Festo Motion 3 Library en (1)

7/25/2019 Festo Motion 3 Library en (1)

http://slidepdf.com/reader/full/festo-motion-3-library-en-1 1/42

Festo Motion_3 library



iii

Table of Contents

1 Important instruct ions........................................................................................................................ 1

1.1 Designated use ............................................................................................................... ............. 1

1.1.1 Target group .............................................................. ........................................................ 1

1.1.2 Service ........................................................... .................................................................. . 1

1.2

Safety instructions ................................................................ ........................................................ 1

1.3 Important user information ............................................................................................... ............ 1

1.3.1 Danger categories ............................................................................................................ 1

1.4 Marking special information ....................................................................... .................................. 2

1.4.1 Pictograms ............................................................... ......................................................... 2

1.4.2 Text markings ............................................................ ........................................................ 2

1.4.3 Further conventions ........................................................................................................ .. 2

2 Overview ............................................................................................................................................. 3

2.1 Architecture ............................................................... .................................................................. . 3

2.2 Requirements ............................................................ .................................................................. . 4

2.3 General information on Festo motor controllers ........................................................................... 5

2.3.1

Documentation on Festo motor controllers ....................................................................... 5 2.4 Festo Handling and Positioning Profile (FHPP) ........................................................................... 5

2.4.1 Control and status bytes ............................................................................ ....................... 5

2.4.2 Parameter channel ........................................................................................................... 6

2.5 Operating modes ......................................................................................................................... 6

2.5.1 Record selection .............................................................................................................. . 6

2.5.2 Direct mode ...................................................................................................................... 6

3 Function b locks for Festo motor con tro llers ................................................................................... 7

3.1 Control function block................................................................................................................... 7

3.1.1 xxx_CTRL ................................................................ ......................................................... 7

3.1.2 Linking function blocks ........................................................ ............................................ 15

3.1.3

Visualising function blocks .............................................................. ................................ 17 3.2 Organisation function block ............................................................ ............................................ 20

3.2.1 xxx_PRM_INIT ......................................................... ....................................................... 20

3.3 Parameterisation function blocks .......................................................................... ..................... 21

3.3.1 xxx_PRM_SINGLE ......................................................................................................... 21

3.3.2 xxx_PRM_MULTI ...................................................................................... ...................... 23

3.3.3 xxx_PRM_DIAG .................................................................. ............................................ 25

3.3.4 xxx_PRM_DIRMP ................................................................ ........................................... 27

3.3.5 xxx_PRM_KO .......................................................... ....................................................... 29

3.3.6 xxx_CAM_PRM_CAMNUMBER ..................................................................................... 30

4 Examples ........................................................................................................................................... 31

4.1

Controlling a Festo motor controller .......................................................... ................................. 31

4.1.1

Prerequisites for ready status ................................................................... ...................... 31

4.1.2 Establishing the ready status ......................................................... ................................. 31

4.1.3 Homing ........................................................................................................................... 32

4.1.4 Setting and operation of "Record selection" .......................................................... .......... 32

4.1.5 Setting and operation of "Direct mode position control" .................................................. 32

4.1.6 Setting and operation of "Direct mode torque control" .................................................... 33

4.1.7 Setting and operation of "Direct mode speed control" ......................................... ........... 33

4.2 Parameterising a Festo motor controller ............................................................... ..................... 34

4.2.1 Prerequisites for ready status ................................................................... ...................... 34

4.2.2 Establishing the ready status ......................................................... ................................. 34

4.2.3 Reading parameters (e.g. homing method) ................................... ................................. 34

4.2.4 Writing parameters (e.g. acceleration homing method) .................................................. 35

5 Glossary ............................................................................................................................................ 37




1

1 Important instructions

1.1 Designated useThe function blocks (FB) described are used to control and parameterise the associated device. You canuse them to conveniently integrate the many functions of the relevant device into your program. Functionblocks are integrated into the user program for each motor unit or motor controller (each axis) and called

cyclically using a separate instance. Simultaneous use of other function blocks for controlling the samedevice is not permitted.

Read the "Safety instructions" and instructions on the designated use of the relevant devices, componentsand modules. If additional commercially available components such as sensors and actuators areconnected, the specified limits for pressures, temperatures, electrical data, torques, etc. must not beexceeded.

1.1.1 Target group

This manual is intended exclusively for technicians trained in control and automation technology.

1.1.2 Service

Please contact your local Festo service partner if you have any technicalproblems( http://www.festo.com).

1.2 Safety instructionsWhen commissioning and programming positioning systems, you must observe the safety regulations inthe manuals and operating instructions for the components used.

The user must make sure there is nobody within the positioning range of the connected actuators or axissystems. Access to the possible danger area must be prevented by suitable measures such as barriersand warning signs.

Warning

Pneumatic and electric axes can move with high force and at high speed. Collisions can lead toserious injury to people and damage to components.

• Make sure that nobody can place their hand in the positioning range of the axes or other

connected actuators and that there are no objects in the positioning path while the system isstill connected to a power supply.

Warning

Parameterisation errors can cause injury to people and damage to property.

• Only enable the controller if the axis system has been installed and parameterised bytechnically qualified staff.

1.3 Important user information

1.3.1 Danger categor ies

This document contains information on the possible dangers that can occur if the product is not used as

designated. This information is marked with a signal word (warning, caution, etc.), placed on a greybackground and additionally marked with a pictogram. A distinction is made between the following dangerwarnings:

Warning

... means that serious injury to people and damage to property can occur if this warning is notobserved.

Caution

... means that injury to people and damage to property can occur if this warning is not observed.

Note

... means that damage to property can occur if this warning is not observed.




2

1.4 Marking special information

1.4.1 Pictograms

The following pictograms mark passages in the text that contain special information.

Information: Recommendations, tips and references to other sources of information.

Accessory: Information on necessary or useful accessories for the Festo product.

Environment: Information on the environmentally friendly use of Festo products.

1.4.2 Text markings

1. Figures denote activities that must be carried out in the order specified.

• Bullets denote activities that may be carried out in any desired order.

– Hyphens denote general listings.

1.4.3 Further conventions

[Project] [New] Menu items are framed in square brackets, for example the [New] command in the[Project] menu opens a new project.

"OK" The names of windows, dialogs and buttons, e.g. "Message window," "Dearchivateproject," "OK" as well as designations are displayed in inverted commas.

CTRL Names of keys on the PC keyboard are represented in the text with uppercase letters(e.g. ENTER KEY, CTRL, C, F1 etc.).

CTRL+C For some functions you need to press two keys simultaneously. For example, pressand hold down the CTRL key and also press the C key. This is written in the text asCTRL+C.

If "click" or "double-click" is mentioned, this always applies to the left-hand mouse

button. If the right-hand mouse button is to be used, this will be explicitly mentioned.




3

2 Overview

Festo_Motion_3 is an internal library for CoDeSys V3 provided by Festo. The following Festo motorcontrollers (drive controllers) can be controlled with this library:

– CMMD-AS-...

– CMMP-AS-...

– CMMS-AS-... – CMMS-ST-...

– SFC-DC-...

– MTR-DCI-...

– SFC-LAC-...

– SFC-LACI-...

Communication takes place via fieldbus and uses the CANopen communication protocol.

Actuation of the Festo motor controllers takes place via the Festo Handling and Positioning Profile (FHPP).

The library contains function blocks for controlling and parameterising the individual drives.

Refer to the documentation for the motor controller for further information on operating and configuring therelevant motor controller type.

Integrating the library

The Festo_Motion_3 library is located under "Library Manager" in CoDeSys V3 pbF.

• Use the "Add Library" command to integrate the library.

All elements from this library are assigned to the namespace "FM".

2.1 ArchitectureEach motor controller is integrated into the CoDeSys project using a controller-specific hardwareconfiguration.

– All function blocks that access I/O data directly to control a motor controller require the first address ofthe output data as well as the first address of the input data as a transit variable.

– All function blocks that access I/O data directly to parameterise a motor controller require the first

address of the Festo Parameter Channel (FPC) input data as well as the first FPC address of theoutput data as a transit variable.

An instance of the function blocks for control must also be generated for each motor controllerinstance. This means that a function block for control cannot be used for two different motorcontrollers.

Motor units/motor controllers Control function block Parameterisation functionblock

CMMD-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)

CMMS_AS_PRM_SINGLE (FB)

CMMP-AS-... CMMP_AS_CTRL (FB) CMMP_AS_PRM_INIT (FB)CMMP_AS_PRM_SINGLE (FB)

CMMS-AS-... CMMS_AS_CTRL (FB) CMMS_AS_PRM_INIT (FB)

CMMS_AS_PRM_SINGLE (FB)

CMMS-ST-... CMMS_ST_CTRL (FB) CMMS_ST_PRM_INIT (FB)

CMMS_ST_PRM_SINGLE (FB)

MTR-DCI-... MTR_DCI_CTRL (FB) MTR_DCI_PRM_INIT (FB)

MTR_DCI_PRM_SINGLE (FB)

SFC-DC-... SFC_DC_CTRL (FB) SFC_DC_PRM_INIT (FB)

SFC_DC_PRM_SINGLE (FB)




4

Motor units/motor controllers Control function block Parameterisation functionblock

SFC-LAC-... SFC_LAC_CTRL (FB) SFC_LAC_PRM_INIT (FB)

SFC_LAC_PRM_SINGLE (FB)

SFC-LACI-... SFC_LACI_CTRL (FB) SFC_LACI_PRM_INIT (FB)

SFC_LACI_PRM_SINGLE (FB)

2.2 RequirementsFor communication via fieldbus, the corresponding files are required for Festo motor controllers:

Motor cont roller Element name in CoDeSys Filename for CANopen

CMMD-AS-… CMMD-AS-… (FHPP) CMMD-AS_CAN_FHPP.eds

CMMP-AS-… CMMP-AS-… (FHPP) CMMP-AS-…-…_CAN_FHPP.eds

CMMS-AS-… CMMS-AS (FHPP) CMMS-AS_CAN_FHPP.eds

CMMS-ST-… CMMS-ST (FHPP) CMMS-ST_CAN_FHPP.eds

MTR-DCI-...-CO MTR-DCI-…-CO (FHPP) MTR-DCI-…-FHPP.eds

SFC-DC-...-CO SFC-DC-VC-3-E-…-CO (FHPP) SFC-DC-…-CO-FHPP.eds

SFC-LAC-…-CO SFC-LAC-…-CO-FHPP SFC-LAC-…-CO-FHPP.eds

SFC-LACI-…-CO SFC-LACI-…-CO-FHPP SFC-LACI-…-CO-FHPP.eds

During installation of CoDeSys V.3 provided by Festo, the supplied device files are installedautomatically and stored in the following directory: C:\Documents and Settings\AllUsers\Application Data\CoDeSys\Devices\

Device files that are not supplied can be installed via the standard CoDeSys dialog "Device

Repository".




5

2.3 General information on Festo motor control lersThe following sections contain information on the motion function blocks for Festo motor controllers. Thefollowing additional manuals are required for a complete understanding:

2.3.1 Documentation on Festo motor controllers

Documentation Contents

Brief description and manuals on CD-ROM (see catalogue)

Brief description: Important instructions on commissioningand preliminary information.

Manuals: Contents as described below.

Manuals P.BE-... Installation, commissioning and diagnosis of electric axeswith the respective Festo motor controller.

Operating instructions for accessories Fitting and commissioning of the electric mini slide SLTE asa drive element.

Help system for the Festo ConfigurationTool (contained in FCT software)

Functional descriptions for the Festo Configuration Toolconfiguration software.

Help system for CoDeSys V3 pbF

library Festo_Motion_3 (this Help)

How to use the motion function blocks for Festo motor

controllers.

Note

• Always read the information and safety instructions contained in this documentation.

2.4 Festo Handling and Positioning Profi le (FHPP)Festo has developed an optimised data profile especially tailored to the target applications for handlingand positioning tasks, the "Festo Handling and Positioning Profile (FHPP)."

The FHPP enables uniform control and programming for the various fieldbus systems and controllers fromFesto.

The FHPP defines the following for the user: – Operating modes

– I/O data structure

– Parameter objects

– Sequence control

Fig: The FHPP principle

2.4.1 Control and status bytes

Control via the fieldbus takes place via 8 bits of I/O data. The triggering of control functions and theanalysis of status messages of the function block is mostly performed using single-bit operations.




6

2.4.2 Parameter channel

The controller can access all parameter values of the controller by means of the parameter channel. Afurther 8 bytes of I/O data are used for this purpose.

2.5 Operating modes

2.5.1 Record selection

Saved positioning records can be processed in record selection mode. For this purpose, positioningrecords are parameterised with the Festo Configuration Tool or taught via the control panel duringcommissioning.

2.5.2 Direct mode

In direct mode operating mode, the important positioning data is transferred directly via the control bytes.

– Target positions and speeds can be ascertained and specified by the controller during running time,depending on the operating status.

– No limitations due to the number of saved positioning records.

In both operating modes values can be taught/parameterised via the PLC.

The following direct mode types can be selected:

– Direct mode position control

– Direct mode torque control – Direct mode speed control




7

3 Function blocks for Festo motor control lers

The names of the function blocks for Festo motor controllers start with the motor controller designation,e.g. CMMP-AS. This is followed by the function of the function block, e.g. CTRL for a control functionblock.

The Festo_Motion_3 library contains the following function blocks (FB):

– Control FB for controlling the respective Festo motor controller – Organisation FB for parameterising the respective Festo motor controller types

– Parameterisation FB for transferring individual parameters to the respective Festo motor controller

Function block Explanation

xxx_CTRL Control function block of the motor controller

xxx_PRM_INIT Organisation function block for parameterising the motor controller

xxx_ PRM_SINGLE Transfer of individual parameters

xxx_ PRM_MULTI Transfer of a parameter list (parameter array)

xxx_ PRM_DIAG Reading out of the diagnostic memory

xxx_ PRM_DIRMP Transfer of the parameters for direct mode position control

xxx_ PRM_KO Transfer of communication objects

xxx_CAM_PRM_CAMNUMBER Selection or information of a cam disc

Notes

– The function blocks can have drive-specific differences.

– The function blocks of the CMMS-AS can be used for the motor controller CMMD-AS.

3.1 Control function block

3.1.1 xxx_CTRL

Inputs and outputs

The following table contains a list of all inputs and outputs that an FHPP function block has to control amotor controller. The actual number depends on the control modes supported by the motor controller to becontrolled. The information as to which control modes are supported by which motor controller can befound in the corresponding motor controller documentation ( chapter "Restricted selection").

Legend:

– Input/output: Designation of an input or output of the CoDeSys function block ..._CTRL.

– Type: Data type that the respective input expects or data type that is issued at an output.

– Description: German designation and brief description of the CoDeSys function block.1 = TRUE0 = FALSE

Input Type Description

FB_CFG WORD FB configuration

Bit 0 = FALSE: Low Byte first

Bit 0 = TRUE: High Byte first

Bit 1 = reserved

...

Bit 31 = reserved




8


Pos_Factor_numerator DINT Counter value for conversion of position by increments

Pos_Factor_denumerator DINT Nominal value for conversion of position by increments

AxisType INT Connected axis type

EnableDrive BOOL Enable drive

= 1: Enable drive= 0: Drive blocked

Stop BOOL Stop

= 1: Enable operation

= 0: Stop active (cancel emergency ramp + positioningtask). The drive stops with maximum braking ramp, thepositioning task is reset.

Brake BOOL Release brake

= 1: Release brake= 0: Activate brakeNote: Release of the brake is only possible when thecontroller is blocked. As soon as the controller is

enabled, it has sovereignty over control of the brake.

ResetFault BOOL Acknowledge fault

With a rising edge a fault is acknowledged and the faultvalue is deleted.

HMIAccessLocked BOOL Software access blocked

Control of access to the local (integrated) diagnosticinterface of the controller.

= 1: The FCT software may only monitor the controller,control of the device (HMI control) cannot be assumed bythe software.

= 0: The FCT software can assume control of the device(to change parameters or control inputs).

OPM INT FHPP operating mode + control mode

= 0: Record selection= 1: Direct mode position control= 5: Direct mode torque control= 9: Direct mode speed control= 13: Reserved= 17: Continuous mode

Halt BOOL Halt

= 1: Halt is not active= 0: Halt activated (do not cancel emergency ramp +positioning task). The axis stops with a defined brakingramp, the positioning task remains active (the remainingpath can be deleted with "ClearRemainingPosition").

StartTask BOOL Start positioning task

With a rising edge the current nominal values aretransferred and positioning started (also e.g. record 0 =homing).

StartHoming BOOL Start homing

With a rising edge homing is started with the configuredparameters.




9


JoggingPos BOOL Jogging positive

The drive moves at the specified velocity or rotationalspeed in the direction of larger actual values, providingthe bit is set. The movement begins with the rising edgeand ends with the falling edge.

JoggingNeg BOOL Jogging negativeThe drive moves at the specified velocity or rotationalspeed in the direction of smaller actual values, seeJoggingPos.

TeachActualValue BOOL Teach value

With a falling edge the current actual value is transferredto the nominal value register of the currently addressedpositioning record. Examples of actual valuesinclude position, pressure or torque.

ClearRemainingPosition BOOL Delete remaining path

In the "Halt" status, a rising edge causes the positioningtask to be deleted and transfer to the "Ready" status.

AbsoluteRelative BOOL Absolute/relative

= 0: Nominal value is absolute= 1: Nominal value is relative to the last nominal value

SetFunction BOOL Cam disc

= 0: Cam disc not active= 1: Cam disc active

DeactivateStrokeLimit BOOL Torque limit not active (only with torque control)

= 0: Torque monitoring active= 1: Torque monitoring not active

RecordNo SINT Record number

Preselection of record number for record selection.

SetFuncNumber USINT Cam disc function

= 0: Reserved= 1: Synchronisation on external input= 2: Synchronisation on external input with cam discfunction

(i.e. slave with physical master)= 3: Synchronisation on virtual master with cam discfunction

SetFuncGroup USINT Cam disc group

= 0: Synchronisation with/without cam disc= 1: Reserved= 2: Reserved= 3: Reserved

SetValuePosition DINT Position

Position in the positioning unit

SetValueForceRamp USINT Torque ramp

Value of the torque ramp as a % of the nominal value ormaximum value

SetValueVelocity USINT Velocity

Velocity as a % of the maximum velocity

SetValueForce DINT Torque

Torque as a % of the maximum torque

SetValueRotRamp SINT Velocity rampVelocity ramp as a % of the maximum ramp




10


SetValueRotSpeed DINT Velocity

Velocity in velocity unit

Input/output Type Description

b_FHPP_In VAR_IN_OUT FHPP input dataFirst address of the input data (output data of the motorcontroller)

b_FHPP_Out VAR_IN_OUT FHPP output data

First address of the output data (input data of the motorcontroller)

Output Type Description

OPMString STRING(80) Feedback of the selected FHPP operating mode +control mode

Record selection = 'Record Mode selected'

Direct mode position control = 'DirectmodePositioncontrol selected'Direct mode torque control = 'Directmode Forcecontrolselected'Direct mode speed control = 'Directmode Velocitycontrolselected'Operating mode and control mode invalid = 'notspecified'

Continuous mode = 'Continuousmode selected'

StateOPMString STRING(80) Feedback of active FHPP operating mode + controlmode

Record selection = 'Record Mode active'

Direct mode position control = 'Directmode

Positioncontrol activeDirect mode torque control = 'Directmode Forcecontrolactive'Direct mode speed control = 'Directmode Velocitycontrolactive'Operating mode and control mode invalid = 'notspecified'

Continuous mode = 'Continuousmode selected'

DriveEnabled BOOL Controller enabled

= 0: Drive blocked, controller not active= 1: Drive (controller) enabled

Ready BOOL Operation enabled

= 0: Stop active= 1: Operation enabled, positioning possible

Warning BOOL Warning

= 0: No warning present= 1: Warning present

Fault BOOL Fault

= 0: No fault= 1: Fault present or fault reaction active. Fault code indiagnostic memory.

SupplyVoltagePresent BOOL Load voltage present

= 0: No load voltage= 1: Load voltage present




11


ControlFCT_HMI BOOL Software device control

= 0: Device control free (e.g. PLC/fieldbus)= 1: Device control by software (PLC control is locked)

StateOPM INT Feedback of FHPP operating mode + control mode

= 0: Record selection

= 1: Direct mode position control= 5: Direct mode torque control= 9: Direct mode speed control= 13: Reserved= 17: Continuous mode

HaltActive BOOL Halt

= 0: Halt is active= 1: Halt is not active, axis can be moved

AckStart BOOL Acknowledge start

= 0: Ready for start (homing, jog)= 1: Start carried out (homing, jog)

MC BOOL Motion Complete

= 0: Positioning task active= 1: Positioning task completed, possibly with fault

Note: MC is set after device is switched on (status "Driveblocked").

AckTeach BOOL Acknowledge teach

= 0: Ready for teaching= 1: Teaching carried out, actual value has beentransferred

DriveIsMoving BOOL Axis is moving

= 0: Velocity of axis < limit= 1: Velocity of axis >= limit

DragError BOOL Following error= 0: No following error= 1: Following error active

StandstillControl BOOL Standstill monitoring

= 0: After MC axis remains in tolerance window= 1: After MC axis exits tolerance window

DriveIsReferenced BOOL Drive homed

= 0: Homing must be carried out= 1: Homing information available, homing does notneed to be carried out

RC1 BOOL First record continuation carried out

= 0: A continuation condition was not configured or notsatisfied= 1: The first continuation condition was satisfied

RCC BOOL Record continuation completed - valid as soon as MC isavailable.

= 0: Record sequencing aborted. At least onecontinuation condition was not satisfied= 1: Record sequence was processed until the end.

ActualFuncActive BOOL Cam disc active

= 0: Cam disc not active= 1: Cam disc active

VelocityLimitReached BOOL Velocity limit reached (only with torque control)

= 1: Velocity limit reached= 0: Velocity limit not reached




12


StrokeLimitReached BOOL Torque limit reached (only with torque control)

= 0: Torque monitoring reached= 1: Torque monitoring not reached

ActualRecordNo SINT Record number

Feedback of record number for record selection.

ActualFuncNumber USINT Feedback of cam disc function

= 0: Reserved= 1: Synchronisation on external input= 2: Synchronisation on external input with cam discfunction

(i.e. slave with physical master)= 3: Synchronisation on virtual master with cam discfunction

ActualFuncNumber USINT Feedback of cam disc group

= 0: Synchronisation with/without cam disc= 1: Reserved= 2: Reserved

= 3: Reserved ActualPosition DINT Position

Feedback of position in position unit

ActualVelocity SINT Velocity

Feedback of velocity as a % of the maximum velocity

ActualForce INT Torque

Feedback of torque as a % of the maximum torque

ActualRotRamp SINT Velocity ramp

Feedback of velocity ramp as a % of the maximum ramp

ActualRotSpeed DINT Velocity

Feedback of velocity in velocity unit

Restricted selection

The following table contains a list of inputs and outputs that are only supported by specific Festo motorcontrollers and, in some cases, only for specific operating modes.

Input/output Type Motor controller Operating mode

Pos_Factor_numerator DINT MTR_DCI

SFC_DC

All operating modes

Pos_Factor_denumerator DINT MTR_DCI

SFC_DC

All operating modes

AxisType INT SFC_LACI All operating modes

Brake BOOL CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LACI

All operating modes

StartHoming BOOL All Record selection

Direct mode position control

TeachActualValue BOOL All Record selection

AbsoluteRelative BOOL All Direct mode position controlSetFunction BOOL CMMP_AS_CAM Direct mode position control




13


DeactivateStrokeLimit BOOL MTR_DCI

SFC_DC

SFC_LAC

SFC_LACI

Direct mode torque control

RecordNo SINT All Record selection

SetFuncNumber USINT CMMP_AS_CAM Direct mode position control

SetFuncGroup USINT CMMP_AS_CAM Direct mode position control

SetValuePosition DINT All Direct mode position control

SetValueForceRamp USINT CMMP_AS Direct mode torque control

SetValueVelocity USINT All Direct mode position control

SetValueForce DINT All Direct mode torque control

SetValueRotRamp SINT CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST

Direct mode speed control

SetValueRotSpeed DINT CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST


AckTeach BOOL All Record selection

DriveIsReferenced BOOL All Record selection

Direct mode position control

RC1 BOOL CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LAC

SFC_LACI

Record selection

RCC BOOL CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST

SFC_LAC

SFC_LACI

Record selection

ActualFuncActive BOOL CMMP_AS_CAM Direct mode position controlVelocityLimitReached BOOL MTR_DCI

SFC_DC

SFC_LAC

SFC_LACI


StrokeLimitReached BOOL MTR_DCI

SFC_DC

SFC_LAC

SFC_LACI


ActualRecordNo SINT All Record selection

ActualFuncNumber USINT CMMP_AS_CAM Direct mode position control ActualFuncGroup USINT CMMP_AS_CAM Direct mode position control

ActualPosition DINT All Direct mode position control




14


ActualVelocity SINT All Direct mode position control

ActualForce INT All Direct mode torque control

ActualRotRamp SINT CMMD_AS

CMMP_AS

CMMS_ASCMMS_ST


ActualRotSpeed DINT CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST





15

3.1.2 Linking funct ion blocks

To control a Festo motor controller, the respective fieldbus data must be transferred to the function block.

The following screenshots show a sample device configuration with a CMMP-AS CANopen slave.

Fig: Device configuration

Fig: CANopen I/O screenshot

The data should ideally be transferred using an array variable, whereby only the first element of the arrayhas to be transferred to the function block.




16

Fig: Link between drive controller and function block

The input and output data of the Festo Parameter Channel (FPC_In, FPC_Out) is offset by8 bytes after the FHPP standard data.

For parameterisation of a motor controller, a further 8 bytes, the Festo Parameter Channel data (FPCdata), are transferred to a special function block. All necessary parameterisation function blocks in theproject are supplied with data using this "transfer" function block.




17

3.1.3 Visualising funct ion blocks

For each motor controller there is one function block for control and multiple function blocks forparameterisation.

There is also a visualisation element, which makes initial commissioning easier.

Fig: Visualisation element for the Festo motor controller CMMP-AS-... (example)

The input data of a function block linked to the visualisation is displayed in the left half of the visualisationand output data is displayed in the right half. TRUE inputs and outputs are blue and FALSE inputs andoutputs are grey.




18

Linking the visualisation

The visualisation element for the selected function block is added to a visualisation object. You can selectthe visualisation object using the "Frame Selection" context command.

The desired visualisation element appears in the editing window for the visualisation object.

Refer to the section "Visualisation" in the general CoDeSys Help for information on how to createa visualisation object.

1. Adjust the size and position of the visualisation element if necessary. To do this, click on the elementand use the borders.

2. For configuration, click on the visualisation element with the left mouse button. In the "Property" areaof the editing window ( [View] [Element Properties]) you can make various settings for displayingand linking the visualisation element.

3. Click in the edit field of the "Object" "m_Input_INST" and then on the button for opening the "Input Assistant" dialog.

Fig: Linking a visualisation




19

Fig: Visualisation - "Property" dialog

4. Click on the "Plus Sign" of the "References" path in the "Property" dialog. The path is expanded.Repeat by expanding the next path down. Now expand the path of the displayed visualisation element.

5. Link the visualisation element with the corresponding instance (name of axis).There are two options here:

– In the line "m_Input_INST", enter the name of the function block in combination with the higher-level program name.

– Double-click in the input line using the mouse. Using the left mouse button, click on the button thatis now displayed in the line. The "Input Assistance" dialog opens, where you can select thecorresponding instance. Confirm the selection with "OK."




20

3.2 Organisation function block

3.2.1 xxx_PRM_INIT

Function blocks of type …_PRM_INIT control access to the I/O data when using parameterisation functionblocks. Data is exchanged via the Festo Parameter Channel (FPC).

Parameterisation function blocks ..._PRM_... must have an instance of the organisation function

block ..._PRM_INIT.

Inputs and outputs

Legend:

– Input/output: Designation of an input or output of the CoDeSys function block ..._PRM_INIT.


– Description: German designation and brief description of the CoDeSys function block (0 = FALSE,1 = TRUE).


FB_CFG WORD FB configuration

Bit 0 = FALSE: Low Byte firstBit 0 = TRUE: High Byte first

Bit 1 = Reserved

...

Bit 31 = Reserved

DATA_REF VAR_IN_OUT FPC data structure of data type FHPP_PRM_REF

Content of the data structure mirrors I/O data of the FPC

b_FPC_In VAR_IN_OUT FHPP-FPC input data

First address of the CAN input data of the FPC (outputdata of the motor controller)

b_FPC_Out VAR_IN_OUT FHPP-FPC output data

First address of the CAN output data of the FPC (inputdata of the motor controller)




21

3.3 Parameterisation function blocks

3.3.1 xxx_PRM_SINGLE

The function block xxx_PRM_SINGLE transfers a single parameter to the respective drive controller.

Fig: Example of function block CMMP_AS_PRM_SINGLE

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_SINGLE has forparameterising a motor controller.


Execute BOOL Start transfer

0->1: Transfer of a parameter is started with a rising edge.

Write BOOL Read/write

= 0: Read parameters= 1: Write parameters

Prerequisite: UpperLimit = 0; LowerLimit = 0

UpperLimit BOOL Reading of upper limit

= 1: Read upper limit

Prerequisite: Write = 0; LowerLimit = 0;

LowerLimit BOOL Reading of lower limit

= 1: Read lower limit

Prerequisite: Write = 0; UpperLimit = 0;

PNU WORD Number of the corresponding parameter

Subindex SINT Subindexof the corresponding parameter

DatatypeWR USINT Data type of the parameter to be written

= 1: Byte= 2: Word= 4: Double Word

ParamValueWR DINT Parameter value when writing a parameter

DATA_REF VAR_IN_OUT FPC data structure

Data structure provided by FB ..._PRM_INIT

Done BOOL Transfer status

= 0: Transfer was not initiated= 1: Transfer was initiated

Err BOOL Error

= 0: No error during the transfer of a parameter= 1: Error during the transfer of a parameter

ErrStr STRING(80) Output of an error message as a string

ActPNU WORD Current number of the corresponding parameter




22


ActSubindex SINT Current subindex of the corresponding parameter

DatatypeRD USINT Data type of the read parameter

= 1: Byte= 2: Word= 4: Double Word

ParamValueRD DINT Parameter value when reading a parameter

RETVAL UINT Current status of the FB instance

When using multiple instances of the FB, the currentinternal status of the respective FB is output.

Table: xxx_PRM_SINGLE, inputs and outputs

Legend:

– Input/output: Designation of an input or output of the CoDeSys function block.


– Description: German designation and brief description of the CoDeSys function block (0 = FALSE,1 = TRUE).

Restricted selection of function b locks

The following inputs and outputs are only supported by specific Festo motor controllers. All other inputsand outputs are available for all CoDeSys function blocks ..._PRM_SINGLE irrespective of the motorcontroller type.

Input/output Type Motor controller

UpperLimit BOOL CMMD_AS

CMMP_AS

CMMS_AS

CMMS_ST

LowerLimit BOOL

DatatypeWR USINT MTR_DCI

SFC_DCSFC_LAC

SFC_LACI

DatatypeRD USINT

The position factor must be taken into account when using the following inputs and outputs with thespecified motor controllers.


ParamValueWR DINT MTR_DCI

SFC_DC

SFC_LAC

SFC_LACI

ParamValueRD DINT




23

3.3.2 xxx_PRM_MULTI

The function block xxx_PRM_MULTI transfers a list of parameters to the respective motor controller.

Fig: Example of function block CMMP_AS_PRM_MULTI

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_MULTI has forparameterising a motor controller.



0->1: With a rising edge transfer of a parameter is started.

SizeOfParam USINT Size of the parameter field (array) intended for transfer.

AdrOfParam POINTER_TO_BYTE Address of the parameter field (array) intended for transfer.





The reading result is contained in the parameter field (array)under "Value".

ParamNr USINT Number of the parameter currently being transferred

Err BOOL Error





Example of a parameter fi eld (array)

Mul t i Par am : ARRAY [1. . 5] OF FHPP_PRM_DESCRI PTI ON : =

( PNU: =404, SUBI NDEX: =2, ACCESS: = 1, LENGTH: = 4, VALUE: =100) ,




( PNU: =404, SUBI NDEX: =6, ACCESS: = 0, LENGTH: = 4, VALUE: =500) ;




24

Composition of the structure FHPP_PRM_DESCRIPTION

TYPE FHPP_PRM_DESCRI PTI ON :

STRUCT

PNU : UI NT ; ( *Parameter number of t he speci f i ed par ameter*)

SUBI NDEX : USI NT; ( *Subi ndex of t he speci f i ed parameter *)

ACCESS : USI NT; ( *0 = Read paramet er / 1 = Wr i t e par amet er *)

LENGTH : USI NT; ( *Length of t he par amet er as number of bytes ( al ways4 f or CMM. . . cont r ol l er , ot her wi se see FBxxx_PRM_Si ngl e i nput Dat at ypeWR) *)

VALUE : DI NT; ( *Resul t r ead out or wr i t t en val ueFor t he f ol l owi ng f uncti on bl ocks:MTR_DCI _PRM_MULTI , SFC_DC_PRM_MULTI ,SFC_LAC_PRM_MULTI , SFC_LACI _PRM_MULTI t he posi t i onf act or must be t aken i nt o account . *)

END_STRUCT

ENT_TYPE




25

3.3.3 xxx_PRM_DIAG

The function block xxx_PRM_DIAG reads the error memory or warning memory of the respective motorcontroller.

Fig: Example of function block CMMP_AS_PRM_DIAG

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_DIAG has forparameterising a motor controller.


ReadLatest BOOL Read latest entry

0->1: With a rising edge the last message is readout.

ReadAll BOOL Read all entries

0->1: With a rising edge all messages are read out.

Warning BOOL Switch to warnings

= 0: Read errors= 1: Read warnings





ParamNr USINT Parameter number of the error memoryNumber of the parameter currently being transferred

ReadLatest: ParamNr = 1ReadAll: Parameter number of the error memorycurrently being processed

Err BOOL Error



DiagBuff ARRAY [1..n] OFFHPP_PRM_DIAGMESSAGE

Diagnostic buffer

The read messages are stored in the diagnosticbuffer (array). The completeness of the entries andthe number of parameters depends on therespective device.






26


The following inputs and outputs are only supported by specific Festo motor controllers. All other inputsand outputs are available for all CoDeSys function blocks ..._PRM_DIAG irrespective of the motorcontroller type.


Warning BOOL CMMP_AS

CMMP_AS_CAM

Composition of the field structure of the diagnostic bu ffer

Di agBuf f ARRAY [ 1. . 32] OF FHPP_ PRM_DI AGMESSAGE;

TYPE FHPP_PRM_DI AGMESSAGE :

STRUCT

Di agEvent : DI NT ; ( *Di agnost i c event PNU 200 / PNU 210*)

Di agMsgNumber : DI NT ; ( *Faul t number PNU201 / PNU 211*)

Di agTi meStamp: : TOD ; ( *Ti mest amp of t he di agnost i c message*)

Di agMsgDescri pt i on : STRI NG; ( *Descri pt i on of t he di agnost i c message*) END_STRUCT

ENT_TYPE

Given the fact that the structure FHPP_PRM_DIAGMESSAGE is universally valid, entries suchas DiagEvent and DiagTimeStamp, for example, are not supported by all drives. The size of thediagnostic buffer also depends on the respective motor controller.




27

3.3.4 xxx_PRM_DIRMP

The function block xxx_RM_DIRMP writes or reads the dynamic values for direct mode (position control).

Fig: Example of function block CMMP_AS_PRM_DIRMP

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_DIRMP has forparameterising a motor controller.


AxisType INT Connected axis type




= 0: Read parameters= 1: Write parameters

Velocity DINT Basic velocity: PNU 540

Acceleration DINT Acceleration: PNU 541

Deceleration DINT Deceleration: PNU 542

JerkLimit DINT SFC_LACx: Smoothing: PNU 543CMMx_xxx: Smoothing: PNU 546

DampingTime DINT Filter time: PNU 1023

Load DINT Additional weight: PNU 544





Err BOOL Error



ActVelocity DINT Current basic velocity: PNU 540

ActAcceleration DINT Current acceleration: PNU 541

ActDecceleration DINT Current deceleration: PNU 542

ActJerkLimit(Pos/Neg)

DINT SFC_LACx: Current smoothing: PNU 543

CMMx_xxx: Current smoothing: PNU 546

ActDampingTime DINT Current filter time: PNU 1023




28


ActLoad DINT Current additional weight: PNU544


When using multiple instances of the FB, the current internalstatus of the respective FB is output.


The following inputs and outputs are only supported by specific Festo motor controllers. All other inputsand outputs are available for all CoDeSys function blocks ..._PRM_DIRMP irrespective of the motorcontroller type.


DampingTime DINT SFC_LAC

SFC_LACI ActDampingTime DINT

Load DINT SFC_LAC

SFC_LACI ActLoad DINT




29

3.3.5 xxx_PRM_KO

The function block xxx_PRM_KO transfers a list of communication objects (CO) to the respective motorcontroller.

Fig: Example of function block CMMP_AS_PRM_KRO

Note

Use of the function block xxx-PRM_KO excludes simultaneous communication with the FestoConfiguration Tool (FCT).

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_KO has forparameterising a motor controller.



0->1: Transfer of a parameter is started with a rising edge.


= 0: Read communication object= 1: Write communication object

Prerequisite: UpperLimit = 0; LowerLimit = 0

For more information on communication objects, contactyour Festo service partner.

KO DINT Communication object

For more information on communication objects, contactyour Festo service partner.

ParamValueWR DINT Parameter value when writing a communication object





Err BOOL Error



ParamValueRD DINT Parameter value when reading a communication object






30

3.3.6 xxx_CAM_PRM_CAMNUMBER

With the function block xxx_CAM_PRM_CAMNUMBER you can:

– Select a cam disc via specification of the cam disc number in the drive

– Output the current cam disc using the read command

The function for using cam discs is optional. Please contact your Festo service partner.

Fig: Example of function block CMMP_AS_PRM_CAMNUMBER

Note

Execute the function again after resetting the controller.

Inputs and outputs

The following table shows the inputs and outputs that the function block xxx_PRM_CAMNUMBER has forparameterising a motor controller.





= 0: Read PNU 700 Subindex 1= 1: Write PNU 700 Subindex 1

CamNumber DINT Preselection of cam disc number





Err BOOL Error



ActCamNumber DINT Number of the currently selected cam disc






31

4 Examples

4.1 Controlling a Festo motor control lerFesto motor controller CMMP-AS with corresponding function block CMMP_AS_CTRL

Fig: Example of function block CMMP_AS_CTRL

With this function block, the motor controller type CMMP-AS-... can be controlled using the following fouroperating and control mode combinations:

– Record selection


– Direct mode torque control

– Direct mode speed control

The set operating and control mode is only accepted and displayed with the start of a movement,i.e. with a rising edge at the "StartTask" input.

4.1.1 Prerequisi tes for ready status

Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4,DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used.

– Motor controller is switched on

– Load voltage is present

– Control sovereignty lies with the PLC

4.1.2 Establishing the ready status

User action Feedback

-- SupplyVoltagePresent = 1

EnableDrive = 1 DriveEnabled = 1

MC = 1

Stop = 1 Ready = 1

Halt = 1 HaltActive = 0




32

4.1.3 Homing


StartHoming = 0->1 AckStart = 1

MC = 0

DriveIsMoving = 1

HaltActive = 1

-- DriveIsMoving = 0,

MC = 1, DriveIsReferenced = 1, HaltActive = 1 (homingcompleted)

4.1.4 Setting and operation of "Record selection"


OPM = 0 OPMString = 'Record Mode selected'

StateOPMString = 'Record Mode active'

StateOPM = 0

RecordNo = 1 --

StartTask 0->1 OPMString = 'Record Mode selected'

StateOPMString = 'Record Mode active'

StateOPM = 0

AckStart = 1

MC = 0

DriveIsMoving = 1

ActualRecordNo = 1

ActualPosition = ...

-- DriveIsMoving = 0

MC = 1 (positioning completed)

4.1.5 Setting and operation of "Direct mode posit ion cont rol"


OPM = 1 OPMString = 'Directmode Positioncontrol selected'

StateOPMString = 'Directmode Positioncontrol active'

StateOPM = 1

SetValueVelocity = ... --

SetValuePosition = ... --

StartTask = 1 OPMString = 'Directmode Positioncontrol active'

StateOPMString = 'Directmode Positioncontrol active'

StateOPM = 1

AckStart = 1

MC = 0

DriveIsMoving = 1

ActualVelocity = ...



MC = 1 (positioning completed)




33

4.1.6 Setting and operation of "Direct mode torque control"


OPM = 5 OPMString = 'Directmode Forcecontrol selected'

StateOPMString = Previous operating and control mode asSTRING

StateOPM = Previous operating and control mode as INT

SetValueForce = ... --

StartTask = 1 OPMString = 'Directmode Forcecontrol active'

StateOPMString = 'Directmode Forcecontrol active'

StateOPM = 5

AckStart = 1

MC = 0

DriveIsMoving = 1

ActualForce = ...


-- DriveIsMoving = 0MC = 1 (torque specification reached)

4.1.7 Setting and operation of "Direct mode speed cont rol"


OPM = 9 OPMString = 'Directmode Velocitycontrol selected'

StateOPMString = Previous operating and control mode asSTRING

StateOPM = Previous operating and control mode as INT

SetValueRotRamp = ... --

SetValueRotSpeed = ... --

StartTask = 1 OPMString = 'Directmode Velocitycontrol active'

StateOPMString = 'Directmode Velocitycontrol active'

StateOPM = 9

AckStart = 1

MC = 0

DriveIsMoving = 1

ActualRotRamp = ...

ActualRotSpeed = ...


MC = 1 (speed specification reached)




34

4.2 Parameterising a Festo motor control lerFesto motor controller CMMP-AS with corresponding function block CMMP_AS_PRM_SINGLE.

Fig: Example of function block CMMP_AS_PRM_SINGLE

With this function block, the motor controller type CMMP-AS-... can be parameterised using all fouroperating and control mode combinations:

– Record selection


– Direct mode torque control – Direct mode speed control

Note

For a description of the parameters supported by the various motor controllers according toFHPP, please refer to the respective product documentation.

4.2.1 Prerequisi tes for ready status

Depending on the respective motor controller, additional input signals may be required here, e.g. at DIN_4,DIN_5, DIN_13, etc. Detailed information can be found in the manual for the motor controller used.

– Motor controller is switched on

– Load voltage is present – Control sovereignty lies with the PLC

4.2.2 Establishing the ready status


-- SupplyVoltagePresent = 1

EnableDrive = 1 DriveEnabled = 1MC = 1

Stop = 1 Ready = 1

Halt = 1 HaltActive = 0

4.2.3 Reading parameters (e.g. homing method)


Write = 0 No feedback

UpperLimit Reading of upper limit

PNU = 1011 No feedback

Subindex = 1 No feedback




35


Execute = 0->1 Done = TRUEErr = FALSEErrStr = 'no Error' ActPNU = 1011 ActSubindex = 1ParamValueRD = ...

RETVAL = 0

4.2.4 Writing parameters (e.g. acceleration homing method)





ParamValueWR = ... No feedback

Execute = 0->1 Done = TRUEErr = FALSEErrStr = 'no Error' ActPNU = 1013 ActSubindex = 1ParamValueRD = ...RETVAL = 0

The values written to the motor controller with the function block ..._PRM_SINGLE are stored in a volatilememory and are valid until the control voltage of 24 V at the motor controller is interrupted. In a non-volatile memory, the values can be assumed permanently by describing PNU 127 Subindex 2 with thevalue 1.

The following actions must be performed in order for the described parameters to be assumed

permanently:User action Feedback




ParamValueWR = 1 No feedback

Execute = 0->1 Done = TRUEErr = FALSEErrStr = 'no Error' ActPNU = 127

ActSubindex = 2ParamValueRD = 0RETVAL = 0



37

5 Glossary

C

COB-ID: Communication object identifier.

Consistency: A data range, which is defined as consistent, is transmitted complete, i.e. in a bus

cycle.

Controller: Control electronics that evaluate the control signals and provide the voltage supply for themotor via the power electronics (power electronics + closed-loop controller + positioningcontroller).

E

EDS file: Electronic data sheet, which describes the functions and features of a CANopen device instandardised form.

F

Festo Configuration Tool (FCT): Commissioning software with uniform project and data

management for all supported device types. The special requirements of a device type aresupported by means of plug-ins with the necessary descriptions and dialogs.

Festo Handling and Positioning Profile (FHPP): Uniform field bus data profile for positioningcontrollers from Festo.

Festo Parameter Channel (FPC): FHPP-specific parameter channel version.

FHPP: Uniform fieldbus data profile for positioning controllers from Festo.

FPC: FHPP-specific parameter PKW version (Festo Parameter Channel).

H

Homing: Homing defines the reference position and thereby the origin of the measuring reference

system of an axis.Homing method: Method for defining the reference position: against a fixed stop (overcurrent/velocity

evaluation) or with reference switch.

Homing mode: Operating mode in which homing is carried out.

J

Jog mode: Manual movement in positive or negative direction.

N

Node ID: Used for unique identification of a bus station.

P

Package: The package allows the installation of target system-specific files for the control of FestoCoDeSys motor controllers. The program can be found in the Start menu under "Programs" in theselection "CoDeSys V3"

PDO: Process Data Object.

PKE: Integral part of the parameter channel (PKW) which contains the task and reply identifiers (AK)and the parameter number (PNU).

PKW: Telegram part used for transmitting parameters. PKW refers to a parameter identification value(see also "Festo Parameter Channel (FPC)").

PNU: Parameters which can be transmitted via the parameter channel are addressed with the

parameter number (PNU). The parameter number is an integral part of the parameter identifier(PKE) and serves for identifying or addressing the individual parameter.

Position set: Positioning command defined in the position set table, consisting of target position,positioning mode, positioning speed and accelerations.




Profile position mode: Operating mode for processing a position set or a direct positioning task.

Project zero point (PZ): Measuring reference point for all positions in positioning tasks. The projectzero point forms the basis for all absolute position specifications (e.g. in the position set table orwith direct control via the control interface or diagnostic interface). The basis point for the projectzero point is the axis zero point. With the MTR-DCI the project zero point PZ and the axis zeropoint AZ are identical.

RReference poin t (REF): Basis point for the incremental measuring system. The reference point

defines a known orientation or position within the positioning path of the drive.

S

Subindex (IND): Integral part of the parameter channel (PKW) which addresses an element of anarray parameter (subparameter number).

T

Teach mode: Operating mode for setting positions by moving to the target position e.g. when creatingposition sets.

Festo Motion 3 Library en (1)

Documents

Transcript of Festo Motion 3 Library en (1)