423 int32 1 64 424 int32 1 64 425 MC uint8 1 64 426 uint32 1 64 427 int32 1 64 428 uint16 1 64 430, int32 1 64 431, int32 1 64 432, uint16 1 64 433, int32 1 64 434, int32 1 64 435, uint16 1 64 436, int16 1 64 437, int16 1 64 438, uint16 1 64 439, uint32 1 64 440, uint32 1 64 441 int32 1 64 442 int16 1 64 Tab. B.44 FHPP Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 113
B PNU 400 (Record State) 1, 2 :Struct :uint8 FW :rw1, ro 1 (Demand Record Number) :rw1,, PNU 520 2 (Actual Record Number) :ro (!),, I/O Tab. B.45 PNU 400 114 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 401 1 (Record Control Byte 1) 1 64 :Array :uint8 FW :rw1 1 (RCB1) ( ), Bit ABS 0 ( (COM1/2 = 00) ) COM1/2 1, 2 0 1 Bit2 Bit1 0 0 0 1 / 1 0 / 1 1 3 REL 4 ( (COM1/2 = 00) ) 0,/ 1,/ XLIM 5 (/ /(COM1/2 = 01 10) ) 0 1 FAST 6 / 7 1 64 1 64 (Record 1 64) 1 64 1 Tab. B.46 PNU 401 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 115
B PNU 402 2 (Record Control Byte 2) 1 64 :Array :uint8 FW :rw1 2 (RCB2) Bit 0 6 0 1 MC () 20 21 22 23 7 (= 0!) 1 64 1 64 (Record 1 64) 1 64 2 Tab. B.47 PNU 402 PNU 404 (Setpoint Value) 1 64 :Array :int32 FW :rw1 1 64 1 64 (Record 1 64) 1 64 Tab. B.48 PNU 404 PNU 406 (Velocity) 1 64 :Array :int32 FW :rw1 [SINC/s] : : : 1 64 1 64 (Record 1 64) 1 64 Tab. B.49 PNU 406 116 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 407 (Acceleration) 1 64 :Array :int32 FW :rw1 [SINC/s 2 ] 1 64 1 64 (Record 1 64) 1 64 Tab. B.50 PNU 407 PNU 408 (Deceleration) 1 64 :Array :int32 FW :rw1 [SINC/s 2 ] 1 64 1 64 (Record 1 64) 1 64 Tab. B.51 PNU 408 PNU 409 (Jerk Acceleration) 1 64 :Array :uint32 FW :rw1 [(SINC/s 3 )/10] 0 1 64 1 64 (Record 1 64) 1 64 Tab. B.52 PNU 409 PNU 410 (Mass) 1 64 :Array :uint32 FW :rw1, :[g] :[kgm 2 * 10-7 ] 1 64 1 64 (Record 1 64) 1 64 Tab. B.53 PNU 410 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 117
B PNU 416 (Record Following Position) 1 64 :Array :uint8 FW :rw1 1 64 1 64 (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 : 1 64 1 64 (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 555 1 64 1 64 (Record 1 64) 1 64 Tab. B.56 PNU 418 118 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 421 3 (Record Control Byte 3) 1 64 :Array :uint8 FW :rw1 3 (RCB3) ( ) Bit 0, 1 Bit 1 Bit 0 0 0 : 0 1 : 1 0 : () 1 1 2 7 1 64 1 64 (Record 1 64) 1 64 3 Tab. B.57 PNU 421 PNU 423 (Final Velocity) 1 64 :Array :int32 FW :rw1 [SINC/s] : : : 1 64 1 64 (Record 1 64) 1 64 Tab. B.58 PNU 423 PNU 424 (Max. Deviation) 1 64 :Array :int32 FW :rw1 : [SINC] : [SINC/s] : 1 64 1 64 (Record 1 64) 1 64 Tab. B.59 PNU 424 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 119
B PNU 425 MC (MC During Record Continuation) 1 64 :Array :uint8 FW :rw1 (MC) 0 (MC) 1 (MC) 1 64 1 64 (Record 1 64) 1 64 MC Tab. B.60 PNU 425 PNU 426 (Start Delay) 1 64 :Array :uint32 FW :rw1 [ms], 1 64 1 64 (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) 1 64 1 64 (Record 1 64) 1 64 Tab. B.62 PNU 427 120 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 428 (Torque Feed Forward Control Factor) 1 64 :Array :uint16 FW :rw1 [ ] 0 = 1000 = PNU 1080 1 64 1 64 (Record 1 64) 1 64 Tab. B.63 PNU 428 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 121
B B.4.9 PNU 430, (Position Comparator, Min.) 1 64 :Array :int32 FW :rw1 [SINC] 1 64 1 64 (Record 1 64) 1 64, Tab. B.64 PNU 430 PNU 431, (Position Comparator, Max.) 1 64 :Array :int32 FW :rw1 [SINC] 1 64 1 64 (Record 1 64) 1 64, Tab. B.65 PNU 431 PNU 432, (Position Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] 1 64 1 64 (Record 1 64) 1 64, Tab. B.66 PNU 432 PNU 433, (Velocity Comparator, Min.) 1 64 :Array :int32 FW :rw1 [SINC/s] 1 64 1 64 (Record 1 64) 1 64, Tab. B.67 PNU 433 122 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 434, (Velocity Comparator, Max.) 1 64 :Array :int32 FW :rw1 [SINC/s] 1 64 1 64 (Record 1 64) 1 64, Tab. B.68 PNU 434 PNU 435, (Velocity Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] 1 64 1 64 (Record 1 64) 1 64, Tab. B.69 PNU 435 PNU 436, (Force Comparator, Min.) 1 64 :Array :int16 FW :rw1 [,PNU 555] 1 64 1 64 (Record 1 64) 1 64, Tab. B.70 PNU 436 PNU 437, (Force Comparator, Max.) 1 64 :Array :int16 FW :rw1 [,PNU 555] 1 64 1 64 (Record 1 64) 1 64, Tab. B.71 PNU 437 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a 123
B PNU 438, (Force Comparator, Window Time) 1 64 :Array :uint16 FW :rw1 [ms] 1 64 1 64 (Record 1 64) 1 64, Tab. B.72 PNU 438 PNU 439, (Time Comparator, Min.) 1 64 :Array :uint32 FW :rw1 [ms] 1 64 1 64 (Record 1 64) 1 64, Tab. B.73 PNU 439 PNU 440, (Time Comparator, Max.) 1 64 :Array :uint32 FW :rw1 [ms] 1 64 1 64 (Record 1 64) 1 64, Tab. B.74 PNU 440 PNU 441 (Setpoint Value Velocity) 1 64 :Array :int32 FW :rw1 1 64 1 64 (Record 1 64) 1 64 Tab. B.75 PNU 441 124 Festo GDCP-CMMO-ST-LK-C-HP-ZH 1507a
B PNU 442 (Setpoint Value Force) 1 64 :Array :int16 FW :rw1 [,PNU 555] 1 64 1 64 (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